SCARA

SCARA

www.deltaww.com

01

Delta SCARA

UVW

i

Delta SCARA DROE

,
Delta SCARA
UL 1

ii

UVW

30

ii iii
 SCARA

1. 1
1.1 ........................................................................................................... 2
1.2 ................................................................................................................ 3
1.3 ........................................................................................................... 4

1.4 ........................................................................................................ 5
1.5 ASDA -MS ..................................................................................... 6

2. 7
2.1 ........................................................................................................ 8

2.2 ..................................................................................................... 9

3. ASDA -MS 10
3.1 ........................................................................................................ 11
3.2 ASDA -MS ................................................................ 12

3.3 ASDA -MS ............................................................. 13

3.3.1 .............................................................................. 14
3.3.2 ................................................................................... 14
3.4 ROBOT ....................................................................................... 15
3.4.1 .................................................................................. 15
3.4.2 Power Cable :............................................................................ 16
3.4.3 (BRK.DIO) .......................................................................... 17
3.4.4 Encoder ......................................................................................... 18
3.4.5 STD.DIO ................................................................................................ 19
3.4.6 SYS.DIO ................................................................................................ 20
3.4.7 .................................................................................................. 25
3.4.8. I/O Input ............................................................................................ 27
3.4.9 I/O Output ........................................................................................... 28
3.4.10 SCARA ..................................................................................... 29

iv
4. 31
4.1 ......................................................................................................... 32

4.2 .................................................................................................. 33

5. 34
5.1 ...................................................................................................... 35
5.2 .......................................................................................................... 37

6. 38
6.1 .......................................................................................................... 39
6.1.1 ................................................................................................... 39
6.1.2 .................................................................................................. 40
6.2 P0-01 ................................................................................................ 40
6.3 ........................................................................................................... 41
6.3.1 ....................................................................................................... 42
6.3.2 ................................................................................................ 45

1-1SCARA ........................................................................................... 2
1-2 .................................................................................................. 3
1-3 SCARA ............................................................................................ 4
2-1 ............................................................................................... 8
3-1 ASDA -MS .............................................................................. 11
3-2 ASDA-MS ........................................................................ 12
3-3 .............................................................................. 14
3-4 .................................................................................... 14
3-5 ................................................................................. 14
3-6 ..................................................................................... 14
3-7 Robot ..................................................................................... 15
3-8 ....................................................................................................... 15
3-9 Encoder ............................................................................................... 15
3-10 .............................................................................................. 16
3-11 Power Cable ................................................................................. 16
3-12 ........................................................................................... 17
3-13 ...................................................................................... 17
3-14 MOTOR ENC. .............................................................. 18
3-15 EXT ENC. .................................................................... 18
3-16 .................................................................................................... 19
3-17 .................................................................................................... 19
3-18 SYS.DIO ()................................................................................ 20
3-19 E-STOP ......................................................................................... 20
3-20 SAFETY DOOR .............................................................................. 21
3-21 MODE SELECT .............................................................................. 21
3-22 RUN/STOP SWITCH ..................................................................... 22
3-23 Reset ............................................................................................. 23
3-24 TP ...................................................................................................... 25
3-25 RS232/RS485 .................................................................................... 26
3-26 EtherNet ................................................................................................ 26
3-27 USB B-type ...................................................................................... . 26
3-28 USB A-type ........................................................................................... 26
3-29 DMCNet ................................................................................................ 26
3-30 ............................................................................... 27
3-31 ........................................................................................... 27
3-32 ( ) .............................................................. 28
vi
 3-33 ( ) ............................................................ 28
3-34 SCARA ................................................................................ 29
3-35 SCARA I/O ................................................................................ 29
3-36 SCARA ...................................................................................... 30
4-1 .............................................................................................. 33
4-2 1............................................................................................ 33
4-3 2............................................................................................ 33
4-5 4............................................................................................ 33
4-4 3............................................................................................ 33
4-6 5............................................................................................ 33
6-1 7 .................................................................................................. 39
6-2 MS ........................................................................................ 40
6-3 MS ........................................................................... 41

vii

1-1 DRS40Lseries .................................................................................... 5
1-2 ASDA -MS ....................................................................................... 6
3-1 .................................................................................................... 13
3-2 Power Cable 4.2 ................................................................ 16
3-3 ................................................................................................. 17
3-4 MOTOR ENC. ..................................................................... 18
3-5 Encoder ................................................................................. 18
3-6 IO ............................................................................................ 19
3-7 IO .......................................................................................... 20
3-8 I/O .............................................................................................. 20
3-9 MODE SELECT ............................................................................... 22
3-10 ....................................................................................................... 25
3-10 RS232/RS485 ............................................................................... 26
5-1 ASDA-MS .............................................................................................. 35
6-1 ..................................................................................................... 39
6-2 ..................................................................................................... 40
6-3 P0-01 .................................................................................................. 40

viii
SCARA

1.

1.1 ..................................................................................... 2
1.2 .......................................................................................... 3
1.3 ..................................................................................... 4
1.4 .................................................................................. 5
1.5 ASDA -MS ................................................................ 6

1
 1.

1.1
DRS40L series (J1) (J2)Z (J3) RZ (J4)
1-1 SCARA (+) (-)

1-1 SCARA

2
SCARA

1.2
1-2 M8*1.5-4

1-2

3
 1.

1.3
SCARA 400 (mm) +/-130 ;
100 200 (mm)
+/-146.6 SCARA

1-3 SCARA

4
 SCARA

1.4
DRS40L

1-1 DRS40Lseries

DRS40
L
4
( + ) 400 mm
/ 1 Kg / 3 Kg
X-Y 4710 mm / sec
Z 1250 mm / sec
RZ 1875 / sec
J1 130
J2 146.6

Z 150 mm
RZ 360
* 0.42 sec
X/Y 0.01
Z 0.01
mm
RZ 0.01
mm
J1 W
200
J2 200 W

Z 100 W
RZ 100 W
/ ( Z ) 100 / 250N
/ (RZ) 0.0091 / 0.075 Kg-m
2

15Pin D-Sub
4 mmx2, 6 mmx1
16 Kg
5C ~ 40C
-25C ~ 55C
0 ~ 90% RH ( )
*25mm-300mm-25mm & Payload : 1Kg, 25oC, 45% ~ 65% RH
* ,

5
 1.

1.5 ASDA -MS

ASDA-MS

1-2 ASDA -MS

ASDA-MS
/ : 200~230VAC-15%~10% 23.8 (for DRS40L5A)

24V DC -10%~10%5A(for DRS40L3A)
(W) x (H) x (D)mm / 175mm x 300mm x 159mm / 5.6

A, B, Z



20MB:
1K ( )
30K
I/O: 24 12
/ I/O
I/O: 8 8

Ethernet 1
RS-232 / RS-485 1 (1 )

DMCNET 1
USB Host 2
( ) ( )
1000M
86kPa ~ 106kPa
0 C ~ 55 C ( 45 C )
-20 C ~ 65 C
0 ~ 90% RH ( )

20Hz 9.80665 m/s2 ( 1G )20 ~ 50Hz 5.88 m/s2 ( 0.6G )
IP IP20
TN *
IEC/EN 61800-5-1, UL 508C, C-tick

*TN :

6
SCARA

2.

2.1 ................................................................................. 8
2.2 .............................................................................. 9

7
 2.

2.1
1. SCARA ASDA -MS
2. SCARA ASDA -MS :
(1) Encoder Cable : Encoder CableEncoderASDA-MS
(MOTOR ENC.)
(2) Motor Power Cable
A. Power CablePower ASDA-MS (U, V, W)

B. Power CableASDA-MS BRK.DIO
BRK.DIO3.4.3 (BRK.DIO)
3. E-STOP E-STOP 3.4.6 SYS.DIO E-STOP
4. :
(1) AC 200V to 230V single-phase 50/60 Hz

(2) 24V(3A)(Class 2) ASDA -MS

5. (Teach Pendant)
(1) (Teach Pendant)
(2)
(3) (Teach Pendant)

2-1

8
SCARA

2.2

1. RS UVW
()
2. SCARA
3. DMCNET SHIELDING

9
 3. ASDA - MS

3. ASDA - MS

3.1 ................................................................................ 11
3.2 ASDA -MS ........................................ 12
3.3 ASDA -MS ..................................... 13
3.3.1 ............................................................ 14
3.3.2 ............................................................... 14

3.4 ROBOT ............................................................... 15

3.4.1 ................................................................ 15
3.4.2 Power Cable ............................................................ 16
3.4.3 (BRK.DIO) : ..................................................... 17
3.4.4 Encoder ....................................................................... 18
3.4.5 STD.DIO ............................................................................. 19
3.4.6 SYS.DIO ............................................................................. 20
3.4.7 ............................................................................... 25
3.4.8 I/O Input ........................................................................... 27
3.4.9 I/O Output ........................................................................ 28
3.4.10 SCARA ................................................................... 29

10
SCARA

3.1

175.2 mm
175.2
175.2
mmmm

300.8300.8
mm300.8
mm
mm

175.2 mm
7070mm
70 mm
mm 159.3
159.3 mm
159.3 175.2
175.2 mm
mm
mm
mm

50.3 mm
50.3 mm

50.3 mm
50.3 mm

3-1 ASDA -MS

11
 3. ASDA - MS

3.2 ASDA -MS

MODBUS
RS-485/RS-232

(Ethernet)
USB1USB2DMCNET
- Ethernet : PC
DROE
- USB1USB2 :
USB
- DMCNET : DMCNET

(RS)
RS
AC200 ~ (U, V, W)
230V50/60Hz UVW

I/O
(BRK. DIO)
(STD. DIO)

STO (EXT. ENC)
(Safe Torque Off)


(ABZ )

DC24V
(MOTOR. ENC.)
4
I/O

(SYS. DIO)

3-2 ASDA-MS

12
 SCARA

3.3 ASDA -MS

3 1

24V, 0V 24V DC Class 2
R, S

U1, V1, W1
U2, V2, W2 U
U3, V3, W3
U4, V4, W4 V

FG W

F

G

STD.DIO DIDO DI 24DO 12

SYS.DIO DIDO DI 8DO 8

BRK.DIO DO DC24V

EXT.ENC.

Motor ENC.

TP Teach Pendant HMI

RS232 RS-232

RS485 RS-485

ETHERNET PC

USB1 USB USBPC

USB2 USB

DMCNET
DMCNET DMCNET

13
 3. ASDA - MS

3.3.1
AC 200V to 230V(5A) single-phase 50/60 Hz

3-3 3-4

3.3.2
DC24V (3A)

DC 24V

24G

GND

3-5 3-6

14
 SCARA

3.4 ROBOT
SCARA :
1. Motor Power Cable : SCARA 2 6P MOTOR
POWER J3 BRK.DIO (10P) 5 6 J3
BRK.DIO
2. Encoder Cable : SCARA MDR 26P
Motor ENC.

3-7 Robot

3.4.1
2
1. Motor power cable: 0.75mm *20C 2. Encoder cable: 24AWG * 8 P + [3M] MDR 26PIN
Shield + [DINKLE] 0134-34-06P*2

3-8 3-9 Encoder

15
 3. ASDA - MS

3.4.2 Power Cable :

UVW Power Cable
J1+J3 J2+J4

3-10 3-11 Power Cable

3-2 Power Cable 4.2

POWER

1 U1 J1 1 U2 J2
2 V1 J1 2 V2 J2
3 W1 J1 3 W2 J2
4 U3 J3 4 U4 J4
5 V3 J3 5 V4 J4
6 W3 J3 6 W4 J4

16
SCARA

3.4.3 (BRK.DIO)
DC24V DO
SCARA J3
J3

1. J3 ZBK 24G Pin5 Pin6
2. J3 24V Pin1

3-3
PIN 1 PIN NAME
1 24V Always on
2 0V
3 MOTOR BRAKE 24VDC
4 0V

5 MOTOR J3 BRAKE 24VDC

6 0V
7 MOTOR BRAKE 24VDC
8 0V
9 INPUT 24V DC
10 INPUT 0V

3-12

SCARA
Servo off J3
J3 J3


J3

3-13

17
 3. ASDA - MS

3.4.4 Encoder
1. MOTOR ENC

3-14 MOTOR ENC.

3-4 MOTOR ENC.

PIN NAME PIN NAME PIN NAME PIN NAME

1 2 14 15
3 4 5V 16 5V 17 T+_3
5 T+_1 6 GND 18 GND 19 T-_3
7 T-_1 8 20 21
9 10 5V 22 5V 23 T+_4
11 T+_2 12 GND 24 GND 25 T-_4
13 T-_2 26

2. EXT ENC

3-15 EXT ENC.

3-5 EXT ENC.

PIN NAME PIN NAME PIN NAME PIN NAME
1 Z+_1 2 Z-_1 19 Z+_3 20 Z-_3
3 B+_1 4 B-_1 21 B+_3 22 B-_3
5 A+_1 6 A-_1 23 A+_3 24 A-_3
7 5V 8 GND 25 5V 26 GND
9 X 10 X 27 X 28 X
11 GND 12 5V 29 GND 30 5V
13 Z+_2 14 Z-_2 31 Z+_4 32 Z-_4
15 B+_2 16 B-_2 33 B+_4 34 B-_4
17 A+_2 18 A-_2 35 A+_4 36 A-_4

18
 SCARA

3.4.5 STD.DIO
IO I/O

( )

3-16

3-17

3-6 IO
PIN NAME PIN NAME PIN NAME PIN NAME
1 DI1 2 DI2 26 DI7 27 DI8
3 DI3 4 DI4 28 DI9 29 DI10
5 DI5 6 DI6 30 DI11 31 DI12
7 DI13 8 DI14 32 DI19 33 DI20
9 DI15 10 DI16 34 DI21 35 DI22
11 DI17 12 DI18 36 DI23 37 DI24
13 DI_COM1 14 DO01+ 38 DI_COM2 39 DO01-
15 DO02+ 16 DO03+ 40 DO02- 41 DO03-
17 DO04+ 18 DO05+ 42 DO04- 43 DO05-
19 DO06+ 20 DO07+ 44 DO06- 45 DO07
21 DO08+ 22 DO09+ 46 DO08- 47 DO09-
23 DO10+ 24 DO11+ 48 DO10- 49 DO11-
25 DO12+ 50 DO12-
*DI_COM1DI1~DI6&DI13~DI18COM DI_COM2DI7~DI12&DI19~DI24COM

19
 3. ASDA - MS

3.4.6 SYS.DIO
IO

3-18 SYS.DIO ()

3-7 IO 3-8 I/O

PIN NAME PIN NAME PIN NAME PLC INPUT FUNTION
1 DO3- 10 DO2- 19 DO5+ DI1 E-STOP
2 DO3+ 11 DO2+ 20 DO5-
DI2 SAFETY DOOR

3 DO4- 12 DO7+ 21 DO6- DI3 SAFETY DOOR READY

4 DO4+ 13 DO7- 22 DO6+ DI4 MODE SELECT
5 DI_COM 14 DO1+ 23 DO8- DI5 MODE SELECT
6 DI_COM 15 DO1- 24 DO8+ DI6 RUN/STOP SWITCH2
DI7 RUN/STOP SWITCH2
7 DI5 16 DI1 25 DI2

DI8 RESET
8 DI3 17 DI6 26 DI7
9 DI8 18 DI4 DO Group Alarm
1
DO Group Servo
2

DO Group
3
DO
4
DO RL(IORL)
55
DO
RL(IORL)
6
DO Ready
7
1. DI
DO
8
E-STOP :
E-STOP Input SYS.DIO DI1(Pin16) DI1
E-STOP

3-19 E-STOP

20
SCARA

SAFETY DOOR
Safety door Input DI2 inputDI3 Ready button

3-20 SAFETY DOOR

1.
(1) System DI 2 OFF System DI 3 OFF
(2) System DI 2 ON System DI 3 OFFONOFF(OFFON ONOFF
300 )
2.
(1) System DI 2 OFF System DI 3 OFF servo off servo
on System
(2) DI 2 ON System DI 3 OFFONOFF(OFFON ONOFF 300
)

*Auto T1 T2

MODE SELECT
Input

3-21 MODE SELECT

21
 3. ASDA - MS

3-9 MODE SELECT

Item
DI4 DI5 Description Note
Mode

0 0 LED E1.998

JOG
Auto Mode 0 1 PC
250mm/s( JOG JOG)

250 /
JOG
T1 Mode 1 0
PC 250mm/s( JOG JOG)

2000 /
JOG
T2 Mode 1 1
PC 250mm/s( JOG JOG)

RUN/STOP SWITCH
AUTO MODE Input

3-22 RUN/STOP SWITCH

22
SCARA

Reset
Reset

3-23 Reset

2. DO

SysDO1
SysDO
ON OFF

SysDO1

SysDO2
SysDO
ON OFF

SysDO2

SysDO3
SysDO
ON OFF

SysDO3

SysDO4
SysDO
ON OFF

SysDO4

23
 3. ASDA - MS

SysDO4SysDO5
SysDO5
ON OFF
SysDO4

ON
OFF None

SysDO7
SysDO
ON OFF

SysDO7

24
 SCARA

3.4.7
1. TP
HMI

3-24 TP ()

3-10

Pin No Pin No
1 HMI_TX+ EtherNet TX+ 16 -
2 HMI_TX- EtherNet TX- 17 -
3 - 18 PW 24V
4 - 19 GND 0V
5 PW 24V 20 ENC_EXA (A)
6 GND 0V 21 ENC_EXB (B)
7 E_STOP_NO+ (NO) 22 ENSW_NC+ (NC)
8 E_STOP_NO- (NO) 23 ENSW_NC- (NC)
9 E_STOP_NC+ (NC) 24 PW 24V
10 E_STOP_NC- (NC) 25 PW 24V
11 GND 0V D
-
12 GND 0V S
U
13 GND 0V B
14 HMI_RX+ EtherNet RX+
2
15 HMI_RX- EtherNet RX+ 5
P
I

25
 3. ASDA - MS

2. RS-232, RS-485
3-10 RS232 / RS485
( )
PIN NAME PIN NAME
1 RS485+ 6 RS485-
2 RS232_RX 7 X
3 RS232_TX 8 X
4 X 9 X
5 GND

3-25 RS232/RS485 ()

3. ETHERNET 4. USB B-type

(USB 2.0 )

3-26 EtherNet 3-27 USB B-type

5. USB A-type 6. DMCNET

(USB1.1 ( )
)

3-29 DMCNet
3-28 USB A-type

26
 SCARA

3.4.8. I/O Input

I/O (MDR 50pin Female)

3-30

I/O (MDR 50pin Female)

3-31

27
 3. ASDA - MS

3.4.9 I/O Output

( )
I/O (MDR 50pin Female)

3-32 ( )

( )
I/O (MDR 50pin Female)

3-33 ( )

28
SCARA

3.4.10 SCARA
SCARA

3-34 SCARA

1.
D-Sub15 pin (female) (male)

3-35 SCARA I/O

29
 3. ASDA - MS

2.
SCARA 1 *62* 4

1
2
3

3
2
1

3-36 SCARA

30
SCARA

4.

4.1 ................................................................................... 32
4.2 ............................................................................ 33

31
 4.

4.1
1. AL061
2. P0-02 31 3.1V
3. 2.7V 3
4.
5. 5
6.

32
SCARA

4.2
1. SCARA 2.

4-1 4-2 1

4.
3.

4-3 2 4-4 3

6.
5.

4-5 4 4-6 5

33
 5.

5.

5.1. ............................................................................. 35
5.2. .................................................................................. 37

34
 SCARA

5.1
5-1 ASDA-MS

ITEM Picture NAME NOTES Q TY

1 MOTOR POWER Connector J1&J3 3050248246 1

2 MOTOR POWER Connector J2&J4 3050248646 1

3 MAIN POWER INPUT Connector 3051611346 1

4 DC 24V INPUT Connector 3051627346 1

Motor Brake release

5 3051618746 1
Connector

6 CN1 Connector 3074051921 1

CN1 Connector
7 3050284421 1
Cover

35
 5.

8 CN2 Connector 3074051821 1

CN2 Connector
9 3050284121 1
Cover

10 STD I/O Connector 307740100L 1

11 STD I/O Connector Cover 305059000L 1

12 SYS I/O 307280183C 1

SYS I/O
13 305005303C 1
Cover

14
3050594900 1

36
SCARA

5.2
1. DC24V Power Supply

150W: PMC-24V150W1AA
200W: PMC-24V200W1AA

: Delta Power Supply DC24V

Website: http://www.deltaww.com/Products/CategoryListT1.aspx?CID=060407&hl=zh-TW

2. Filter :
EMF023A21A

: Delta filter
Website: http://www.deltaww.com/Products/CategoryListT1.aspx?CID=0406&PID=ALL&hl=zh-TW

37
 6.

6.

6.1. .................................................................................. 39
6.1.1. .............................................................................. 39
6.1.2. ............................................................................... 40
6.2. P0-01 ....................................................................... 40
6.3. ................................................................................... 41
6.3.1 ................................................................................... 42
6.3.2 ............................................................................ 45

38
SCARA

6.1

6-1 7

6.1.1
6-1

39
 6.

6.1.2
6-2

(Error d : 13
Error code : 013)
: E
: Type
1. Controller: C
2. Group: 1 ( "group")
3. Axis: 20 , such as 1~6, 13~16, 17, 18 (1~6, D~G, H, I).
4.User: U
: Error Code P0-01 6-3

6.2 P0-01
P0-01 0

6-2 MS

Error 0 32-bit 16bits Index 16-

bits Error code

6-3 P0-01

Index(16-bits) Error code (16-bits)

U Z Y X Error Code
NO (0x0) Type (WORD)

U, Z NO: Group 4-bits

Y 4-bits

Type: 4-bits
(1) 0x0: Controller
(2) 0x1: Group
X
(3) 0x2: Axis
(4) 0x3: User
(5) 0x4~0xF:

Error Code 6-3

40
SCARA

6.3



PLC

6-3 MS

41
 6.

6.3.1

ALM WARN ON OFF
E?801

E?803

E?80A

E?80B

E?80C

E?813

E?814

E?815

E?821
E?822

E?823 Line

E?824

E?825

E?827

E?829

E?82A

E?82B

E?832

E?833

E?841

E?842

E?843

E?851

E?852
E?853
E?861 TPJog
E?862 TPJog

1.
2. ?1. ~ 2.

42
SCARA

ALM WARN ON OFF
E?001
E?002
E?003
E?004
E?005
E?006
E?007
E?009
E?011
E?012
E?013
E?014
E?015
E?016 IGBT
E?017
E?018
E?019
E?020
E?022
E?023
E?024
E?025
E?026
E?027
E?028
E?029
E?030
E?031
E?034
E?035
E?044
E?060
E?061
E?062
E?067
E?069
E?06A

43
 6.

ALM WARN ON OFF
E?070
E?099 EEPROM
E?111 DMCNET
E?185 DMCNET Bus
E?201 DMCNET
E?235
E?245
E?283
E?285
E?289
E?301 DMCNET
E?302 DMCNET
E?303 DMCNET
E?304 DMCNET IP
E?500 STO
E?501 STO_A lost ( )
E?502 STO_B lost ( )
E?503 STO_error
E?555

1.?1 ~ 6D ~ I

ALM WARN ON OFF
EC001 PLC
EC002 PLC Image
EC003 PLC Exception
EC004
EC005
EC006 30
EC007 DMCNET
EC008
EC009 RobotType
E1998

1. 003 Exception Code

44
SCARA

6.3.2

E?801

E?803

(MovJ) (MovP MovPR MArchP)
(MovL MovLRMArcMCircleMArchL)

45
 6.

E?80B

E?80C

E?813

(DROE)

E?814

(DROE)

E?815


( Jog )

E?821

1. (MovLMArcMCircleMArchL)

2. , ,

E?822
(MovJ) (MovPMovPRMArchP)

E?823 LINE
(MovLMovLRMArcMCircleMArchL)

46
SCARA

E?824
Robot

E?825
/
1.

2.
( )

3.

E?827

E?829

0 ~ 9

E?82A

1. 0 ~ 9

2.

E?82B

1. 0 ~ 9

2.

E?832
3

E?833
3

47
 6.

E?841

E?842

3 0

E?843

E?851
1.
2.
1. robot
2.

E?852

E?853

( 0
5)

E?861 TPJog
TPJog
TPJog

E?862 TPJog
TPJog
TPJog

48
SCARA

:
E?001
1.
2.
3. IGBT
1.
2.

E?002
1.
2.
1.

2.

E?003
1.
2.
3.
1.
2.
3.

E?004
1.
2.

E?005
1.
2.

E?006
1.
2.
3.
1. UVW
2.

49
 6.

E?007
P2-34 ( )

E?009

PayLoad PayLoad

E?011
1.
2.
3.
1.
2. MotorENC.
MotorENC.

E?012

E?013

E?014
1.
2.

E?015
1.
2.

55
SCARA

E?016 IGBT
1.
2.
1. PayLoad PayLoad
2.

E?017
1.
2.
3. ROM ROM ROM

E?018
1.
2.

E?019
1.
2.
3.
1.
2.

E?020

E?022

1. RS
2.

E?023

E?006

51
 6.

E?024

( UVW )

E?025
1. ( )
2.

E?026
( )

E?027

E?028
1.
2.
( >3.8 V)
3.8 V

E?029

E?030
1.
2.

E?031

(UVWGND)

52
SCARA

E?034

E?044

E?060
1.
2. Off
3.
4.
5.
1. 2.8 V
2. Off
3. ,
4. (1) (2)
(3)

E?061

1. 3.1 V ( )
2. 3.1 V ( ) ON

E?062

E?067
(85 ~ 100 )

E?069

1.

53
 6.

E?06A

1. ,
2.

E?070
Barcode

E?099 EEPROM
EEPROM

E?111 DMCNET
1 ms

E?185 DMCNET Bus

DMCNET Bus

E?201 DMCNET
DMCNET

E?235
1.
2.
3. E?060 E?062

E?245

54
SCARA

E?283

P5-09
2147483648

E?285

P5-09
-2147483648

P5-03

E?289

E?301 DMCNET

1.
2.

E?302 DMCNET

E?303 DMCNET

E?304 DMCNET IP
IP

E?500 STO
STO
STO

55
 6.

E?501 STO_A lost ( )

STO_A STO_A STO_B
STO_A

E?502 STO_B lost ( )

STO_B STO_A STO_B
STO_B

E?503 STO_error
STO
STO_A STO_B

E?555

EC001 PLC
1. PLC
2. Debug
1. PLC Debug
PLC

2.

EC002 PLC Image

PLC Image
P1-01 1 PLC
Image

56
SCARA

EC003 PLC Exception

PLC

Exception Code
PlcExcNon 0
ExcOutOfMemory 1
ExcDivisionByZero 2
ExcIndexOutOfRange 3
ExcIllegalCast 4
ExcStackOverflow 5
ExcNullReference 6
ExcMissingMethod 7
ExcThreadCreation 8
ExcThreadAbort 9
ExcSynchronizationLockException 10
ExcBreakpointIllegal 11
ExcBreakpoint 12
ExcExecutionEngine 13
ExcExternal 16
PlcExcString 32
PlcExcWatchDogExceeded 33
PlcExcMaximumCpuLoadExceeded 34
PlcExcSystem 35
PlcExcEnd 36

EC004

EC005

EC006 30
30
PLC RL Modbus

PLC

57
 6.

EC007 DMCNET
DMCNET
DMCNET P3-31P3-42 DMCNET

EC008

Serv ON 10

EC009 RobotType
RobotType
() P1-00 P0-03

P1-00 Type

E1998
System DI4 DI5

System DI4 DI5

58