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7 Procedure before Startup
Input 2000 to 2015
Input 2016 to 2031
Input 2032 to 2047
Input 2048 to 2063
Input 2064 to 2079
Input 2080 to 2095
Input 2096 to 2111
Input 2112 to 2127
Terminator resistor
Parameter Settings on the Side of Master Station 7- 34
Output receive area
(robot input)
Used in data module 1
Used in data module 2
Used in data module 3
Used in data module 4
Figure 7-3 Example of Lump Alignment
Robot input
（*1）
Input 2000 - 2015
Input 2016 - 2031
Input 2032-2047
Input 2048-2063
Input 2064-2079
Robot output
（*1）
Output 2000-2015
Output 2016-2031
Output 2032-2047
Output 2048-2063
2D-TZ577 Card (Slave Station)
CPU
Robot Controller
Figure 7-4 Flow of Data
Input send area
(robot output)
Output 2000 to 2015
Output 2016 to 2031
Output 2032 to 2047
Output 2048 to 2063
Output 2064 to 2079
Output 2080 to 2095
Output 2096 to 2111
Output 2112 to 2127
Class 1 Master Station
Output receive area
Data module1
Data module2
Data module3
Data module4
(*1)
Input receive area
Data module0
Data module2
Data module4
Used in data module 0
Used in data module 2
Used in data module 4
Output area
Input area
Terminator resistor
Reading and writing take
place automatically at
regular intervals and are
accompanied by
updating.
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