Yamaha RCX Series Initial process for connecting to CC-Link system, Initial data process

2. Initial process for connecting to CC-Link system

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Communication

The initial data process must be carried out to correctly connect to the CC-Link system.

2.1Initial data process

The initial data process is carried out to confirm that the robot controller is correctly connected to the CC-Link system. Prepare the process on the master station PLC side so that the following type of process is always carried out before data is exchanged.

Initial data process (master station PLC side)

qConfirm that RX(n+7)8 (initial data process request flag) is ON.

wTurn RYn0 (emergency stop input) and RYn9 (interlock input) ON.

eTurn RY(n+7)8 (initial data process completion flag) ON.

rConfirm that RX(n+7)8 (initial data process request flag) is OFF.

tConfirm that RX(n+7)B (remote station Ready) is ON.

c CAUTION

•RX(n+7) B (remote station Ready) must always be used on the master station PLC side as the flag to indicate whether the robot controller is operating correctly.

•When starting up the system in the emergency stop state using RYn0 (emergency stop input), carry out the initial data process first, and then turn RYn0 (emergency stop input) OFF. The robot controller will start up in the servo OFF state when the power is turned ON.

RX (n+7) 8	on
	off
RX (n+7) B	on
	off
RYn0	on
	off
RYn9	on
	off
RY (n+7) 8	on
	off

The robot controller internal process will automatically start when the power is turned ON and the system is returned from an error state.

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