Yamaha RCX Series, Yamaha Robot Controller CC-Link Unit Troubleshooting, Specifications, Appendix

Page 10

Chapter 4 Troubleshooting

1.	Items to confirm before starting up CC-Link system		4-1
2.	Meanings of LEDs on CC-Link compatible module		4-2
3.	Troubleshooting		4-3
	3.1	Robot controller front panel LED confirmation	4-3
	3.2	Programming unit error display confirmation	4-4
	3.3	CC-Link compatible module LED confirmation	4-5
	3.4	Confirmation from master station PLC	4-6
4.	Error messages relating to CC-Link		4-7

Chapter 5 Specifications

1.	Profile		5-1
2.	Details of remote input/output signals		5-3
3.	Dedicated input/output signal timing chart		5-6
	3.1	Initial data process for CC-Link connection	5-6
	3.2	Servo ON and emergency stop	5-7
	3.3	AUTO mode changeover, program reset and
		program execution	5-8
	3.4	Stopping with program interlock	5-9
4.	Sample program		5-10
5.	CC-Link compatible module specifications		5-17

Chapter 6 Appendix

1. Term definition

6-1

ii

Image 10

Contents Unit Page Introduction Safety Precautions Always read before starting use Precautions for designPrecautions for installation Precautions for wiringPrecautions for starting and maintenance Precautions for disposalWarranty Warranty descriptionMemo Contents Specifications TroubleshootingAppendix Outline Memo Wiring saving FeaturesEmulated serialization on parallel DIO Mechanism PLCCommunication speed switch BPS Station No. setting switch LSB 1st digitStation No. setting switch MSB 2nd digit CC-Link system cable terminalsAssignment of CC-Link compatible I/O A1SHCPUPLC Outline Outline Memo Connection Memo Confirming the CC-Link compatible module settings OperationProcedure Installing the CC-Link compatible moduleResponse when starting the robot controller Saving the robot controller dataSetting the CC-Link compatible module Setting the station NoSetting the communication speed ProceduresNoise measures Mounting the ferrite coreConnecting to the CC-Link system Testing the line from the master station PLCParameter setting for CC-Link serial I/O board Parameter MeaningParameter setting for CC-Link serial I/O board Type Display MeaningPress the F Edit key Memo Communication Memo State when robot controller power is turned on When connection to CC-Link system is correctly establishedInitial data process Initial process for connecting to CC-Link systemInitial data process master station PLC side Communication with master station PLC Receiving dataTransmitting data Direct connection by emulated serialization on parallel DIO Direct connection by emulated serialization on parallel DIO Direct connection from SI n to do nDirect connection by emulated serialization on parallel D Direct connection from SO n to DI nReferring to communication data Referring to the data from the programming unitTroubleshooting Memo Items to confirm before starting up CC-Link system Confirmation details CheckMeanings of LEDs on CC-Link compatible module RUN Errl SD RDTroubleshooting Confirmation itemProgramming unit error display confirmation CC-Link compatible module LED confirmation Confirmation from master station PLC Error messages relating to CC-Link Emg.stop onMemo Specifications Memo Profile Remote registers Details of remote input/output signals Device No Signal name Details RXn0Details of remote input/output signals Details of remote input/output signals Dedicated input/output signal timing chart Initial data process for CC-Link connectionShift to emergency stop Initial servo on process after power onServo on and emergency stop Servo on process from emergency stop statusProgram reset process SpecificationsAuto mode changeover process Program execution processProgram stop process using interlock input Stopping with program interlockSample program Details of samplePoints used Robot program data assignment Variables usedBit information used PLC data assignment X1FFRobot program 1st unit’s RCX40 2nd unit’s RCX142 Gosub *PLACEPLC program X0F FromRET From H0 Set initial data process complete flag OFF CC-Link compatible module specifications Communication speed settingMemo Appendix Memo Term definition Unit