Yamaha Yamaha Robot Controller CC-Link Unit, RCX Series owner manual Features, Wiring saving

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1. Features

CC-Link is the abbreviation of Control & Communication Link.

The CC-Link system connects the robot controller and dispersed input/output modules with dedicated cables, and controls these modules from the master station PLC.

The CC-Link system allows wiring to be reduced.

1

n NOTE

The dedicated input of the STD.DIO connector provided on the controller will be disabled except for an interlock signal (DI 11). When the external 24V monitor control of system parameters is disabled, the interlock signal (DI 11) will also be disabled.

Master station Station that controls entire CC- Link system.

The PLC master module corresponds to this.

	Remote I/O station
	Station controlled by master
Remote device station	station in CC-Link system.
Station controlled by master station
in CC-Link system.
The robot controller corresponds to
this.

Outline

c CAUTION

An emergency stop terminal for hardwire is provided in the SAFETY connector on the robot controller. When the CC-Link system is used while STD. DIO is not used (external DC 24V power supply is not used), invalidate the external DC 24V monitor control setting in SYSTEM > PARAM mode. If it is left valid, the STD. DIO interlock signal is made valid causing an error in the robot operation commands.

CC-Link is a registered trademark of CC-Link partner association.

The CC-Link compatible module provided with a label is compatible with CC-Link Ver 1.10.

[Wiring saving]

One dedicated cable (4-wire) is used to connect the robot controller and PLC. This allows the entire system wiring to be reduced.

[Emulated serialization on parallel DIO]

By making the robot controller’s internal settings without using a robot program, the various I/O devices, such as the sensors and relays mounted on the robot controller’s parallel I/O can be controlled from the PLC as if they were CC-Link system I/O devices.

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Contents Unit Page Introduction Precautions for design Safety Precautions Always read before starting usePrecautions for wiring Precautions for installationPrecautions for disposal Precautions for starting and maintenanceWarranty description WarrantyMemo Contents Specifications TroubleshootingAppendix Outline Memo Wiring saving FeaturesEmulated serialization on parallel DIO PLC MechanismStation No. setting switch MSB 2nd digit Station No. setting switch LSB 1st digitCommunication speed switch BPS CC-Link system cable terminalsA1SHCPU Assignment of CC-Link compatible I/OPLC Outline Outline Memo Connection Memo Operation Confirming the CC-Link compatible module settingsResponse when starting the robot controller Installing the CC-Link compatible moduleProcedure Saving the robot controller dataSetting the station No Setting the CC-Link compatible moduleProcedures Setting the communication speedMounting the ferrite core Noise measuresTesting the line from the master station PLC Connecting to the CC-Link systemParameter Meaning Parameter setting for CC-Link serial I/O boardType Display Meaning Parameter setting for CC-Link serial I/O boardPress the F Edit key Memo Communication Memo When connection to CC-Link system is correctly established State when robot controller power is turned onInitial data process Initial process for connecting to CC-Link systemInitial data process master station PLC side Receiving data Communication with master station PLCTransmitting data Direct connection by emulated serialization on parallel DIO Direct connection from SI n to do n Direct connection by emulated serialization on parallel DIODirect connection from SO n to DI n Direct connection by emulated serialization on parallel DReferring to the data from the programming unit Referring to communication dataTroubleshooting Memo Confirmation details Check Items to confirm before starting up CC-Link systemRUN Errl SD RD Meanings of LEDs on CC-Link compatible moduleConfirmation item TroubleshootingProgramming unit error display confirmation CC-Link compatible module LED confirmation Confirmation from master station PLC Emg.stop on Error messages relating to CC-LinkMemo Specifications Memo Profile Remote registers Device No Signal name Details RXn0 Details of remote input/output signalsDetails of remote input/output signals Details of remote input/output signals Initial data process for CC-Link connection Dedicated input/output signal timing chartServo on and emergency stop Initial servo on process after power onShift to emergency stop Servo on process from emergency stop statusAuto mode changeover process SpecificationsProgram reset process Program execution processStopping with program interlock Program stop process using interlock inputDetails of sample Sample programPoints used Robot program data assignment Variables usedBit information used X1FF PLC data assignmentGosub *PLACE Robot program 1st unit’s RCX40 2nd unit’s RCX142X0F From PLC programRET From H0 Set initial data process complete flag OFF Communication speed setting CC-Link compatible module specificationsMemo Appendix Memo Term definition Unit