Yamaha Yamaha Robot Controller CC-Link Unit, RCX Series owner manual Plc

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5. Shift of CC-Link system connection status and robot controller status

Always start the CC-Link system specification robot controller in the servo OFF state after the power is turned ON.

qNormal state of CC-Link system connection when robot controller power is turned ON


	Robot			Master station
	controller			PLC

•Emergency stop/interlock signal in CC-Link system are valid

•When SAFE mode is enabled, service mode input signal is made valid with SI (02) in the CC-Link system.

•Emergency stop terminal in SAFETY connector is valid.

•Interlock signal in STD. DIO connector is valid when the external 24V monitor con- trol setting in SYSTEM > PARAM mode is left valid.

•When the external 24V monitor control setting in SYSTEM > PARAM mode is left valid while SAFE mode is enabled, service mode input signal is made valid with DI (02) in SAFETY connector.

*The signals in the CC-Link system are sent and received.

*Always initialize with the master station PLC when connecting to the CC-Link sys- tem.

wShift from CC-Link system normal connection state to CC-Link sys- tem erroneous connection state

1

Outline

Robot controller

Master station

PLC


	Robot		Master station
	controller		PLC

or


	Robot			Master station
	controller			PLC

•Emergency stop input turns off with SI (00) in the robot controller.

•Service mode input turns off with SI (02) in the robot controller.

•Emergency stop terminal in SAFETY connector is valid.

•Interlock signal in STD. DIO connector is valid when the external 24V monitor con- trol setting in SYSTEM > PARAM mode is left valid.

•When the external 24V monitor control setting in SYSTEM > PARAM mode is left valid while SAFE mode is enabled, service mode input signal is made valid with DI (02) in SAFETY connector.

*The signals in the CC-Link system are not sent or received.

*The “CC-Link Communication Error” is added to the error history in the robot con- troller.

*If the connection to the CC-Link system shifts from the normal state to the erroneous state, the CC-Link system connection must be returned to the normal state.

*The CC-Link system will return when the CC-Link system connection is recovered to the normal state.

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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 Appendix TroubleshootingSpecifications Outline Memo Emulated serialization on parallel DIO FeaturesWiring saving 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 master station PLC side Initial process for connecting to CC-Link systemInitial data process 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 programBit information used Robot program data assignment Variables usedPoints 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