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

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Outline

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

eCC-Link system erroneous connection state due to following factors

when robot controller power is turned ON

•Connection to CC-Link system not possible

•Error in master station PLC

Robot

Master station

Robot

Master station

controller

PLC

controller

PLC

•Emergency stop/interlock signals in CC-Link system are invalid

•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 on the CC-Link system cannot be exchanged.

*As opposed to the state given in w, in this state, the emergency stop state by SI (00) is not attained in the controller, so the robot can be operated from the programming unit.

(The robot controller can be started independently when setting up the system, etc.)

*Service mode input signal cannot be invalidated with SI (02) when SAFE mode is enabled, so change the service mode parameter setting in SYSTEM > PARAM mode. In this case, take full precautions to prevent improper settings that might lead to a hazardous situation.

*When the connection to the CC-Link system is correctly recovered, the system will automatically return to the CC-Link system.

*The “CC-Link Communication Error” has been added to the error history in the robot controller.

(A standby state for up to 2.5 seconds will occur to check the communication.)

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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 Troubleshooting SpecificationsAppendix Outline Memo Features Wiring savingEmulated 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 process for connecting to CC-Link system Initial data processInitial 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 sampleRobot program data assignment Variables used Points 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