Yamaha Yamaha Robot Controller CC-Link Unit Confirming the CC-Link compatible module settings

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1. Confirming the CC-Link compatible module settings

With the CC-Link system specification robot controller, the CC-Link compatible module station No. and communication speed settings can be confirmed with the programming unit (hereinafter, MPB).

When connecting CC-Link compatible module to existing robot controller

Follow the procedures given in section 2., and change the settings for the CC-Link system specifications.

For CC-Link system specification robot controller

(When robot controller is purchased with CC-Link compatible module mounted)

Follow the procedures given in section 3., and set the station No. and communica- tion speed.

 

 

 

 

 

 

 

 

 

 

 

Confirmation position

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

SYSTEM

 

 

 

 

 

 

 

 

V8.29

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Robot

= YK250X

 

 

 

 

 

 

 

 

 

 

 

Axis

= XYZR

 

 

 

 

 

 

 

 

 

 

 

Standard = SRAM/364kB, DIO_N

 

 

 

 

 

 

 

 

Opt-ifo

= CCLnk(S1/10M)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

PARAM

 

CMU

 

OPTION

 

INIT

 

 

DIAGNOS

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

[Operation]

1. Press the MODE key.

2. Press the F 4 (SYSTEM) key.

2

Connection

c CAUTION

If the robot controller is not con- nected to the CC-Link system or if there is an error in the CC-Link system, the error “CC-Link Commu- nication Error” will appear on the MPB when the robot controller power is turned ON. The above settings can be confirmed even in this state.

3.The display above will appear. The station No. and communication speed set for the CC-Link system will appear in the parentheses following “CCLnk” on the screen. The meaning of the above example is shown below.

S1 :Station No. 1 (Setting range: 1 to 61)

*Four stations are occupied. Thus, this means that (station No. +3) is occupied.

10M :10Mbps

(Setting communication speed [unit: bps]: 156K, 625K, 2.5M, 5M, 10M)

*The communication speed must match the master station setting.

2-1

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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 MechanismCC-Link system cable terminals Station No. setting switch LSB 1st digitStation No. setting switch MSB 2nd digit Communication speed switch BPSA1SHCPU Assignment of CC-Link compatible I/OPLC Outline Outline Memo Connection Memo Operation Confirming the CC-Link compatible module settingsSaving the robot controller data Installing the CC-Link compatible moduleResponse when starting the robot controller ProcedureSetting 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 process from emergency stop status Initial servo on process after power onServo on and emergency stop Shift to emergency stopProgram execution process SpecificationsAuto mode changeover process Program reset 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