Yamaha Yamaha Robot Controller CC-Link Unit Parameter setting for CC-Link serial I/O board

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6. Parameter setting for CC-Link serial I/O board

n NOTE

•Set the Board status parameter to "INVALID" when not using serial I/O boards.

•When the Board status parameter is set to "INVALID", the dedicated input/output of the STD.DIO connector becomes enabled. When the Board status parameter is set to "VALID", the dedicated input (except DI1) of the STD.DIO connector becomes disabled.

•For remote commands and I/O commands, refer to the command reference manual.

•For a description of codes issued from the message output function for SOW(1), refer to "1. Error message" in chapter 9.

•When the Remote command & I/O command parameter is set to "VALID", the Output MSG to SOW(1) parameter cannot be set to "VALID". Likewise, when the Output MSG to SOW(1) parameter is set to "VALID", the Remote command & I/O command parameter cannot be set to "VALID".

The following functions are enabled or disabled by setting the parameters for the CC- Link serial I/O board.

	Parameter	Meaning

1.	Board condition	Enables or disables the serial I/O board. When set to "VALID" the
		serial I/O can be used. When set to "INVALID" the serial I/O
		cannot be used.

2.	Remote cmd / IO cmd	Enables or disables the functions of remote commands and I/O
	(SI05)	commands using word information and bit information. When set
		to "VALID" the remote commands and I/O commands can be used.
		When set to "INVALID" the remote commands and I/O commands
		cannot be used.
		This parameter cannot be set to "VALID" simultaneously with
		parameter 3.

3.	Output MSG to SOW(1)	Enables or disables the function to send an message number, which
		is displayed on the MPB, to word information SOW(1). When set
		to "VALID" the message number to be displayed on the MPB will
		be output. When set to "INVALID" the message number to be
		displayed on the MPB will not be output. This parameter cannot be
		set to "VALID" simultaneously with parameter 2.

2

Connection

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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