Yamaha Yamaha Robot Controller CC-Link Unit State when robot controller power is turned on

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1. State when robot controller power is turned ON

The CC-Link system specification robot controller always starts operation in servo OFF state when the power turned ON.

qWhen connection to CC-Link system is correctly established.

The following conditions must be satisfied to correctly connect to the CC-Link sys- tem:

•The CC-Link system cable must be physically connected

•The station No. and communication speed must be correctly set

•The master station PLC must be operating correctly

When the robot controller is correctly connected to the CC-Link system, the normal state will be indicated with the LEDs on the CC-Link compatible module.

At this time, the emergency stop signal and interlock signal in the CC-Link system will be valid, so these signals must be turned ON with the initial data process.

The emergency stop terminal in SAFETY connector is always kept valid. The inter- lock signal in STD. DIO connector is also valid unless the external 24V monitor con- trol setting in SYSTEM > PARAM mode is set invalid.

When SAFE mode is enabled, service mode input signal is made valid with SI (02) in the CC-Link system. When the external 24V monitor control setting in SYSYEM >PARAM mode is left valid while SAFE mode is enabled, service mode input signal is also made valid with DI (02) in SAFETY connector.

wWhen connection to CC-Link system is incorrectly established

The following causes can be considered a correct connection with the CC-Link sys- tem cannot be established:

•The CC-Link system cable is not physically connected

•The station No. or communication speed is set incorrectly

•The master station PLC is not operating correctly

When the robot controller is incorrectly connected to the CC-Link system, the error state will be indicated with the LEDs on the CC-Link compatible module. Note that if the master station PLC is not operating correctly, nothing will appear on the LEDs.

The emergency stop signal and interlock signal in the CC-Link system are invalid in this case, so the robot controller can be operated independently. However, if the cor- rect state has been established even once after the robot controller power was turned ON, the robot controller’s emergency stop state cannot be canceled without correctly connecting to the CC-Link system.

The emergency stop terminal in SAFETY connector is always kept valid. The inter- lock signal in STD. DIO connector is also valid unless the external 24V monitor con- trol setting in SYSTEM > PARAM mode is set invalid.

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

Service mode input signal in the CC-Link system cannot be invalidated when SAFE mode is enabled, so change the service mode setting in SYSTEM > PARAM mode. In this case, take full precautions to prevent improper settings that might lead to a haz- ardous situation.

* For meanings of LED display, see Chapter 4 in this manual.

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Communication

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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
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