
2. Initial process for connecting to CC-Link system
3
Communication
The initial data process must be carried out to correctly connect to the
2.1Initial data process
The initial data process is carried out to confirm that the robot controller is correctly connected to the
Initial data process (master station PLC side)
qConfirm that RX(n+7)8 (initial data process request flag) is ON.
wTurn RYn0 (emergency stop input) and RYn9 (interlock input) ON.
eTurn RY(n+7)8 (initial data process completion flag) ON.
rConfirm that RX(n+7)8 (initial data process request flag) is OFF.
tConfirm that RX(n+7)B (remote station Ready) is ON.
c CAUTION
•RX(n+7) B (remote station Ready) must always be used on the master station PLC side as the flag to indicate whether the robot controller is operating correctly.
•When starting up the system in the emergency stop state using RYn0 (emergency stop input), carry out the initial data process first, and then turn RYn0 (emergency stop input) OFF. The robot controller will start up in the servo OFF state when the power is turned ON.
RX (n+7) 8 | on |
off | |
RX (n+7) B | on |
off | |
RYn0 | on |
off | |
RYn9 | on |
off | |
RY (n+7) 8 | on |
off |
The robot controller internal process will automatically start when the power is turned ON and the system is returned from an error state.