Yamaha RCX Series Initial process for connecting to CC-Link system, Initial data process

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2. Initial process for connecting to CC-Link system

3

Communication

The initial data process must be carried out to correctly connect to the CC-Link system.

2.1Initial data process

The initial data process is carried out to confirm that the robot controller is correctly connected to the CC-Link system. Prepare the process on the master station PLC side so that the following type of process is always carried out before data is exchanged.

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.

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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 PLCStation No. setting switch LSB 1st digit Station No. setting switch MSB 2nd digitCommunication speed switch BPS CC-Link system cable terminalsAssignment of CC-Link compatible I/O A1SHCPUPLC Outline Outline Memo Connection Memo Confirming the CC-Link compatible module settings OperationInstalling the CC-Link compatible module Response when starting the robot controllerProcedure 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 connectionInitial servo on process after power on Servo on and emergency stopShift to emergency stop Servo on process from emergency stop statusSpecifications Auto mode changeover processProgram reset 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