Yamaha RCX Series, Yamaha Robot Controller CC-Link Unit owner manual Transmitting data

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3. Communication with master station PLC

3

Communication

c CAUTION

SIW(0) and SIW(1) are viewed as dedicated input ports.

3.2Transmitting data

Data is transmitted by writing the robot controller output port data into the master station PLC’s input device.

The correspondence of the master station PLC’s input device numbers and robot controller’s output port numbers is shown below.

Master station

Robot controller

Master station

Robot controller

input device No.

output port No.

input device No.

output port No.

 

 

 

 

 

RXn7~RXn0

SO(07)~SO(00)

RWrn

 

SOW(0)

RXnF~RXn8

SO(17)~SO(10)

RWr(n+1)

 

SOW(1)

RX(n+1)7~RX(n+1)0

SO(27)~SO(20)

RWr(n+2)

SOD(2)

SOW(2)

RX(n+1)F~RX(n+1)8

SO(37)~SO(30)

RWr(n+3)

 

SOW(3)

RX(n+2)7~RX(n+2)0

SO(47)~SO(40)

RWr(n+4)

SOD(4)

SOW(4)

RX(n+2)F~RX(n+2)8

SO(57)~SO(50)

RWr(n+5)

 

SOW(5)

RX(n+3)7~RX(n+3)0

SO(67)~SO(60)

RWr(n+6)

SOD(6)

SOW(6)

RX(n+3)F~RX(n+3)8

SO(77)~SO(70)

RWr(n+7)

 

SOW(7)

RX(n+4)7~RX(n+4)0

SO(107)~SO(100)

RWr(n+8)

SOD(8)

SOW(8)

RX(n+4)F~RX(n+4)8

SO(117)~SO(110)

RWr(n+9)

 

SOW(9)

RX(n+5)7~RX(n+5)0

SO(127)~SO(120)

RWr(n+10)

SOD(10)

SOW(10)

RX(n+5)F~RX(n+5)8

SO(137)~SO(130)

RWr(n+11)

 

SOW(11)

RX(n+6)7~RX(n+6)0

SO(147)~SO(140)

RWr(n+12)

SOD(12)

SOW(12)

RX(n+6)F~RX(n+6)8

SO(157)~SO(150)

RWr(n+13)

 

SOW(13)

 

 

RWr(n+14)

SOD(14)

SOW(14)

 

 

RWr(n+15)

 

SOW(15)

 

n: Address assigned to master module with station No. setting

To write the robot controller’s bit information into the master station PLC’s input device No., write the following commands in the robot program in the same manner as the DO output port:

SET/RESET command Assignment statement OUT command

n NOTE

The SO statement in the robot language can be defined from SO2 ( ) to SO27 ( ), but the CC-Link compatible module accepts from SO2 ( ) to SO15 ( ).

n NOTE

Word data written with SOW(n) is a little endian format with no sign.

Double word data written with SOD(n) is a little endian format with a sign.

Example

: To turn RX(n+1)0 ON

 

 

SET SO(20) or SO(20) =1 ....

* SO(20) will turn ON.

Example

: To write variable A data into RX(n+1)0 to RX(n+1)7

 

SO2() = A

* The variable A data will be converted into

 

 

a binary and substituted into SO2().

 

 

If variable A is 127, 7Fh will be set in

 

 

SO2().

When writing the robot controller’s word information into the master station PLC’s input device No., write the following command in the robot program.

Assignment statement

Example : To write 512 into RWr (n+2) as word data

SOW (2) = 512

* 512 is substituted in SOW (2), and SOW

 

(2) becomes 0200h.

Example : To write 69905 as the double word data for RWr (n+2) and RWr (n+3)

SOD (2) = 69905

* 69905 is substituted in SOD (2), SOW (2)

 

becomes 1111h and SOW (3) becomes

 

0001h.

3-4

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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 Appendix TroubleshootingSpecifications Outline Memo Emulated serialization on parallel DIO FeaturesWiring saving Mechanism PLCCommunication speed switch BPS Station No. setting switch LSB 1st digitStation No. setting switch MSB 2nd digit CC-Link system cable terminalsAssignment of CC-Link compatible I/O A1SHCPUPLC Outline Outline Memo Connection Memo Confirming the CC-Link compatible module settings OperationProcedure Installing the CC-Link compatible moduleResponse when starting the robot controller 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 data process master station PLC side Initial process for connecting to CC-Link systemInitial data process 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 connectionShift to emergency stop Initial servo on process after power onServo on and emergency stop Servo on process from emergency stop statusProgram reset process SpecificationsAuto mode changeover process Program execution processProgram stop process using interlock input Stopping with program interlockSample program Details of sampleBit information used Robot program data assignment Variables usedPoints 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
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