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

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4. Direct connection by emulated serialization on parallel DIO

The master station PLC can exchange bit information data with the parallel port on the robot controller’s parallel I/O unit regardless of the robot program. By using this func- tion, I/O devices such as a sensor or relay can be used like a device connected to CC-Link.

n NOTE

When the directly connected and set output port is used with the program, the bit information may not become the intended value. Do not use the directly connected and set output port with the program.

Master station PLC

CC-Link connection

Remote device station robot controller

I/O device

Sensor, relay, etc.

Parallel I/O connection

3

n NOTE

When the port specified by SIO is identical with the port used by the program, the output results might be inaccurate.

4.1Emulated serialization setting on parallel DIO

The relation of the parallel port and serial port that can be connected is shown below.

Input device such as sensor			Output device such as valve
DI port	→ SO port		DO port	← SI port

DI2()		SO2()	DO2()		SI2()
DI3()		SO3()	DO3()		SI3()
DI4()		SO4()	DO4()		SI4()
DI5()		SO5()	DO5()		SI5()

[Operation]

1. Press the F 3

(SIO) key in “SYSTEM > OPTION” mode.

SYSTEM>OPTION>SIO

V8.01

1.Direct SI2() -> DO2()

NO

2.Direct SI3() -> DO3()

NO

3.Direct SI4() -> DO4()

NO

4.Direct SI5() -> DO5()

NO

5.Direct SO2() <- DI2()

NO

EDIT

JUMP

Valid keys and submenu functions in this mode are as follows.

Valid keys	Menu	Function

Cursor (↑/↓) keys		Selects SIO parameters.

F1	EDIT	Sets SIO parameters.

F2	JUMP	Jumps to specified SIO parameter.

Communication

3-5

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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 Troubleshooting SpecificationsAppendix Outline Memo Features Wiring savingEmulated serialization on parallel DIO 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 process for connecting to CC-Link system Initial data processInitial data process master station PLC side 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 programRobot program data assignment Variables used Points usedBit information 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