Yamaha RCX Series Safety Precautions Always read before starting use, Precautions for design

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Safety Precautions (Always read before starting use)

Always read this manual, the robot controller instruction manual and programming manual before using this product. Take special care to safety, and correctly handle the product. The cautions given in this manual are related to this product. Refer to the robot controller instruction manual for details on the cautions to be taken with the robot controller system using this product.

* The safety precautions are ranked as “WARNING” and “CAUTION” in this manual.

w WARNING

Failure to follow WARNING instructions could result in serious injury or death to the operator or person servicing the product.

c CAUTION

Failure to follow CAUTION instructions may result in injury to the operator or person servicing product, or damage to the product or peripheral equipment.

n NOTE

Explains the key point in the operation in a simple and clear manner.

Note that some items described as “CAUTION” may lead to serious results depending on the situation. In any case, important information that must be observed is explained. Store this manual where it can be easily referred to, and make sure that it is delivered to the end user.

CC-Link is a registered trademark of CC-Link partner association.

The CC-Link compatible module provided with a label is compatible with CC-Link Ver 1.10.

[Precautions for design]

w WARNING

•Refer to the CC-Link system Master Module User’s Manual and this manual for details on the state of the CC-Link system and robot controller when a communica- tion error occurs with the CC-Link system, etc.

Configure an interlock circuit in the sequence program so that the system, includ- ing the robot controller will work safely using the communication status informa- tion.

•The SAFETY connector of the robot controller has an emergency stop terminal to trigger emergency stop. Using this terminal, prepare a physical interlock circuit so that the system including the robot controller will work safety.

c CAUTION

•The control line and communication cable must not be bound with or placed near the main circuit or power line. Separate these by at least 100mm.

Failure to observe this could lead to malfunctions caused by noise.

•The dedicated input of the STD.DIO connector provided on the controller will be disabled except for an interlock signal (DI 11). When the external 24V monitor control of system parameters is disabled, the interlock signal (DI 11) will also be disabled.

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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 Specifications TroubleshootingAppendix Outline Memo Wiring saving FeaturesEmulated 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 data process Initial process for connecting to CC-Link systemInitial 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 samplePoints used Robot program data assignment Variables 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
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