Yamaha RCX Series, Yamaha Robot Controller CC-Link Unit Referring to communication data

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Communication

5. Referring to communication data

The ON/OFF information exchanged with the master station PLC can be referred to using the program- ming unit (hereinafter, MPB).

Note that the MPB display update interval is longer than the CC-Link data update interval, so if the ON/ OFF interval is short, accurate information may not be displayed.

5.1Referring to the data from the programming unit

The data exchanged with the master station PLC can be referred to with the MPB. The reference unit is the robot controller input/output port No.

SYSTEM

V8.01

SI monitor

SI0()=&B00000111

SI4()=&B11000000

SI1()=&B00001111

SI5()=&B00101000

SI2()=&B00010001

SI6()=&B00000111

SI3()=&B00000100

SI7()=&B00000000

PARAM

CMU

OPTION

INIT

DIAGNOS

* &Bxxxxxxx corresponds to the 0th bit to 7th bit from right to left.

SYSTEM

V8.01

SIW monitor

SIW(0)=&H0132

SIW(4)=&H0000

SIW(1)=&H0001

SIW(5)=&H0000

SIW(2)=&H8000

SIW(6)=&HFFFF

SIW(3)=&H0000

SIW(7)=&H0000

PARAM

CMU

OPTION

INIT

DIAGNOS

* &Hxxxx expresses a hexadecimal.

[Operation]

1. Press the DISPLAY key. A screen like that shown below will appear.

SYSTEM

V8.01

DI monitor

DI0()=&B00000111

DI4()=&B11000000

DI1()=&B00001111

DI5()=&B00101000

DI2()=&B00010001

DI6()=&B00000111

DI3()=&B00000100

DI7()=&B00000000

PARAM

CMU

OPTION

INIT

DIAGNOS

2.Press the DISPLAY key several times to check the status of SI input ports 0 to 7.

3.Press the DISPLAY key more to check the status of SI input ports 10 to 15.

4.Press the DISPLAY key twice more to check the status of SO input ports 0 to 7.

5.Press the DISPLAY key more to check the status of SO input ports 10 to 15.

6.Press the DISPLAY key twice more to check the status of SIW input ports 0 to 7.

7.Press the DISPLAY key more to check the status of SIW input ports 8 to 15.

8.Press the DISPLAY key more to check the status of SOW output ports 0 to 7.

9.Press the DISPLAY key more to check the status of SOW output ports 8 to 15.

10. To stop checking the input/output ports, press the ESC key.

3-8

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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 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 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 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 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