Yamaha Yamaha Robot Controller CC-Link Unit Items to confirm before starting up CC-Link system

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1. Items to confirm before starting up CC-Link system

n NOTE

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.

Confirm the following items before starting up the CC-Link system.

		Confirmation details	Check

1	Is the CC-Link compatible module accurately connected?
		(Refer to Chapter 2 section 2 or 3.)


2	Is the robot controller set to the CC-Link system specifications?
		(Refer to Chapter 2 section 1.)


3	Are the CC-Link compatible module station No. and communication speed
	correctly set?	(Refer to Chapter 2 section 1.)


4	Is the ferrite core connected to the power input cable to the robot controller?
		(Refer to Chapter 2 section 4.)


5	Is the CC-Link system cable accurately connected to the CC-Link compatible
	module?	(Refer to Chapter 2 section 5.)


6	Was the line test from the master station PLC correct?
		(Refer to the master station PLC instruction manual.)


7	Is the master station PLC set for the 4-station occupying remote device?
		(Refer to the master station PLC instruction manual.)


8	Is the master station PLC exchanging the data for four stations? (The data for four
	stations must always be exchanged.)


9	Has the initial data process been carried out between the master station and robot
	controller?	(Refer the initialization process in Chapter 3 section 2.)


10	Is the master station PLC judging that the robot controller is correctly functioning using
	RX(n+7)8 (remote station Ready)? (Refer the samples in Chapter 5 section 4.)

4

Troubleshooting

4-1

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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 MechanismStation No. setting switch MSB 2nd digit Station No. setting switch LSB 1st digitCommunication speed switch BPS CC-Link system cable terminalsA1SHCPU Assignment of CC-Link compatible I/OPLC Outline Outline Memo Connection Memo Operation Confirming the CC-Link compatible module settingsResponse when starting the robot controller Installing the CC-Link compatible moduleProcedure Saving the robot controller dataSetting 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 and emergency stop Initial servo on process after power onShift to emergency stop Servo on process from emergency stop statusAuto mode changeover process SpecificationsProgram reset process Program execution 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