Yamaha Yamaha Robot Controller CC-Link Unit Error messages relating to CC-Link, Emg.stop on

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4. Error messages relating to CC-Link

This section describes error messages relating to CC-Link compatible units. For other messages, refer

to robot controller owner's manuals.

When an error occurs, an error message appears on the message line (2nd line) of the MPB screen.

12.1 : Emg.stop on

 

Code

: &H0C01

Meaning/Cause : a. MPB emergency stop button was pressed.

 

b. Emergency stop terminals on SAFETY connector are open (emergency stop status).

 

c. MPB or terminator is not connected to MPB connector.

 

d. SAFETY connector is not connected.

 

e. SI(00) is not ON.

 

f. Error in connection to CC-Link system.

Action

: 1. Release the MPB emergency stop button.

 

2. Close the emergency stop terminals on SAFETY connector.

 

3. Connect MPB or terminator to MPB connector.

 

4. Attach the SAFETY connector.

 

5. Set SI(00) to ON.

 

6. Correct the connection to CC-Link system.

 

 

12.2 : Interlock on

Code: &H0C02

Meaning/Cause : a. Program was executed or moving of axis attempted with interlock signal still input.

 

b. Interlock signal turned ON during execution of program or axis movement..

 

c. DC 24V is supplied to STD.DIO connector and DI(11) is not turned ON.

 

d. SI(11) is not ON.

 

e. Error in connection to CC-Link system.

Action

: 1. Cancel the interlock signal, and execute program or move axis.

2.Set DI(11) on STD.DIO connector to ON.

3.Set SI(11) to ON.

4.When not using STD.DIO, disable (invalid) the "Watch on STD.DO DC24V" parameter in SYSTEM mode.

5.Correct the connection to CC-Link system.

12.11: CC-Link communication error

Code

: &H0C0B

Meaning/Cause

: a. Error in cable for CC-Link system.

 

b. Master station sequencer power is turned off or the operation has stopped.

Action

: 1. Check for the cable and take measures to suppress noise on the controller.

2.Check if the master station sequencer is operating correctly.

12.12: CC-Link overtime error

Code

: &H0C0C

Meaning/Cause

: a. Communication error in CC-Link system due noise, etc.

 

b. Master station sequencer power is turned off or the operation has stopped.

Action

: 1. Take measures to suppress noise on the CC-Link system cable and controller.

2.Check if the master station sequencer is operating correctly.

12.70: Incorrect option setting

Code

: &H0C46

Meaning/Cause : a. Error in DIP switch setting on option unit.

 

b. Mismatched option units have been installed.

 

c. Cannot identify the installed option unit.

Action

: 1. Check the DIP switch settings on the option unit.

 

2. Install the correct option units.

 

3. Replace the option unit.

 

 

4

Troubleshooting

4-7

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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
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