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

Page 55

1. Profile

YAMAHA robot controller (4-station occupying)

Remote input/output

 

Remote → Master

 

Master → Remote

Device No.

Signal name

Device No.

Signal name

RXn0

SO (00): Emergency stop input status output

RYn0

SI (00): Emergency stop input

RXn1

SO (01): CPU_OK status output

RYn1

SI (01): Servo ON input

RXn2

SO (02): Servo ON status output

RYn2

SI (02): Service mode input

RXn3

SO (03): Alarm status output

RYn3

System area [for future expansion]

RXn4

 

RYn4

 

 

RXn5

System area [for future expansion]

RYn5

SI (05):IO command execution trigger input

RXn6

RYn6

System area [for future expansion]

 

RXn7

 

RYn7

 

 

RXn8

SO (10): AUTO mode status output

RYn8

SI (10): Sequence control input

RXn9

SO (11): Origin return complete status output

RYn9

SI (11): Interlock input

RXnA

SO (12): Sequence program execution status output

RYnA

SI (12): Robot program start input

RXnB

SO (13): Robot program execution status output

RYnB

SI (13): AUTO mode input

RXnC

SO (14): Program reset status output

RYnC

System area [for future expansion]

RXnD

System area [for future expansion]

RYnD

SI (15): Program reset input

RXnE

SO (16): IO command execution judgment output

RYnE

SI (16): MANUAL mode input

RXnF

SO (17): Output during IO command execution

RYnF

SI (17): Absolute reset input

RX(n+1)0

 

RY(n+1)0

 

to

SO(20) to SO(27): General-purpose output

to

SI(20) to SI(27): General-purpose input

RX(n+1)7

 

RY(n+1)7

 

RX(n+1)8

 

RY(n+1)8

 

to

SO(30) to SO(37): General-purpose output

to

SI(30) to SI(37): General-purpose input

RX(n+1)F

 

RY(n+1)F

 

RX(n+2)0

 

RY(n+2)0

 

to

SO(40) to SO(47): General-purpose output

to

SI(40) to SI(47): General-purpose input

RX(n+2)7

 

RY(n+2)7

 

RX(n+2)8

 

RY(n+2)8

 

to

SO(50) to SO(57): General-purpose output

to

SI(50) to SI(57): General-purpose input

RX(n+2)F

 

RY(n+2)F

 

RX(n+3)0

 

RY(n+3)0

 

to

SO(60) to SO(67): General-purpose output

to

SI(60) to SI(67): General-purpose input

RX(n+3)7

 

RY(n+3)7

 

RX(n+3)8

 

RY(n+3)8

 

to

SO(70) to SO(77): General-purpose output

to

SI(70) to SI(77): General-purpose input

RX(n+3)F

 

RY(n+3)F

 

RX(n+4)0

 

RY(n+4)0

 

to

SO(100) to SO(107): General-purpose output

to

SI(100) to SI(107): General-purpose input

RX(n+4)7

 

RY(n+4)7

 

RX(n+4)8

 

RY(n+4)8

 

to

SO(110) to SO(117): General-purpose output

to

SI(110) to SI(117): General-purpose input

RX(n+4)F

 

RY(n+4)F

 

RX(n+5)0

 

RY(n+5)0

 

to

SO(120) to SO(127): General-purpose output

to

SI(120) to SI(127): General-purpose input

RX(n+5)7

 

RY(n+5)7

 

RX(n+5)8

 

RY(n+5)8

 

to

SO(130) to SO(137): General-purpose output

to

SI(130) to SI(137): General-purpose input

RX(n+5)F

 

RY(n+5)F

 

n: Address assigned to master module with station No. setting

5

Specifications

5-1

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