Yamaha Yamaha Robot Controller CC-Link Unit, RCX Series Details of remote input/output signals

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2. Details of remote input/output signals

Device No.

Signal name

Details

RXn0

SO (00): Emergency stop input status output

Turns ON when robot controller is in emergency stop state.

RXn1

SO (01): CPU_OK status output

Turns ON when robot controller is in normal state.

RXn2

SO (02): Servo ON status output

Turns ON when robot controller motor power is ON.

 

 

Turns ON when robot controller is in following state:

RXn3

SO (03): Alarm status output

• Serious error occurred in robot controller.

 

 

• Emergency stop input OFF

RXn8

SO (10): AUTO mode status output

Turns ON when selected mode is AUTO mode.

Turns OFF when other mode is selected.

 

 

RXn9

SO (11): Origin return complete status output

Turns ON when robot has complete origin return.

RXnA

SO (12): Sequence program execution status output

Turns ON while sequence program is executed.

RXnB

SO (13): Robot program execution status output

Turns ON while robot program is executed.

RXnC

SO (14): Program reset status output

Turns ON when robot program has been reset.

Turns OFF when robot program starts.

 

 

 

 

 

 

 

Turns ON when the system backup battery (all

RXnD

SO (15): Battery alarm output

models of RCX series) or absolute battery

 

 

(RCX142/222) is low.

 

 

Turns OFF while executing the IO command.

RXnE

SO (16): IO command execution judgment output

After executing the IO command turns ON if

 

 

normal, and stays OFF if abnormal.

RXnF

SO (17): Output during IO command execution

Turns ON while the IO command is being executed.

RX(n+1)0

 

 

to

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

 

RX(n+1)7

 

 

 

 

General-purpose output turns ON/OFF when value

to

to

is substituted to SO port, or SET/RESET command

 

 

is executed or OUT command is executed.

RX(n+6)8

 

 

to

SO(150) to SO(157): General-purpose output

 

RX(n+6)F

 

 

 

 

The initial data process request flag turns ON to request

 

 

the initial data setting when the power is turned ON, or

RX(n+7)8

Initial data process request flag

when returning from a communication error.

 

 

Turns OFF when initial data process is completed

 

 

(initial data process complete flag RY(n+7)8 turns ON).

 

 

Turns ON when initial data setting is completed and

RX(n+7)B

Remote station ready

READY state is entered when power is turned ON

 

 

or when returning from communication error.

 

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

5

Specifications

5-3

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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
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