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

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Specifications

2. Details of remote input/output signals

Device No.

Signal name

Details

RYn0

SI (00): Emergency stop input

Turn OFF to trigger emergency stop on controller.

Keep turned ON during normal operation.

 

 

 

 

Turn ON to cancel emergency stop and turn ON the

 

 

robot servo motor.

 

 

Servo-ON is executed when this input is switched

RYn1

SI (01): Servo ON input

from OFF to ON.

Emergency stop input [SI(00)] (RYn0) must be ON

 

 

 

 

and emergency stop conditions in the robot

 

 

controller (emergency stop terminal of SAFETY

 

 

connector, etc.) must be canceled.

 

 

Turn OFF to enter the controller in service mode. Keep

 

 

turned ON during normal operation.

RYn2

SI (02): Service mode input

(Effective only when SAFE mode is enabled.)

 

 

(In SAFE mode enabled, dedicated input might be

 

 

disabled depending on service mode parameter setting.)

 

 

 

 

 

Turn ON to execute a step in the program during

RYn3

SI (03): Step run

AUTO mode.

One line of the program is executed when this input

 

 

 

 

is changed from OFF to ON.

 

 

 

 

 

Changes from OFF to ON while executing the IO

RYn5

SI (05): IO command execution trigger input

command.

Turns ON after the IO command is set to a general-

 

 

purpose input.

 

 

 

 

 

Turn ON to execute sequence program in the robot

RYn8

SI (10): Sequence control input

controller.

 

 

Sequence program is executed when this input is ON.

 

 

 

RYn9

SI (11): Interlock input

Turn OFF to stop execution of robot program.

Keep tuned ON to continue program execution.

 

 

 

 

 

 

 

Turn ON to execute robot program.

RYnA

SI (12): Robot program start input

Robot program is executed when this input is

switched from OFF to ON.

 

 

 

 

Robot controller must be in AUTO mode.

 

 

Turn ON to select AUTO mode.

RYnB

SI (13): AUTO mode input

Robot program enters AUTO mode when this input

 

 

is switched from OFF to ON.

 

 

 

 

 

Turn ON to perform absolute reset on robot.

 

 

Reset is performed when this input is changed from

 

[RCX141/221]

OFF to ON. Absolute reset is not performed on axes

 

SI (14): Absolute reset input

that use mark method for origin return.

 

 

Robot controller must be in MANUAL mode to

RYnC

 

perform absolute reset.

 

 

 

Turn ON to perform origin return on incremental

 

 

 

 

axes.

 

[RCX142/222]

When this input is changed from OFF to ON, origin

 

return is performed on axes that are set to "sensor"

 

SI (14): Origin return

 

or "stroke end" origin return method. Origin return is

 

 

 

 

not performed on axes that are set to "mark" origin

 

 

return method.

 

 

Turn ON to reset robot program.

RYnD

SI (15): Program reset input

Program reset is executed when this input is

switched from OFF to ON.

 

 

 

 

Robot controller must be in AUTO mode.

 

 

Turn ON to select MANUAL mode.

RYnE

SI (16): MANUAL mode input

Robot program enters MANUAL mode when this

 

 

input is switched from OFF to ON.

 

 

 

 

 

Turn ON to perform origin return on incremental

 

 

axes.

 

[RCX141/221]

When this input is changed from OFF to ON, origin

 

SI (17): Origin return

return is performed on axes that are set to "sensor"

 

 

or "stroke end" origin return method. Origin return is

 

 

not performed on axes that are set to "mark" origin

RYnF

 

return method.

 

Turn ON to perform absolute reset on robot.

 

 

 

 

Reset is performed when this input is changed from

 

[RCX142/222]

OFF to ON. Absolute reset is not performed on axes

 

SI (17): Absolute reset input

that use mark method for origin return.

 

 

Robot controller must be in MANUAL mode to

 

 

perform absolute reset.

 

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

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