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

Page 59

 

 

 

 

 

 

2. Details of remote input/output signals

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Device No.

 

 

Signal name

 

 

Details

 

 

 

RY(n+1)0

 

 

 

 

 

 

 

 

 

 

to

 

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

 

 

 

 

 

 

RY(n+1)7

 

 

 

 

 

 

 

 

 

 

to

 

 

to

 

 

Set these inputs to ON or OFF to refer to SI port

 

 

 

 

 

 

 

values or execute WAIT command.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

RY(n+6)8

 

 

 

 

 

 

 

 

 

 

to

 

SI(150) to SI(157): General-purpose input

 

 

 

 

 

 

RY(n+6)F

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Turns ON when power is turned ON,

 

 

 

 

 

 

 

 

 

communication error is reset, or data initialization is

 

 

 

RY(n+7)8

Initial data process complete flag

 

requested or completed.

 

 

 

 

 

 

 

 

 

Emergency stop input (RYn0) and interlock input

 

 

 

 

 

 

 

 

 

(RYn9) are turned ON when data is initialized.

 

 

 

 

 

 

 

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

 

 

 

 

 

 

 

 

 

 

Device No.

 

Name

 

Details

 

 

 

RWwn

 

 

Dedicated SIW(0)

 

Used as the remote command area.

 

 

 

RWw(n+1)

 

 

Dedicated SIW(1)

 

Used as the remote command’s command

 

 

 

 

 

 

data area.

 

 

 

 

 

 

 

 

 

 

 

 

 

RWw(n+2)

 

General-purpose

General-purpose SIW(2)

 

 

 

 

RWw(n+3)

 

SID(2)

General-purpose SIW(3)

 

 

 

 

RWw(n+4)

 

General-purpose

General-purpose SIW(4)

 

 

 

 

RWw(n+5)

 

SID(4)

General-purpose SIW(5)

 

 

 

 

RWw(n+6)

 

General-purpose

General-purpose SIW(6)

 

 

 

 

RWw(n+7)

 

SID(6)

General-purpose SIW(7)

Used to input word or double word data

 

 

 

RWw(n+8)

 

General-purpose

General-purpose SIW(8)

from SIW or SID port.

 

 

 

RWw(n+9)

 

SID(8)

General-purpose SIW(9)

Or, used as remote command’s command

 

 

 

RWw(n+10)

General-purpose

General-purpose SIW(10)

data area.

 

 

 

RWw(n+11)

SID(10)

General-purpose SIW(11)

 

 

 

 

RWw(n+12)

General-purpose

General-purpose SIW(12)

 

 

 

 

RWw(n+13)

SID(12)

General-purpose SIW(13)

 

 

 

 

RWw(n+14)

General-purpose

General-purpose SIW(14)

 

 

 

 

RWw(n+15)

SID(14)

General-purpose SIW(15)

 

 

 

 

 

 

 

 

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

 

 

 

 

 

 

 

 

 

Device No.

 

Name

 

Details

 

 

 

RWrn

 

 

Dedicated SOW(0)

 

Used as remote command’s status area.

 

 

 

RWr(n+1)

 

 

Dedicated SOW(1)

 

Used as remote command’s error

 

 

 

 

 

 

code area.

 

 

 

 

 

 

 

 

 

 

 

 

 

RWr(n+2)

 

General-purpose

General-purpose SOW(2)

 

 

 

 

RWr(n+3)

 

SOD(2)

General-purpose SOW(3)

 

 

 

 

RWr(n+4)

 

General-purpose

General-purpose SOW(4)

 

 

 

 

RWr(n+5)

 

SOD(4)

General-purpose SOW(5)

 

 

 

 

RWr(n+6)

 

General-purpose

General-purpose SOW(6)

 

 

 

 

RWr(n+7)

 

SOD(6)

General-purpose SOW(7)

Used to output word or double word data

 

 

 

RWr(n+8)

 

General-purpose

General-purpose SOW(8)

from SOW or SOD port.

 

 

 

RWr(n+9)

 

SOD(8)

General-purpose SOW(9)

Or, used as remote command’s response

 

 

 

RWr(n+10)

 

General-purpose

General-purpose SOW(10)

area.

 

 

 

RWr(n+11)

 

SOD(10)

General-purpose SOW(11)

 

 

 

 

RWr(n+12)

 

General-purpose

General-purpose SOW(12)

 

 

 

 

RWr(n+13)

 

SOD(12)

General-purpose SOW(13)

 

 

 

 

RWr(n+14)

 

General-purpose

General-purpose SOW(14)

 

 

 

 

RWr(n+15)

 

SOD(14)

General-purpose SOW(15)

 

 

 

 

 

 

 

 

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

5

Specifications

5-5

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Page 58 Page 60
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 Appendix TroubleshootingSpecifications Outline Memo Emulated serialization on parallel DIO FeaturesWiring saving 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 master station PLC side Initial process for connecting to CC-Link systemInitial data process 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 programBit information used Robot program data assignment Variables usedPoints 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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