Yamaha Yamaha Robot Controller CC-Link Unit Servo on and emergency stop, Shift to emergency stop

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3. Dedicated input/output signal timing chart

3.2Servo ON and emergency stop

c CAUTION

•The dedicated input ON/OFF process from the master station PLC to the controller must be carried out at an interval of 100ms or more. If the interval is too short, the dedicated input may not be recognized. (This also applies to the same dedicated input and differing dedicated input intervals.)

•If dedicated outputs are provided for the dedicated inputs from the master station PLC to controller, use them.

RXn0:SO(00) Emergency stop input status output

RXn1:SO(01)

CPU_OK output

RXn2:SO(02)

Servo ON status output

RXn3:SO(03) Alarm status output

RYn0:SI(00) Emergency stop input

RYn1:SI(01)

Servo ON input

on

off on

off on

off on

off on

off on

off

a)

b) c)

d) e)

f) g)

h) i)

j) k)

Initial servo ON process after power ON

a)Servo ON input ON is input

b)If not in the emergency stop state, output servo ON status ON is output

c)After confirming that servo ON status output is ON, servo ON input OFF is input

Shift to emergency stop

d)Emergency stop input OFF is input

e)Emergency stop input status and alarm status output ON are output Servo ON status output OFF is output

Servo ON process from emergency stop status

f)Emergency stop input ON is input

g)Emergency stop input status output OFF is output

h)Servo ON input ON is input

i)Alarm status output OFF is output

j)Servo ON status output ON is output

k)After confirming that servo ON status output is ON, servo ON input OFF is input

*The servo is OFF when the controller power is turned ON.

*When SAFE mode is enabled, dedicated inputs other than SI (00) and SI (11) might be disabled depending on service mode parameter setting unless service mode input sig- nal is set to ON with SI (02) in the CC-Link system.

5

Specifications

5-7

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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 Specifications TroubleshootingAppendix Outline Memo Wiring saving FeaturesEmulated 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 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 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 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