Yamaha RCX Series owner manual Specifications, Auto mode changeover process, Program reset process

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3. Dedicated input/output signal timing chart

3.3AUTO mode changeover, program reset and program execution

5

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.

on

	RXn8:SO(10)
	AUTO mode status	off
	output	off
	output	on
	RXn9:SO(11)	on
	RXn9:SO(11)
	Origin return complete	off
	status output	off
	status output	on
		on
	RXnB:SO(13)
	Robot program execution	off
	status output	off
	status output	on
		on

RXnC:SO(14)

Program reset status output off

on

RYn9:SI(11)
Interlock input	off
	off
	on
RYnA:SI(12)
Robot program start input	off
	off
	on
RYnB:SI(13)
AUTO mode input	off
	off
RYnD:SI(15)	on
RYnD:SI(15)
Program reset input	off
	off

a)

b)

c)

d)

e)

f)

g) h) i)

Specifications

100ms or more 100ms or more

AUTO mode changeover process

a)AUTO mode input ON is input

b)AUTO mode status output ON is output

c)After confirming that the AUTO mode status output is ON, the AUTO mode input OFF is input

Program reset process

d)Program reset input ON is input

e)Program reset status output ON is output

f)After confirming that the program reset status output is ON, the program reset input OFF is input

Program execution process

g)Robot program start input ON is input

h)Program reset status output OFF is output

Robot program execution status output ON is output

i)After confirming that the robot program execution status output is ON, the robot program start input OFF is input

*The program cannot be executed if the emergency stop input and interlock input are OFF.

*If the origin return complete status output is not ON, execution of the program may not be possible depending on the execution level setting value.

*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 signal is set to ON with SI (02) in the CC-Link system.

5-8

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