Yamaha Yamaha Robot Controller CC-Link Unit, RCX Series Stopping with program interlock

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3.Dedicated input/output signal timing chart

3.4Stopping with program interlock

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.

RXn8:SO(10)

on

 

AUTO mode status

off

output

RXn9:SO(11)

on

 

Origin return complete

off

status output

RXnB:SO(13)

on

 

Robot program execution

 

status output

off

RYn9:SI(11)

on

 

Interlock input

 

 

off

RYnA:SI(12)

on

Robot program start

 

input

off

 

a) b) c)

d) e)

f)

g) h)

i)

100ms or more

Program execution process

a)Robot program start input ON is input

b)Robot program execution status output ON is output

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

Program stop process using interlock input

d)Interlock input OFF is input

e)Robot program execution status output OFF is output

Program execution after stopping program with interlock input

f)Interlock input ON is input

g)Robot program start input ON is input

h)Robot program execution status output ON is output

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

*The program will also stop when the emergency stop input OFF is input. In this case, the emergency stop input status and alarm status output ON will be output, and the servo ON status output OFF will be output. The servo ON process is required to start the program again.

*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

5-9

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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 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 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 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 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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