Yamaha RCX Series, Yamaha Robot Controller CC-Link Unit Sample program, Details of sample

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4. Sample program

An example for the following type of hardware configuration has been prepared for this

section.
	Pallet			MXYx
	Pallet
SXYx
		2nd unit supply position
1st unit supply position	P100	P101	P201	P105
	P100	P101		P105	P205	P200
					P205	P200
		P102	P202	P106	P206
			P202		P206
		P103	P203	P107	P207
			P203		P207
		P104	P204	P108	P208
			P204		P208

5

Specifications

		Remote device station		Remote device station
Master station		RCX40 (1st unit)		RCX142 (2nd unit)
Master station		+ SXYx (3 axes)		+ MXYx (3 axes)
A1SHCPU		+ SXYx (3 axes)		+ MXYx (3 axes)
A1SHCPU		(Station No. 1, 4		(Station No. 5, 4
+A1SJ61BT11		(Station No. 1, 4		(Station No. 5, 4
+A1SJ61BT11		stations occupied)		stations occupied)
		stations occupied)		stations occupied)

[Details of sample]

•Pick & place work is carried out using the PLC and RCX40 + SXYx (3 axes), RCX142+MXYx (3 axes).

•The workpieces supplied to each robot are arranged on one pallet.

•The workpiece is supplied at a rate faster than the robot operation.

•The two robots will interfere above the pallet, so data is exchanged to prevent interfer- ence.

•When handling the workpiece, the robot moves at a low speed.

•The robot controller directly exchanges the pallet.

*Refer to the robot programming manual for details on the robot program language.

*The PLC circuit is a simple circuit that executes the selected robot program when emergency stop is canceled.

5-10

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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 PLCStation No. setting switch LSB 1st digit Station No. setting switch MSB 2nd digitCommunication speed switch BPS CC-Link system cable terminalsAssignment of CC-Link compatible I/O A1SHCPUPLC Outline Outline Memo Connection Memo Confirming the CC-Link compatible module settings OperationInstalling the CC-Link compatible module Response when starting the robot controllerProcedure 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 connectionInitial servo on process after power on Servo on and emergency stopShift to emergency stop Servo on process from emergency stop statusSpecifications Auto mode changeover processProgram reset 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