Yamaha Yamaha Robot Controller CC-Link Unit Robot program data assignment Variables used

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4. Sample program

[Robot program data assignment]

* Variables used
1st unit :	A	: Point No. in pallet
2nd unit :	B	: Point No. in pallet
* Points used
1st unit :	P100	: Point above workpiece supply
	P101	: 1st point above pallet
	:	:
	P108	: 8th point above pallet
	P121	: Z axis position point for workpiece supply
	P122	: Z axis position point on pallet
2nd unit :	P200	: Point above workpiece supply
	P201	: 1st point above pallet
	:	:
	P208	: 8th point above pallet
	P221	: Z axis position point for workpiece supply
	P222	: Z axis position point on pallet
* Bit information used
1st unit :	SI (40)	: Point No. reception complete input
	SI (41)	: Movement complete response standby input
	SI (42)	: Movement complete standby input
	SO (23) to SO (20)	: Point No. setting output group
	SO (40)	: Point No. setting complete output
	SO (41)	: Movement complete output
	SO (42)	: Movement complete response output
	DI (47)	: Pallet change complete input
	DO (40)	: Chuck hand open close (0: Close, 1: Open)
	DO (47)	: Pallet exchange command output
2nd unit : SI (23) to SI (20)		: Point No. setting input group
	SI (40)	: Point No. transmission complete input
	SI (41)	: Movement complete standby input
	SI (42)	: Movement complete response standby input
	SO (40)	: Point No. setting reception complete output
	SO (41)	: Movement complete response output
	SO (42)	: Movement complete output
	DO (40)	: Chuck hand open/close (0: Close, 1: Open)

5

Specifications

5-11

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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 Appendix TroubleshootingSpecifications Outline Memo Emulated serialization on parallel DIO FeaturesWiring saving 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 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 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 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