Yamaha RCX Series, Yamaha Robot Controller CC-Link Unit owner manual PLC data assignment, X1FF

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4. Sample program

5

Specifications

[PLC data assignment]
X0 (*1)	: Unit error
X1 (*1)	: Local station data link status
X6 (*1)	: Data link start normal completion
X7 (*1)	: Data link start error completion
X0F (*1)	: Unit ready
X100	: 1st unit’s SO(00): Emergency stop input status
X101	: 1st unit’s SO(01): CPU_OK
:	:
X17F	: 1st unit reservation
X180	: 2nd unit’s SO(00): Emergency stop input status
X181	: 2nd unit’s SO(01): CPU_OK
:	:
X1FF	: 2nd unit reservation
Y0 (*1)	: Refresh instruction
Y6 (*1)	: Data link start request
Y100	: 1st unit’s SI(00): Emergency stop input
Y101	: 1st unit’s SI(01): Servo ON input
:	:
Y17F	: 1st unit reservation
Y180	: 2nd unit’s SI(00): Emergency stop input
Y181	: 2nd unit’s SI(01): Servo ON input
:	:
Y1FF	: 2nd unit reservation
M0	: Unit preparation complete flag
M1	: Parameter setting flag
M2	: Data link start flag
M4	: 1st station data link status
M8	: 5th station data link status
D0	: No. of connection units storage device
D1	: 1st unit local station information setting storage device
D2	: 2nd unit local station information setting storage device
D10	: Parameter setting status storage device

*1: This number is determined by the master module mounting position and the number of occupied input/output points mounted before the module.

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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 Troubleshooting SpecificationsAppendix Outline Memo Features Wiring savingEmulated serialization on parallel DIO 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 process for connecting to CC-Link system Initial data processInitial 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 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 sampleRobot program data assignment Variables used Points 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