Yamaha Yamaha Robot Controller CC-Link Unit Robot program 1st unit’s RCX40 2nd unit’s RCX142

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	4. Sample program

[Robot program]
1st unit’s RCX40	2nd unit’s RCX142
‘INIT ROUTINE	‘INIT ROUTINE
RESET SO2()	RESET SO2()
RESET SO4()	RESET SO4()
RESET DO4()	RESET DO4()
A=101	B=201
‘MAIN ROUTINE	‘MAIN ROUTINE
MOVE P,P100,Z=0	MOVE P,P200,Z=0
GOSUB *PICK	GOSUB *PICK
*ST1:	*ST2:
MOVE P,P[A],Z=0	WAIT SI(41)=1
GOSUB *PLACE	SO(41)=1
MOVE P,P100,Z=0	WAIT SI(41)=0
SO(41)=1	SO(41)=0
WAIT SI(41)=1	WAIT SI(40)=1
SO(41)=0	B=SI(23,22,21,20)
WAIT SI(41)=0	SO(40)=1
SO(23,22,21,20)=A-100	WAIT SI(40)=0
SO(40)=1	SO(40)=0
WAIT SI(40)=1	B=B+200
SO(40)=0	MOVE P,P[B],Z=0
WAIT SI(40)=0	GOSUB *PLACE
SO(23,22,21,20)=0	MOVE P,P200,Z=0
GOSUB *PICK	SO(42)=1
WAIT SI(42)=1	WAIT SI(42)=1
SO(42)=1	SO(42)=0
WAIT SI(42)=0	WAIT SI(42)=0
SO(42)=0	GOSUB *PICK
A=A+1	GOTO *ST2
IF A>108 THEN	HALT
A=101	‘SUB ROUTINE FOR PICK
DO(47)=1	*PICK:
WAIT DI(47)=1	DO(40)=1
DO(47)=0	DRIVE(3,P221),S=20
ENDIF	WAIT ARM(3)
GOTO *ST1	DO(40)=0
HALT	DELAY 500
‘SUB ROUTINE FOR PICK	RETURN
*PICK:	‘SUB ROUTINE FOR PLACE
DO(40)=1	*PLACE:
DRIVE(3,P121),S=20	DRIVE(3,P222),S=20
WAIT ARM(3)	WAIT ARM(3)
DO(40)=0	DO(40)=1
DELAY 500	DELAY 500
RETURN	RETURN
‘‘SUB ROUTINE FOR PLACE
*PLACE:
DRIVE(3,P122),S=20
WAIT ARM(3)
DO(40)=1
DELAY 500
RETURN

5

Specifications

5-13

Image 67

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 Specifications TroubleshootingAppendix Outline Memo Wiring saving FeaturesEmulated 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 data process Initial process for connecting to CC-Link systemInitial 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 programPoints used Robot program data assignment Variables 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