Yamaha Yamaha Robot Controller CC-Link Unit, RCX Series owner manual RET From H0

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4. Sample program

X17B X101 X100 X102

109

X102

X17B X190 137

X191

X192

X193

X1A0

X1A1

X1A2

X1A3

X1B0

X1B1

X1B2

X1B3

X1C0

X1C1

X1C2

X1C3

M9036

186

196

P20 M9036

197

X1F8

208

(Y101

X109

(Y10E

X108 X109

(Y10F

X109

(Y10B

X108 X10B X10C

(Y10D

X108 X10C X10B

(Y10A

(Y110

(Y111

(Y112

(Y113

(Y120

(Y121

(Y122

(Y123

(Y130

(Y131

(Y132

(Y133

(Y140

(Y141 (Y142

(Y143

[T0

H0

H160

K4Y100

K8

[RET

[FROM H0

H0E8 K4X180

K8

[SET Y180

[SET Y189 [SET Y1F8

)

)

)

)

)

)

)

)

)

)

)

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)

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]

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User application

Write to station No. 1 remote output

Read station No. 2 remote input

Set emergency stop input ON

Set interlock input ON

Set initial data process compete flag ON

5

Specifications

5-15

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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 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 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 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 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