Yamaha Yamaha Robot Controller CC-Link Unit, RCX Series owner manual Term definition

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1. Term definition

1.CC-Link (Control & Communication Link)

CC-Link is a registered trademark of CC-Link partner association.

2.SAFE mode setting

When the SAFE mode setting is enabled, service mode input is made valid so that safety functions such as operating speed limits in MANUAL mode can be used. The SAFE mode setting is determined at the time of shipping.

The SAFE mode setting is always enabled for controllers compatible with CE marking.

3.SERVICE mode

This mode is valid only when the SAFE mode setting is enabled, and can be con- trolled by service mode input signals.

4.SAFETY connector

This connector is used to connect emergency stop input and service mode input. Located on the front panel of the robot controller.

5.STD. DIO connector

This connector is used to receive or output dedicated I/O signals and general- purpose I/O signals. Located on the front panel of the robot controller.

6.bit information

Bit data transmitted and received between master station PLC and controller.

7.Word information

Word data transmitted and received between master station PLC and controller.

8.Little endian

Method to substitute LSB in low-order address and refer to LSB when handling word information data as double word data.

For example, when the value 00012345h is substituted in SOD (2), 2345h is sub- stituted in SOW (2) of the first word, and 0001h is substituted in SOW (3) of the second word.

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Appendix

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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 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 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 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 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