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RCX Series, Yamaha Robot Controller CC-Link Unit owner manual
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76 pages, 514.82 Kb
OWNER'S MANUAL
YAMAHA Robot Controller
RCX Series
UNIT
Contents
Main
Page
Introduction
Safety Precautions
[Precautions for installation]
[Precautions for wiring]
[Precautions for starting and maintenance]
[Precautions for disposal]
2006 YAMAHA MOTOR CO., LTD.
Warranty
Page
i
Contents
Chapter 1 Outline
Chapter 2 Connection
Chapter 3 Communication
Page
Page
Page
1. Features
2. Mechanism
q w
ON/OFF information Master station PLC
Robot controller
3. Names of each part on the CC-Link compatible module
Front of the unit
1-4
4. Assignment of CC-Link compatible I/O
Remote input Remote input
Automatic update
Program language
Remote device station
5.
Shift of CC-Link system connection status and robot controller status
Page
5. Shift of CC-Link system connection status and robot controller status
Page
Chapter 2 Connection
Page
1. Confirming the CC-Link compatible module settings
2. Setting to the CC-Link system specification controller
2.1 Saving the robot controller data
2.2 Installing the CC-Link compatible module
2.3 Response when starting the robot controller
2-3
3. Setting the CC-Link compatible module
3.1 Setting the station No.
MSB LSB
Front of the unit
2-4
3.2 Setting the communication speed
BPS
Front of the unit
Other than left setting 625K 2.5M 5M 10M Error
01234
4. Noise measures
4.1 Mounting the ferrite core
5. Connecting to the CC-Link system
Front of the unit
5.1
Connecting to the cable terminal to the controller
5.2 Testing the line from the master station PLC
6. Parameter setting for CC-Link serial I/O board
2-8
6.1 Parameter setting for CC-Link serial I/O board
6. Parameter setting for CC-Link serial I/O board
1) Press the
(PARAM) key in SYSTEM mode to enter SYSTEM>PARAM mode. 2) Press the
Option boards installed into the option slots are displayed on the MPB screen.
Page
Page
Chapter 3 Communication
Page
1. State when robot controller power is turned ON
2. Initial process for connecting to CC-Link system
2.1 Initial data process
3. Communication with master station PLC
3.1 Receiving data
3.2 Transmitting data
3. Communication with master station PLC
4.
3-5
Direct connection by emulated serialization on parallel DIO
Master station PLC
Remote device station robot controller
4. Direct connection by emulated serialization on parallel DIO
4. Direct connection by emulated serialization on parallel D
5. Referring to communication data
5.1
Referring to the data from the programming unit
Chapter 4 Troubleshooting
Page
4-1
1. Items to confirm before starting up CC-Link system
Confirm the following items before starting up the CC-Link system.
2. Meanings of LEDs on CC-Link compatible module
ERRL
SD
RUN RD
Front of the unit
3. Troubleshooting
3.1 Robot controller front panel LED confirmation
3.2 Programming unit error display confirmation
3.3 CC-Link compatible module LED confirmation
3.4 Confirmation from master station PLC
4. Error messages relating to CC-Link
12.1 : Emg.stop on
12.2 : Interlock on
12.11: CC-Link communication error
12.12: CC-Link overtime error
Page
Chapter 5 Specifications
Page
5-1
1. Profile
YAMAHA robot controller (4-station occupying) Remote input/output
1. Profile
5-2
Remote registers
5-3
2. Details of remote input/output signals
5-4
2. Details of remote input/output signals
5-5
3. Dedicated input/output signal timing chart
3.1 Initial data process for CC-Link connection
3.2 Servo ON and emergency stop
3.3
AUTO mode changeover, program reset and program execution
3.4 Stopping with program interlock
4. Sample program
Page
Page
Page
5-14
[PLC program]
5-15
5-16
Set initial data process complete flag OFF
User application
Write to station No. 2 remote output
5. CC-Link compatible module specifications
The specifications and appearance are subject to change without prior notice.
Page
Page
Page
Appendix
1. Term definition
OWNER'S MANUAL
RCX Series
UNIT
Revision record
