Manuals / Yamaha / Computer Equipment / Robotics

Yamaha RCX Series, Yamaha Robot Controller CC-Link Unit owner manual Mechanism, Plc

Models: Yamaha Robot Controller CC-Link Unit RCX Series

1 76

Download 76 pages 2.82 Kb

Page 14

1

Outline

2. Mechanism

The mechanism of communication is explained in this section to provide an understand- ing of how the robot controller and PLC operate via the CC-Link system.

		ON/OFF information
Master station				Robot
Master station				Robot
PLC		q		controller


		w
		w

qThe robot controller’s ON/OFF information is sent to the master station PLC via the network (CC-Link system cable).

wThe master station PLC’s ON/OFF information is set to the robot controller via the network (CC-Link system cable).

*The robot controller monitors the ON/OFF information at a 10ms cycle.

*The ON/OFF information consists of 16 points each of dedicated I/O points, 96 points each of general-purpose I/O points as bit information, and two words each of dedi- cated I/O words, 14 words each of general-purpose I/O words as word information.

If the following is executed with the robot program in the robot controller, the bit infor- mation will be sent to the master station PLC via the CC-Link system by q.

SO (20) = 1

Conversely, if the following is executed with the robot program, the bit information re- ceived from the master station PLC via the CC-Link system will be monitored by w, and will wait for the ON information.

WAIT SI (20) = 1

If the following is executed with the robot program in the robot controller, the word information will be sent to the master station PLC via the CC-Link system by q.

SOW (2) = 256

Conversely, if the following is executed with the robot program, the word information received from the master station PLC via the CC-Link system will be substituted in inte- ger variable A% by w.

A% = SIW (3)

1-2

Image 14

Yamaha RCX Series, Yamaha Robot Controller CC-Link Unit owner manual Mechanism, Plc

Contents

Unit Page Introduction Safety Precautions Always read before starting use Precautions for design Precautions for installation Precautions for wiring Precautions for starting and maintenance Precautions for disposal Warranty Warranty description Memo Contents Appendix TroubleshootingSpecifications Outline Memo Emulated serialization on parallel DIO FeaturesWiring saving Mechanism PLC Communication speed switch BPS Station No. setting switch LSB 1st digitStation No. setting switch MSB 2nd digit CC-Link system cable terminals Assignment of CC-Link compatible I/O A1SHCPU PLC Outline Outline Memo Connection Memo Confirming the CC-Link compatible module settings Operation Procedure Installing the CC-Link compatible moduleResponse when starting the robot controller Saving the robot controller data Setting the CC-Link compatible module Setting the station No Setting the communication speed Procedures Noise measures Mounting the ferrite core Connecting to the CC-Link system Testing the line from the master station PLC Parameter setting for CC-Link serial I/O board Parameter Meaning Parameter setting for CC-Link serial I/O board Type Display Meaning Press the F Edit key Memo Communication Memo State when robot controller power is turned on When connection to CC-Link system is correctly established Initial data process master station PLC side Initial process for connecting to CC-Link systemInitial data process Communication with master station PLC Receiving data Transmitting data Direct connection by emulated serialization on parallel DIO Direct connection by emulated serialization on parallel DIO Direct connection from SI n to do n Direct connection by emulated serialization on parallel D Direct connection from SO n to DI n Referring to communication data Referring to the data from the programming unit Troubleshooting Memo Items to confirm before starting up CC-Link system Confirmation details Check Meanings of LEDs on CC-Link compatible module RUN Errl SD RD Troubleshooting Confirmation item Programming unit error display confirmation CC-Link compatible module LED confirmation Confirmation from master station PLC Error messages relating to CC-Link Emg.stop on Memo Specifications Memo Profile Remote registers Details of remote input/output signals Device No Signal name Details RXn0 Details of remote input/output signals Details of remote input/output signals Dedicated input/output signal timing chart Initial data process for CC-Link connection Shift to emergency stop Initial servo on process after power onServo on and emergency stop Servo on process from emergency stop status Program reset process SpecificationsAuto mode changeover process Program execution process Program stop process using interlock input Stopping with program interlock Sample program Details of sample Bit information used Robot program data assignment Variables usedPoints used PLC data assignment X1FF Robot program 1st unit’s RCX40 2nd unit’s RCX142 Gosub *PLACE PLC program X0F From RET From H0 Set initial data process complete flag OFF CC-Link compatible module specifications Communication speed setting Memo Appendix Memo Term definition Unit