Yamaha Yamaha Robot Controller CC-Link Unit State when robot controller power is turned on

1. State when robot controller power is turned ON

The CC-Link system specification robot controller always starts operation in servo OFF state when the power turned ON.

qWhen connection to CC-Link system is correctly established.

The following conditions must be satisfied to correctly connect to the CC-Link sys- tem:

•The CC-Link system cable must be physically connected

•The station No. and communication speed must be correctly set

•The master station PLC must be operating correctly

When the robot controller is correctly connected to the CC-Link system, the normal state will be indicated with the LEDs on the CC-Link compatible module.

At this time, the emergency stop signal and interlock signal in the CC-Link system will be valid, so these signals must be turned ON with the initial data process.

The emergency stop terminal in SAFETY connector is always kept valid. The inter- lock signal in STD. DIO connector is also valid unless the external 24V monitor con- trol setting in SYSTEM > PARAM mode is set invalid.

When SAFE mode is enabled, service mode input signal is made valid with SI (02) in the CC-Link system. When the external 24V monitor control setting in SYSYEM >PARAM mode is left valid while SAFE mode is enabled, service mode input signal is also made valid with DI (02) in SAFETY connector.

wWhen connection to CC-Link system is incorrectly established

The following causes can be considered a correct connection with the CC-Link sys- tem cannot be established:

•The CC-Link system cable is not physically connected

•The station No. or communication speed is set incorrectly

•The master station PLC is not operating correctly

When the robot controller is incorrectly connected to the CC-Link system, the error state will be indicated with the LEDs on the CC-Link compatible module. Note that if the master station PLC is not operating correctly, nothing will appear on the LEDs.

The emergency stop signal and interlock signal in the CC-Link system are invalid in this case, so the robot controller can be operated independently. However, if the cor- rect state has been established even once after the robot controller power was turned ON, the robot controller’s emergency stop state cannot be canceled without correctly connecting to the CC-Link system.

The emergency stop terminal in SAFETY connector is always kept valid. The inter- lock signal in STD. DIO connector is also valid unless the external 24V monitor con- trol setting in SYSTEM > PARAM mode is set invalid.

When the external 24V monitor control in SYSYEM >PARAM mode is left valid while SAFE mode is enabled, service mode input signal is made valid with DI (02) in SAFETY connector.

Service mode input signal in the CC-Link system cannot be invalidated when SAFE mode is enabled, so change the service mode setting in SYSTEM > PARAM mode. In this case, take full precautions to prevent improper settings that might lead to a haz- ardous situation.

* For meanings of LED display, see Chapter 4 in this manual.

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Communication

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