Yamaha Yamaha Robot Controller CC-Link Unit, RCX Series manual

1. Items to confirm before starting up CC-Link system

n NOTE

The dedicated input of the STD.DIO connector provided on the controller will be disabled except for an interlock signal (DI 11). When the external 24V monitor control of system parameters is disabled, the interlock signal (DI 11) will also be disabled.

Confirm the following items before starting up the CC-Link system.

		Confirmation details	Check

1	Is the CC-Link compatible module accurately connected?
		(Refer to Chapter 2 section 2 or 3.)


2	Is the robot controller set to the CC-Link system specifications?
		(Refer to Chapter 2 section 1.)


3	Are the CC-Link compatible module station No. and communication speed
	correctly set?	(Refer to Chapter 2 section 1.)


4	Is the ferrite core connected to the power input cable to the robot controller?
		(Refer to Chapter 2 section 4.)


5	Is the CC-Link system cable accurately connected to the CC-Link compatible
	module?	(Refer to Chapter 2 section 5.)


6	Was the line test from the master station PLC correct?
		(Refer to the master station PLC instruction manual.)


7	Is the master station PLC set for the 4-station occupying remote device?
		(Refer to the master station PLC instruction manual.)


8	Is the master station PLC exchanging the data for four stations? (The data for four
	stations must always be exchanged.)


9	Has the initial data process been carried out between the master station and robot
	controller?	(Refer the initialization process in Chapter 3 section 2.)


10	Is the master station PLC judging that the robot controller is correctly functioning using
	RX(n+7)8 (remote station Ready)? (Refer the samples in Chapter 5 section 4.)

4

Troubleshooting

4-1

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Yamaha Yamaha Robot Controller CC-Link Unit Items to confirm before starting up CC-Link system, Confirmation details Check

Contents

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