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Yamaha RCX Series owner manual Precautions for starting and maintenance, Precautions for disposal

Models: Yamaha Robot Controller CC-Link Unit RCX Series

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[Precautions for starting and maintenance]

w WARNING

•Do not touch the terminals while the power is ON. Failure to observe this could lead to malfunctioning.

•Always shut off all phases of the power supply externally before cleaning or tightening the terminal screws.

Failure to shut off all phases could lead to electric shocks, product damage or malfunctioning.

A loose screw could lead to dropping, short-circuiting or malfunctioning.

If the screw is too tight, short-circuiting or malfunctioning could occur due to screw damage.

•Never disassemble or modify any of the robot controller modules.

Failure to observe this could lead to trouble, malfunctioning, injuries or fires.

•Always shut off all phases of the power supply externally before installing or removing the CC-Link compatible module.

Failure to shut off all phases could lead to robot controller trouble or malfunction- ing.

•When using the robot controller with the CC-Link compatible module mounted, always mount the enclosed ferrite core for noise measures on the power cable as close to the robot controller as possible.

Failure to mount this ferrite core could lead to malfunctioning caused by noise.

c CAUTION

•If the master station PLC and robot controller are simultaneously turned on, the CC-Link system may not operate correctly. Always first turn on the master PLC before turning on the robot controller.

[Precautions for disposal]

c CAUTION

• Dispose of this product as industrial waste.

This manual does not guarantee the implementation of industrial rights or other rights, and does not authorize the implementation rights. YAMAHA shall not be held liable for any problems regarding industrial rights that occur through the use of the contents given in this manual.

2006 YAMAHA MOTOR CO., LTD.

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Yamaha RCX Series, Yamaha Robot Controller CC-Link Unit Precautions for starting and maintenance, Precautions for disposal

Contents

Unit Page Introduction Safety Precautions Always read before starting use Precautions for designPrecautions for installation Precautions for wiringPrecautions for starting and maintenance Precautions for disposalWarranty Warranty descriptionMemo Contents Troubleshooting SpecificationsAppendix Outline Memo Features Wiring savingEmulated serialization on parallel DIO Mechanism PLCCommunication speed switch BPS Station No. setting switch LSB 1st digitStation No. setting switch MSB 2nd digit CC-Link system cable terminalsAssignment of CC-Link compatible I/O A1SHCPUPLC Outline Outline Memo Connection Memo Confirming the CC-Link compatible module settings OperationProcedure Installing the CC-Link compatible moduleResponse when starting the robot controller Saving the robot controller dataSetting the CC-Link compatible module Setting the station NoSetting the communication speed ProceduresNoise measures Mounting the ferrite coreConnecting to the CC-Link system Testing the line from the master station PLCParameter setting for CC-Link serial I/O board Parameter MeaningParameter setting for CC-Link serial I/O board Type Display MeaningPress the F Edit key Memo Communication Memo State when robot controller power is turned on When connection to CC-Link system is correctly establishedInitial process for connecting to CC-Link system Initial data processInitial data process master station PLC side Communication with master station PLC Receiving dataTransmitting data Direct connection by emulated serialization on parallel DIO Direct connection by emulated serialization on parallel DIO Direct connection from SI n to do nDirect connection by emulated serialization on parallel D Direct connection from SO n to DI nReferring to communication data Referring to the data from the programming unitTroubleshooting Memo Items to confirm before starting up CC-Link system Confirmation details CheckMeanings of LEDs on CC-Link compatible module RUN Errl SD RDTroubleshooting Confirmation itemProgramming unit error display confirmation CC-Link compatible module LED confirmation Confirmation from master station PLC Error messages relating to CC-Link Emg.stop onMemo Specifications Memo Profile Remote registers Details of remote input/output signals Device No Signal name Details RXn0Details of remote input/output signals Details of remote input/output signals Dedicated input/output signal timing chart Initial data process for CC-Link connectionShift to emergency stop Initial servo on process after power onServo on and emergency stop Servo on process from emergency stop statusProgram reset process SpecificationsAuto mode changeover process Program execution processProgram stop process using interlock input Stopping with program interlockSample program Details of sampleRobot program data assignment Variables used Points usedBit information used PLC data assignment X1FFRobot program 1st unit’s RCX40 2nd unit’s RCX142 Gosub *PLACEPLC program X0F FromRET From H0 Set initial data process complete flag OFF CC-Link compatible module specifications Communication speed settingMemo Appendix Memo Term definition Unit