INSTRUCTION MANUAL CC
Contents
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4. 0O co OS 2 o5 9 o o sisisisisisisisisisisisieisisisl o C E zi Meses B GI 5 5 5 16 5 lo Cable ground clamp position 1 Ground clamp EPOR attachments Ko Kee ee KO Ferrite core CC Link cable attachments Customer preparation gj CR751 D controller front gt Cable ground clamp SLoT1 ES Im position 1 i Ground clamp E ur CI attachments ACIN POWER Nz TB Ro CNUSRZ __ olm Ferrite core attachments CC Link cable Customer preparatio
5. D m D of o 4 H SJ z EHE EE EE T E 1 51 HE E ES ale mum lU d E bs fent Ti E DS 50711 4 7 Interface cover Interface cover removal lever Connector z Interface card Handle gt Removal lever Figure 6 1 2 Mounting of the CC Link interface card CR1D controller 17 6 1 3 CR2D 00 control ler Remove one interface cover of the option slots 1 3 in the robot controller rear and mount the CC Link interface card there Please use the handle of the interface card at mounting of the interface card Interface cover removal lever Interface cover
6. ium 1 _ is DEO Boo mE cM Jg i Interface cover Interface cover lt CR751 D controller front removal lever Sum Lid Hen ACIN e u LAN le s 0 T Connector Interface card Handle Removal lever Other side Figure 6 1 1 Mounting of the CC Link interface card CR750 D CR751 D controller 16 6 1 2 GRID 00 control ler Remove one interface cover of the option slots 1 in the robot controller rear and mount the CC Link interface card there Please use the handle of the interface card at mounting of the interface card Controller rear
7. amp 1 NAN _ d 1 I e ONG o m LT J Ex rial i 0 zm E NOD WE W 28 Connection connector Interface card D Lever Removal lever Figure 6 1 3 Mounting of the CC Link interface card CR2D controller 18 6 1 4 CR3D 700 control ler Open the door of the robot controller The R7OOCPU unit is installed in the right end Remove one interface cover of the option slots 1 3 in the CPU unit and mount the CC Link interface card there Please use the handle of the interface card at mounting of the interface card R7OOCPU unit R7OOCPU unit Interface cover Interface card V Lever Interface cover eer removal lever Removal lever Figure 6 1 4 Mounting of the CC Link interface card CR3D controller 19 6 2 Connection Between CC Link Interface card and Master Station Explain the connection method for the CC Link interface card mounted in the robot controller and the CC Link master station unit 6 2 1 Connection of one touch connector and cable only for CC Link
8. 8 6000 to 6895 6000 to 6895 6000 to 6127 6000 to 6127 The last two points cannot used 2 In case of the parameter CCFIX is 1 in CC Link Ver 1 Station Occupancy Extended Remote signal Remote register O Master mn One 6000 6031 6000 6031 6000 6003 6000 6003 station 1 to 64 1 fold only 6000 to 6063 6063 6000 6063 6000 6007 6000 6007 6000 6095 6000 6095 6000 6011 6000 6011 6000 to 6127 6000 to 6127 6000 to 6015 6000 to 6015 Tow station Tow station The last two points cannot be used Table 3 2 6 Table of CC Link Signals The numbers in the table indicate the numbers of the I O signals handled by the robot controller T Remote signal Input 0 master ______ ______ 6000 to 6031 6000 to 6003 6032 to 6063 6004 to 6007 6064 to 6095 6008 to 6011 6096 to 6127 6012 to 6015 6128 to 6159 6016 to 6019 6160 to 6191 6020 to 6023 6192 to 6223 6024 to 6027 6224 to 6255 6028 to 6031 6256 to 6287 6032 to 6035 6288 to 6319 6036 to 6039 6320 to 6351 6040 to 6043 6352 to 6383 6044 to 6047 6384 to 6415 6048 to 6051 6416 to 6447 6052 to 6055 6448 to 6479 6056 to 6059 6480 to 6511 6060 to 6063 6512 to 6543 6064 to 6067 6544 to 6575 6068 to 6071 6576 to 6607 6072 to 6075 6608 to 6639 6076 to 6079 7984 to 8015 7984 to 8015 6248 to 6251 6248 to 6251 8016 to 8047 8016 to 8047 625240 6255 NCAUTION In case
9. 32 7 3 1 SIGNAL MAP OF MASTER STATION AND ROBOT uu cccccccccccececececececcuuuucuueuuuuuuuuuuuusuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuusuuuuuuuucsuuuuuuaasusuauusaususuaes 32 7 3 2 INSTALLATION OF SAMPLE RUDDER PROGRAM cccccccccccccccccccccsesseececeusuucccuucuceseeeeeeuuuuucuuuuuaesssesseeeeuuuuuuceuuuuucecsseeeeuuuuuceusuuseeessss 32 7 3 3 FLOW CHART OF SAMPLE RUDDER PROGRAM cccceccccccccccccccccccessecceceusuucecuucucsseseeueuuuuuuuuusuueessseeeeeuuuuuueeuuuuuueeeeeeeuuuuuceuuuuseeessss 33 71 4 CREATE THE ROBOT PROGRAM 1 34 7 5 START THE ROBOT PROGRAM 1 FROM THE MASTER STATION cccssccccssecccesecccscccccsececeseceresesereness 34 T 6 EXAMPLE OF CHANGE OF SYSTEM CONFIGURATION scccssecccsecccsccccsccccsccccsccccsceccsceecseeecseeeeseeecseeeeseeenas 35 7 6 1 ADD THE 230 ROBOT CONTROLLER cccccccsssssssseeeeceuececcccucucccssssseeeceuuuuucccuuuuecssssseeeseuuucuuuuussseseeseeeeuuuuuceuuuuuecscsdeeeeeeuuuuneeuseeueas 35 7 6 2 ADD THE ROBOT CONTROLLER TO THE SYSTEM WHICH FOUR SLAVE STATIONS ARE CONNECTED 37 5 TROUBLESHOOTING ruo etes tiic ti otio titer ea One teniente an etate 39 A ERRORS 8 2 AN E7730 ERROR HAS OCCURRED AND CC LINK DOES NOT ESTABLISH A 39 8 3 WHEN 7760 ERRORS ABNORMALITIES IN CC LINK INITIALIZATION
10. 40 DAP PIPER RTT 41 41 9 1 SAMPLE LADDER PROGRAM cssssscccccccessececcccesecccccccssecceccucssececccuaueececcusadseceeceuaseceeceueuseeceseuaseeeeeeaes 1 Before use This chapter describes items to be checked and precautions to be taken before start using the CC Link interface 1 1 How to Use the Instruction Manual This manual is organized as follows and describes functions that have been added to or changed in the CC Link interface For information about the functions provided for standard robot controllers and how to operate them refer to the instruction manual that comes with the robot controller you purchased Table 1 1 1 Contents DI the Instruction Manual Before Using the CC Link Chapter 1 describes how to use this manual CC Link Interface Interface Instruction Manual Please read this manual thoroughly before actually starting to use the CC Link interface Flow of Operations Chapter 2 describes the operations required to configure a CC Link system Make sure to perform all of the required operations Functions and Specification Chapter 3 describes the functions and specification of the robot of the CC Link Interface CC Link interface Items to Be Checked Before Using This Product Chapter 4 provides a list of items that come with the CC Link interface and the devices that need to be furnished by the customer Please verify that the CC Link interface package you purchased com
11. _ Bd 641 128 gt _ Click on line PC write in from the menu and write the parameter in the MELSEC sequencer 3 Change the parameter of the robot controller from the initial value Parameter name CCIMFO Robotz 1 Parameter CCINFO Robotz 1 Explanation aa E zaa Click the Writing button and turn off the power supply of the robot controller once 37 Allocation of the refreshment device of the signal number and master station which are used by the robot program in this system is as follows Table 7 6 5 Signal allocation map PNE T ZR the master station and the robot remote signal Station Master station Master station number Refreshment 6000 6015 6000 6015 6016 6031 6016 6031 11 6032 6047 6032 6047 55 6048 6063 6048 6063 6080 6095 6080 6095 Y1300 Y130F 6064 6079 6064 6079 Y131F The last two points cannot use each robot No 6094 and No 6095 cannot use the robot Table 7 6 6 allocation map of the master station and robot register Station E Low Robot evice Pu Master station Refreshment een 6000 6003 6000 6003 W60 W63 6004 6007 6004 6007 W64 W67 W1068 W106B 6008 6011 6008 6011 robot 1 12 point W68 W6B 38 8 Troubleshooting Please read this chapter first if you suspect that some failure has o
12. oet up whether the CC Link signal number is fixed or not 0 Use the signal number of the specified station number Ex Set the station number as 3 CCFIX I O signal number from No 6064 Register number from No 6008 1 Use the signal number from No 6000 regardless of the station number Ex Set the station number as 3 signal number from No 6000 Register number from No 6000 Set up the master station parameter abnormal detection filter and the data link abnormal CCFIL detection filter The unit is ms If only the time specified by each abnormal condition is being continued the 7750 errors and the 7730 errors occur Change the update cycle of the CC Link interface High speed mode Compatibility mode 1 0 In the software version P7th edition or later the updating cycle of the CC Link interface was accelerated If 0 is set up it will operate in same updating cycle as before This is available if the compatibility with the robot system constructed by the software version prior to P7 edition is necessary The updating cycle of the input output signal was sped up in the following software versions CRnD 700 series controller Ver P7 or later CR750 D CR751 D series controller 53 or later CCREFCYC Table 3 2 4 List of Robot Program Commands Used in CC Link Writes 1 bit data to the specified output signal Table 3 2 5 Signal table 1 In case of the parameter CCFIX is 1 in CC Ver 2
13. Setting Robot Controller Parameters Section 7 2 of this manual Set dedicated I O signals for communication between the master station and the robot controller With this setting it becomes possible to control the robot controller from the master station Creating Robot 5 oee Section 7 3 of this manual Create robot programs according to the specification determined in Operation 1 above Performing CC Link Control oee Section 7 4 of this manual Run the ladder program stored in the master station and perform control via the CC Link communication Completion of Operations 3 Functions and Specification of the CC Link Interface 3 1 What Is CC Link Inverter GOT Remote station Option slot 1 2 or 3 Up to the one board Master station unit Lee 1978781 ER 5 CC Link interface board TZ576 Note An example of CR3D 700 controller Table 3 1 1 CC Link Network Configuration Diagram CC Link is a field network 1 that provides not only simple bit control but also additional functions such as data control and message transmission reception in order to accommodate the continuous advances in the functionality of various control devices CC Link supports cyclic transmission of not only bit data but also word data facilitating communication with intelligent devices such as inverters indicators and other devices Distribut
14. 30 7 2 2 Setup of special 1 0 parameter To execute in the appendix sample rudder program so the MELSEC sequencer control the robot controller set up the special I O parameter as shown below After the setup turn off the power supply once of robot controller because of to enable the parameter Table 7 2 2 Special I O parameter Parameter Setting Item Name name value Operation rights input IOENA signal Operation rights output Outputs the operation rights valid state for the Output 6000 signal external signal Remote mode output This output indicates that the key switch on the ATEXTMD Output 6001 operation panel is set to AUTO Ext which is a remote operation mode This input turns ON the servo power supply for Details Sets the validity of the operation rights for the external signal control Input 6002 Servo ON input signal the robot SRVON Output 6002 In servo ON output This output turns ON when the servo power signal supply for the robot is ON Program reset This input cancels the paused status of the Input 6003 program and brings the executing line to the top SLOTINIT Executing a program reset makes it possible to select a program Outputs that in the program selection enabled Program selection enabled output state Ino 6004 Program No output The program number for task slot 1 is output to PRGOUT E request the numerical output IODATA Program No output The program number outp
15. MITSUBISHI Mitsubishi Industrial Robot CR750 D CR751 D series and CRnD 700 series INSTRUCTION MANUAL CC Link Interface MELFA BFP A8701 E AN Always read the following precautions and the separate Safety Manual before starting use of the robot to learn the required measures to be taken Safetv Precautions NCAUTION All teaching work must be carried out by an operator who has received special training This also applies to maintenance work with the power source turned ON Enforcement of safety training NCAUTION For teaching work prepare a work plan related to the methods and procedures of operating the robot and to the measures to be taken when an error occurs or when restarting Carry out work following this plan This also applies to maintenance work with the power source turned ON Preparation of work plan JN WARNING Prepare a device that allows operation to be stopped immediately during teaching work This also applies to maintenance work with the power source turned ON Setting of emergency stop switch NCAUTION During teaching work place a sign indicating that teaching work is in progress on the start switch etc This also applies to maintenance work with the power source turned ON 4 ndication of teaching work in progress NCAUTION Provide a fence or enclosure during operation to prevent contact of the operator and robot Installation of safety fence N caution Establish a set sig
16. CONNECTION OF ONE TOUCH CONNECTOR AND CABLE ONLY FOR CC LINK ccccccccccccccccccccccccccccccccccecccccuuucsuussuseueeusususeees 20 6 2 2 CONNECTION OF CC LINK MASTER STATION UNIT AND CABLE ONLY FOR CC LINK eeeeeeee rrr 21 6 2 3 CONNECTION OF THE ONE TOUCH CONNECTOR AND THE CC LINK INTERFACE CARD ccccccccccccccccccccccccccccccccceececeeceuuususuees 22 6 2 4 CC LINK COMMUNICATION CABLE WIRING OF TWO OR MORE SET CONNECTION cccccccccccccccccccccceccccccccecccccccececuucueeeueseuseeuees 23 2 OMEASUREAGAINS T do ste pcan cA eL DL MI n nie Ame MINA MATES D RIA 24 6 3 CHECKING CONNECTIONS 26 7 BASIC COMMUNICATION 27 T 1 SETTING THE PARAMETER OF CC LINK MASTER STATION 28 7 2 THE PARAMETER OF THE ROBOT 30 7 2 1 SETUP OF PARAMETER ABOUT CC LINK INTERFACE 30 7 2 2 SETUP OF SPECIAL I O PARAMETER 2 cccccsssssecccccccccessecccceccccessecccceccenessccceceecenssssnccccecessaesececscecsaesssnecceeceaesseneccaeecesssseceeeess 31 7 3 CREATING A MASTER STATION CC LINK PROGRAM
17. Connection method of the cable for CC Link only prepared by the customer and one touch connector attached to this product is shown in the following 1 Peel covering of the cable only for CC Link It is not necessary to peel covering of the internal cable 2 Insert the electric wire of the cable for CC Link to the one touch connector Signal name zm DA Blue DB white DOGY Yellow NC SLD 3 Close the connector with pliers 4 Complete 20 6 2 2 Connection of CC Link master station unit and cable only for CC Link The connection method of the CC Link master station unit prepared by the customer and the CC Link cable is shown in the following 1 Stick another side of the CC Link cable by pressure 2 Connect the shield line to the SLD terminal in the terminal of the master station unit Refer to the lower right figure Installation of the terminator 15 required for the both ends of the CC Link network Connect the terminator to the both ends of the equipment connected to the CC Link network Be careful that the resistance differs with the kind of cable 21 6 2 3 Connection of the one touch connector and the CC Link interface card The connection method of the one touch connector cable only for cc Link and the CC Link interface card is shown in the following 1 Connect the one touch connector to the on line connector for communication Also connect the terminator if ne
18. Detailed description of the function and operation for details of the robot controller parameter 7 2 1 Setup of parameter about CC Link interface card To operate the CC Link interface card set the parameter shown below Make the station number the number of occupancy stations the extended cyclic setup etc the same as the setup of the slave station Table 7 2 1 Parameter for CC Link interface cards unction name value Set up the station number of CC Link the number of occupancy stations and the extended cyclic setup Element 1 station number 1 to 64 Element 2 number of occupancy stations 1 to 4 Element 3 extended cyclic setup 1 2 4 or 8 Set the transmission speed of CC Link 0 156k 1 625k 2 2 5M 3 5M 4 10M oet up whether the CC Link signal number is fixed or not 0 Use the signal number of the specified station number Ex Set the station number as 3 signal number from No 6064 Register number from No 6008 1 Use the signal number from No 6000 regardless of the station number Ex Set the station number as 3 signal number from No 6000 Register number from No 6000 It is the setting value assumed to have set the MODE setup rotary switch of the master station unit to 4 CCINFO 1 2 In case of the system changed into this interface card from previous CC Link interface card HR575 it becomes compatibility by setting it as 0
19. no setting m 0 Start 1 0 Mo Operational setting ation Master Master TET PLC parameter auto start parameter auto start m mm Remote 2 made AMeonnectcoun ______ 4 b Click the Station information button and set up the conditions of the slave station Expanded Exclusive station Fiemote station Reserve invalid bulfer select word EIN No setting EAA MIM No set gt 3 4 Wer 2Remate device station double gt Exclusive station 3 160 points _______ No setting 4 7 Verzlntelligent device station quadruple Exclusive station 4 448 points ________ 128 All connect count Expanded Exclusive station Remote station Heserve Invalid Intelligent buffer select word Station Station type cyclic setting count points station select Automatic O31 170 station Exclusive station 1 32 points setting Yer TRemate device station _ Exclusive station 2 54 points setting 31 2Hemote device station Exclusive station 3 150 points setting INS L 4 7 Verzlnteligent device station quadruple Exclusive station 4 w 448 points No setting _ 4 64 _ 128 LL 541 Ver device station v singe Exclusive station 3 w 35 points
20. 1 Master station The station which controls the data link system The one station is required for the one system Standby master station The station for backup which succeeds data link control when the master disconnected data link faulty by the abnormalities such as sequencer CPU and the power supply with the master station and other local stations Remotel Ostation The station only treating the information on the bitunit information on the word unit The station treating the information on the bit unit and the information on the word unit and also the transient transmission Remote I O net mode Special mode which transmits and receives the data at the remote station and the high speed C Link SB Information on the bit unit which shows the operating state and data link state of the unit of the master station and the local station SW Information on the 16 bit unit which shows the operating state and data link state of the unit of the master station and the local station RX Information inputted by bit unit into the master station from the remote input slave station RY Information outputted by bit unit into the master station from RWw Information outputted to the remote device station the local remote register for the writing station and the intelligent device station from the master station by 16 bits unit RWr Information inputted to the remote device station the local remote register for reading station
21. 1 2 3 or 4 the Er oen station stations Extended cyclic setup Can be set to 1 2 4 or 8 multiple Number of I O Remote input RX The last two points cannot points be used Remote register RWr One register consists of 16 bits Transient transmission Not supported Parameter Initial value I O List of Robot DIODATA Parameters Used in common o or detas CCFIL 1000 200 MELFA BASIC I O signal access M In M Inb M In8 M Inw M In16 M Out M Outb M Out8 M Outw M Out16 Table 3 2 2 I O point per robot controller Item Extended cyclic setup Occupancy 1 fold setup 2 fold setup 3 fold setup 4 fold setup station One station Signal pomt 32 oM 64 point 128 Hm Register point point point point Two station O Signal eni 28 pont 107 point 384 T pomt Register point point point point Tm peint 520 point 840 point Register 12 point 24 point 48 point 96 point _ Four station signal 128 224 point 448 point 8096 Register 16 point 32 point 64 point 128 point _ Table 3 2 3List of Robot Parameters Used in CC Link Set the input number for stopping the robot program from the CC Link master station to the STOP2 1st element DM Set the output number which indicates that the robot program is stopping to the 2nd element Set the register input number w
22. and the intelligent device station from the master station by 16 bits unit 2 Flow of Operations The flowchart below shows the flow of operations necessary for configuring a CC Link interface system Use it as a reference to perform the required operations in the correct order 1 Flowchart Determining Specification for CC Link Control See Chapter 3 of this manual Once you understand the CC Link specification specify the interfaces required for signals to be communicated within your system via CC Link communication e g assignment of dedicated I O signals specification of general purpose signals CHECKING PIOGUClIs ocu aa oia REEL bed ando oee Chapter 4 of this manual Check the product you have purchased and prepare other products as needed Hardware Settings and See Chapters 5 and 6 of this manual Set up the CC Link interface card as well as the master station After you have made the settings install the CC Link interface card in the robot controller and then wire the installed CC Link interface card and the master station Creating a Ladder Program for the Master Station See Section 7 1 of this manual Create a ladder program for the master station so that it can be linked to the robot controller If the robot controller is started without running a ladder program stored in the master station an E7730 error CC Link local station link error occurs
23. register Specify the number of the stations which the slave station occupies The a maximum of four stations can be occupied In case of the slave station has connected on the CC Link network select the No setup In the future the reservation station will be specified about the slave station which is due to be connected extension And the slave station which the error does not detect at the time of error occurrence specifies the invalid station pes a EE The robot s CC Link interface card Ver 1 remote I O station Ver 2 intelligent device station 1 fold setup 1 fold setup One station occupancy One station occupancy With no With no setup setup 8 If all are set up confirm that no error by click error checking button 9 Click the finishing of the setting button and click the finishing of setting button on the network parameter setting screen 10 Click on line PC write in from the menu of GX Developer and write the parameter in the MELSEC sequencer In addition please refer to the parameter setup by GX Developer of the cc Link system master local unit user s manual volume on details for the details about the setup 29 1 2 Set the parameter of the robot controller Explain the setting method of the special I O parameter required to execute the sample rudder program shown in appendix and operate the CC Link interface card Please refer to separate manual
24. the version of CC Link ON fixation fixation In case of the Ver 2 mode the _ extended cyclic setup is possible 3 fixation OFF OF OFF nation 10 Please change neither SW2 SW3 like an initial value turn off all The initial state of each switch is shown in the following Figure 3 3 2 State of initialization of dip switch SW2 Figure 3 3 3 State of initialization of dip switch SW3 11 3 3 3 LED There is eight LED on the CC Link interface card TZ576 and the operating state of the interface card can be confirmed by each lighting blink lights out LRUN RUN RD Qs RST wor Figure 3 3 4 Layout of LEDs Table 3 3 2 Description of LED Conditions for turning on LRUN Lighting During data link RD Lighting During data receiving Lighting Self station communication error LERR DIP switch is changed during turning the power supply Lighting During reset processing execution of the interface card Operation is normally BE Operation is normally Lighting Watch dog timer error E N Lighting During data sending Turn on at the following error occurrence The communication of all station are abnormal The setup of the DIP switch is abnormal Lighting The master station overlaps on the same line The details of the parameter are abnormal The data link
25. 1 CR750 D CR751 D controller CR750 D controller rear o
26. 6031 cannot use the robot 1 No 6190 and No 6191 cannot use the robot 2 X10DO 6176 6191 X10DF Table 7 6 3 Signal allocation map of the master station and the robot TI Station Master station station Robot Robot Master station _ station number E evice W1 5 W1 6000 6003 6003 6000 6003 6003 Eo 2 er 6004 6007 6004 6007 6007 32 point 6000 6003 6000 6003 4 point WT we WOB wm W23 W23 W1020 W1023 6028 6031 6028 6031 6031 86 1 6 2 Add the robot controller to the system which four slave stations are connected The procedure of setup of when adding one robot controller to the master station and four slave station system is shown in the following Table 7 6 4 CC Link setting conditions of slave station and robot controller Robot Station Number of Extended cyclic Reservation Station type controller number occupancy setup invalid station VeiremoelOsaion 1 1 Noseup ELLE 7 Ver 1 remote device No setup station Ver 2 remote device A 3 No setup station Ver 2 intelligent device 7 4 4 No setup station irean Ver 2 intelligent device 11 3 1 No setup station 1 Change the network parameter of the MELSEC sequencer a Change the number of connection from 4 to 5 rds in madule Boards Blank no setting rds in madule Boards Blank
27. Automatic The sample rudder program is programmed to start the robot program No 1 if the key switch in the operation panel of the robot controller is set to Automatic Fully confirm that neither the interference object nor the worker is in the robot s circumference before changing the key switch to Automatic 34 1 6 Example of change of system configuration Explain the details which change the system configuration into two or more connection of slave stations from 1 to 1 connection 7 6 1 Add the 2nd robot control ler The procedure of setup of when adding one robot controller to the master station and one robot controller system is shown in the following Table 7 6 1 The CC Link setting conditions of two robot controllers Robot Station Number of Extended cyclic Reservation Station type controller number occupancy setup invalid station 1st station Ver 2 intelligent device station and station Ver2 intelligent device station 1 Change the network parameter of the MELSEC sequencer a Change the number of connection from 1 to 2 rds in module Boards Blank no setting rds in module 1 Boards Blank setting 3 si No Master um statan lrk ne ___ TE data link tupe Ree Pararnetes auto start Master cl Master TUS data type PLC parameter auto start Mode Remot
28. C master station module one to one connection The sample ladder program provided starts up robot program No 1 For information about communication via the personal computer CC Link interface board refer to the instruction manual of the personal computer CC Link interface board Setting the parameter of CC Link master station See section 7 1 Setting the parameter of CC Link master station Setting the parameter of robot controller See section 7 2 Set the parameter of the robot controller Creating a master station CC Link program See section 7 3 Creating a Master Station CC Link Program Creating robot program No 1 See section 7 4 Create the robot program No 1 Running robot program 1 See section 5 Start the robot program No 1 from the master station 27 7 1 Setting the parameter of CC Link master station Set it as the CC Link master station that the robot s CC Link interface card exists on the CC Link network In case of series of the MELSEC sequencer explain to the example the case that the utility for setting the parameter for CC Link communication is used In addition please refer to the cc Link system master local unit user s manual volume on details for the details of the parameter setup which uses GX Developer 1 Connect the MELSEC sequencer with the per
29. Link 1 Performance of the CC Link system cannot be guaranteed except the cable only for CC Link The maximum cable total extension and the cable length for the station have restriction Note If extended cyclic setting is set up more than double transmission delay time will become long Refer to the instruction manual of CC Link for details 1 For details refer to the cc Link association http www cc link org 18 14 5 Hardware Settings 51 Settings of the CC Link Master Station The details of the setting of the master station are shown in the following For details please refer to the cc Link system master local unit user s manual volume on details mem QJ61BT11N RUN L RUH MST smeT v LED ERR L ERR STATION 2 Rotary switch station number X1 cedo MODE 12 8 Rotary switch mode NC n 4 Terminal pa EE RH Figure 5 1 1 The outline of the CC Link master station unit Q series As shown in Table 5 1 set up the rotary switch of the CC Link master station unit For details please refer to the cc Link system master local unit user s manual volume on details Table 5 1 1 The p of the CC Link master station unit Q series Example Details of setting At shipping RENE LEM ERE LE REOS DS Station x the ten digit of a station number eme po Setthe ten cpt ofa sation number 0 number Set the ten di
30. Link Control amp Communication Link interface is an add on option that is used in combination with CRnD 700 series controllers to add CC Link field network functionality to robot controllers Please make sure to read this document thoroughly and understand its information before start using the CC Link interface Notes In the software version P7th edition or later the updating cycle of the CC Link interface was accelerated CR750 D CR751 D controller is also included Although it changes with the structure of the user program the standard of improvement in the speed is about one to 5 times Therefore in the existing robot system or the robot system constructed by the same specification as existing the processing timing of the signal will differ If the interlock of the I O signal is not taken the gap occurs to the timing of the signal and it may be impossible for the robot system to operate normally The accelerated updating cycle can be returned to the origin by setting up O to the parameter This is effective if the timing of the signal has a bad influence operation of the robot system Refer to Table 3 2 3 List of Robot Parameters Used in CC Link for the details of the parameter No part of this document may be reproduced without express permission of Mitsubishi Electric Corporation Please note that the information in this manual is subject to change without notice in the future Although
31. ccurred 8 1 List of Errors Table 8 1 1 List of Errors Etrormessage Etrormessage Cause o EN card is illegal Error ae Link card is illegal Please exchange the ENS ME Link 7700 Cannot set a CC Link master A master station is already Set the rotary switch to other 1710 station set by the rotary switch than O Two CC Link interface cards It is not allowed to install two 7120 are mounted Mount one card in slot 2 cards Install only one card There is a line error or the CC Link data link error local master station s parameter Review the line and station connection error settings are invalid parameters see Section 8 2 A CC Link cable is not connected or parameters do A cable is not connected or Reset the power and start not match parameters do not match again IEEE The master station s Correct the parameters and CC Link initialization error parameters do not match then start again A register number entered A CC Link register number is is outside the allowable outside the range range A signal number for CC Link A signal number for Install a CC Link interface 7781 was specified CC Link was specified card Refer to the cc Link system master local unit user s manual volume on details for the details of the CC Link error code Refer to 8 3 When 7760 errors abnormalities in cc Link initialization occur for the error which is not indicated to the error c
32. cecesccccsececaseeensseseuseueneseuenaness 10 ORC GUB rim RR u 10 SESSAD ELSE MN KCN 10 mo EE cm tM M vU ED EM M MM ELI 12 4 ITEMS TO BE CHECKED BEFORE USING THIS 13 4 1 CHECKING THE PRODUCT ccssccccesecccescccccsccccsecccascccuaseccuaeceuesceuesusuesseeueaseuueaseseuseseuaseueaseuenssesenens 13 4 2 DEVICES TO BE FURNISHED BY THE CUSTOMER ccccccssccccssececesccccseccccececeseceuseueuasesenageceuneueneneeenens 13 453 15 5 1 SETTINGS OF THE CC LiNK MASTER 15 6 CONNECTIONS AND WIRING 16 6 1 MOUNTING THE CC LINK INTERFACE CARD IN THE 16 TIEORASUDIGRI5TJ9CONIBOLEER zv ae Fes end 16 ee pM ME oM AL INN AMI cies 17 AALS coste ise eM oM IM DM E 18 OO AINE TERME 19 6 2 CONNECTION BETWEEN CC LINK INTERFACE CARD AND MASTER STATION 20 6 2 1
33. e 2 mode connect count b Click the Station information button and set up the conditions of the slave station irc cyclic setting _ count paints station select Amt Receive wer B 128 Wer 1 140 station BEN nm en No srg gt Expanded Exclusive station Remote station Reservevinvalid Intelligent buffer select word 5 xt Mo Station LE Pd setting points station select euet P radiis dala device station TA station E 1 132 paints Midi era ii t c Click on line PC write in from the menu and write the parameter in the MELSEC sequencer 2 Change the parameter of the 2nd robot controller from the initial value Parameter name CCINFO Robot 1 Parameter name CCINFO Robot 1 Explanation Explanation Click the Writing button and turn off the power supply of the robot controller once 35 Allocation of the refreshment device of the signal number and master station which are used by the robot program in this system is as follows Table 7 6 2 Signal allocation map of the master station and the robot remote signal Station ER 52 6016 6031 6016 6031 Wem ee po puer 0 wes we 6160 6175 6160 6175 im Y10DO Y10DF 6176 6191 The last two points cannot use each robot No 6030 and No
34. e output signal No 6016 Cnt 1 0 0 Continuation trajectory operation Mov P1 Move to P1 M Out 6017 1 Turn on the output signal 6017 HClose 1 Hold the work Dly 0 5 Wait for the 1 second M Out 6018 71 on the output signal 6018 Cnt 1 Continuation trajectory operation Mov P1 100 Approach with 100mm to P100 M Out 6019 71 Turn on the signal for confirmation of move to P2 Mov PHOME Move to the safety point M DOut 6000 123 Output to the register Hit Program stop End End of the program This example of the robot program is the example which outputs No 6019 from the output signal No 6016 for each operation and finally outputs 123 to the output register 7 5 Start the robot program No 1 from the master station Start the robot program No 1 by the circuit of the sample rudder program The procedure is shown in the following 1 Turn on the power supply of the MELSEC sequencer and the robot controller 2 If the key switch in the operation panel of the robot controller is changed to Automatic the robot program No 1 will start automatically 3 If the last of the robot program No 1 has the HIt command the robot program will stop automatically 4 If the key switch of the operation panel is changed to Automatic gt Manual gt Automatic the robot program No 1 will be started again Cautions The program is executed when the key switch is changed to
35. ed systems can be built easily by setting up an n n cyclic transmission network to which a master station and several local stations are connected The best communication distance and speed can be selected in a flexible manner according to your system requirements The optimal system can be built by selecting the most suited devices from the rich product lines of the CC Link partner manufacturers This CC Link interface card operates as an intelligent device station 1 Please visit the Web site of the CC Link Partner Association http www cc link org for more information about CC Link 3 Functions and Specification of the CC Link Interface 3 2 Specification of the GC Link Interface Card Table 3 2 1 General Specification Specification of HR575 Card Specification Communication function Both bit data and word data can be Word data is used in the transmitted registers name of CC Link interface card TZ576 _______________ Number of mountable cards 1 card It is not allowed to insert multiple cards is possible otation type Intelligent device station Transient transmission is not supported Supported station functionality Local station Master station functionality is not available Station number Can be set between station numbers Set using the dip switches 1 and 64 on the card Baud rate 10 M 5 M 2 5 M 625 k 156 kbps If two or more station occupancy it becomes Number of occupied stations Can be set to occupy
36. eded 2 Connect the on line connector for communication connected communication cable to the CC Link interface card By the operations so far it becomes the following system configurations An example of CR3D 700 controller Master station unit CC Link interface card Figure 6 2 1 The 1 to 1 connection structure figure of the robot controller and the CC Link master station CR3D 700 controller 22 6 2 4 CC Link communication cable wiring of two or more set connection If two or more slave stations connected prepare one more CC Link cable connected to the one touch connector and connect as shown in the following Figure 6 2 2 The example of one touch connector connection for two or more station connection Terminator DA Donau DB C DG d SLD Kei amp mor MC CMT ERN CC Link master station side CC Link Interface card Remote station Figure 6 2 3 The example of CC Link cable connection for two or more station connection 23 6 2 5 Measure against noise Because of the measure against the noise please peel the sheath of the CC Link cable and the ground clamp of the metal braid section at the case and mount the ferrite core recommendation article E04SR301334 SEIWA ELECTRIC MFG on less than 30cm from the clamp position The connection method by controller is shown in the following
37. efreshmen device doe eee master Y1000 X1000 Y100F 6000 6015 6000 6015 X100F Y1010 X1010 Y101F 6016 6031 6016 6031 X101F Cautions The last two points of the remote signal cannot be used With the specification of CC Link it becomes impossible to use the two last of the remote signal which the robot controller occupies For example in case of station number of the robot controller Is set as 1 and one occupancy and the 1 fold setup the point of the remote signal which can be used is the 32 points but please keep in mind that the point which can actually be used becomes the 30 points from No 6000 to No 6029 since the two tail ends cannot use it Table 7 3 2 Signal allocation map of the master station and the robot register Master station _ station Robot Robot Masterstation station ROT R 5 R hment number efreshmen Input Output efreshmen device device nom 1 W1000 W1003 p 6000 6003 6000 6003 Lacus WO W3 1 3 2 Installation of sample rudder program Install in the MELSEC sequencer the sample rudder program attached to the appendix The installation method is shown in the following Please refer to the cc Link system master local unit user s manual volume on details for the details of the rudder program 1 Create the circuit of the sample rudder program in GX Developer 2 Click on line PC write in from the menu select t
38. eparation Figure 6 2 6 Connection of the CC Link cable CR2D 700 controller 4 CR3D 700 controller R OOCPU unit CC Link cable Customer preparation Cable ground clamp position 1 Ground clamp attachments Ferrite core attachments Less than 30cm Figure 6 2 7 Connection of the CC Link cable CR3D 700 controller __ _______ ____ 1 3 Cable ground clamp position Sheath lt S Sheath The cable peels the sheath and grounds 20 30mm the metal braid section to the case Metal braid section 25 6 3 Checking Connections Check the following connections again before using the CC Link interface card Table 6 3 1 Checking Connections Check item Is the CC Link interface card securely installed in slot of the controller Ls 2 Are the CC Link cables between the CC Link interface card and the external devices you provided connected properly Are the rotary switches and DIP switches on the card set correctly Is a terminal resistor installed EE Is the ferrite core attached D 26 1 Basic Communication Procedure This chapter describes the operations from creating a master station s CC Link program to establishing a communication by running the sample ladder program provided with this product using a system configured with one CC Link interface card connected to one PL
39. eper ______________ 00 Operational settings Remote net Addibonal mode p 4 ae J Staton information Initial Infemupt semg 28 7 Click the Station information button and set up the slave station CC Link station information Module 1 FS NECEM Lu Expanded Exclusive station Remote station Reserverinvalid UH ent Ere select word Remote 1 0 station Remote station Exclusive station Cxchusve salon 1 O BETEA Remote 120 station __ gt Exclusive station gt Station classification Ver 1 remote station Ver 1 remote device station Ver 1 intelligent device station Ver 2 remote device station Ver 2 intelligent device station Extended cyclic setup 1 fold setup 2 fold setup 4 fold setup 8 fold setup Number of occupancy stations One station occupancy Tow station occupancy Three station occupancy Four station occupancy Reservation invalid station specification With no setup Reservation station Invalid station specifies the Ver 2 intelligent device station In case of the 2nd switch cc Link version of DIP switch SW1 on the CC Link interface card is turned OFF specify Ver 1 intelligent device station Since the CC Link version is Ver 2 in initial setting the multiple setup is possible By changing the multiple setup it is possible to increase the point of remote I O which can communicate and the
40. es with the standard accessories and is compatible with your system s robot controller version Hardware Settings Chapter 5 describes how to perform hardware settings for communication between the CC Link interface and the master station Connections and Wiring Chapter 6 describes how to connect the CC Link interface and the master station using cables Basic Communication Chapter 7 describes a series of operations using the newly Procedure installed CC Link interface configured and connected as described in Chapters 4 to 6 from creating a master station s CC Link program to starting robot program No 1 Learn how to perform the basic operations following the instructions given for each step as reference Troubleshooting Chapter 8 describes how to resolve problems that may occur when using the CC Link interface such as malfunctions and errors Please refer to this chapter as needed Appendix Chapter 9 describes a sample ladder program that can be entered when using the CC Link interface as well as how to monitor data with the RT ToolBox2 personal computer support software Please refer to this chapter as needed 1 2 General name and abbreviated name Table 1 2 1 General name and abbreviated name Cyclic transmission Remote input and output a transmission means to communicate the details of the remote register periodically Transient transmission A transmission method to specify the partner to any timing and to communicate by 1
41. git of a station number Rotary switch Mode the mode 0 Transmission speed 156kbps 1 Transmission speed 625kbps 2 Transmission speed 2 5Mbps 3 Transmission speed 5Mbps 4 Transmission speed 10Mbps Notice When the mode of the master station is changed change the parameter CCSPD of the robot controller 15 6 Connections and Wiring 6 1 Mounting the GC Link Interface Card in the Controller For more information about how to mount the CC Link interface card refer to the Installing Optional Devices in Controller Setup and Basic Operations to Maintenance in the instruction manual of the corresponding controller Install only one CC Link interface card in either of the option slots 1 3 of the robot controller In case of the two or more sheets are installed the 7720 errors equipped with two or more cc Link cards occur 6 1 1 CR750 D CR751 D control ler Remove one interface cover of the option slots two in the robot controller rear and mount the CC Link interface card there Please use the handle of the interface card at mounting of the interface card CR750 D controller rear
42. he program and click execution button 32 1 3 3 Flow chart of sample rudder program The flow chart explains the details of processing of the sample rudder program attached to the appendix 4 Start 3 Le State confirmation of the Program RON master station unit possible Data link state confirmation Program selection of other stations y Waiting for 100ms Abnormalities in h ter stati e master stauon Program number change request _ Nothing Output right request Program is No Turn on the M10 device by acquisition of operation right ow Turn on the M3 device Turn on the M10 and ED C acquire operation I Yes Servo on command Program number setup ES DO to W1000 Program reset Start command o gt y Turn off the MO device 38 714 Create the robot program No 1 Use RT ToolBox2 personal computer support software or the teaching pendant and create the robot program No 1 Refer to separate manual Detailed description of the function and operation for the creation method The simple example of the program shown in the following Mov PHOME Move to the safety point Dly 1 Wait for the 1 second Mov P1 100 Approach with 100mm to P1 M Out 6016 71 on th
43. hen specifying the program number and OVRD to the 1st DIODATA element Set the program number the error number and the register output number that outputs the number of the lines to the 2nd element 1 Reset is possible This parameter is the power supply reset needlessness of the robot controller This parameter enables reset of 7730 errors the cc Link link is unusual temporarily E7730 0 If the link 15 abnormal always error 1 Reset is possible This parameter is the power supply reset needlessness of the robot controller There are the three elements of this parameter and they set up the number of CC Link the number of occupancy station and the extended cyclic setup separately CCINFO Element 1 Number 1 to 64 stations Element 2 Number of occupancy station 1 to 4 stations Element 3 Extended cyclic setup Setup 1 2 4 or the 8 fold CCSPD Set up the transmission speed of CC Link 0 156k 1 625k 2 2 5M 3 5M 4 10M When the abnormalities in the data link occur specify whether the input signal is held or it clears 1 Hold 0 Clear If the CC Link master station is not turned on or if doing the operations of the robot stand alone before setting the parameter of the master station the 7750 errors the cc Link master station parameter is unusual or the 7730 errors the cc Link link is unusual occur CCERR This parameter enables reset of error temporarily 0 If the link is abnormal always error
44. monitor timer operated The cable is disconnected The noise is effect to the transmission way The communication abnormal station exists WDT Lighting Watch dog timer error Figure 3 3 5 The LED lighting state at normal 12 4 tems to Be Checked Before Using This Product 4 1 Checking the Product The product you purchased consists of the following items as standard Please verify that the package contains all the items Table 4 1 1 List of the Standard Items in the Package KnR MC To Instruction Manual this manual BFP A8701 1 CC Link interface card TZ576 a On line connector for communication A6CON LJBP 1 Terminator A6CON TR11 touch connector plug for 55 communication Cable clamp WE 2 Note1 The number of the table is equivalent to the number of following figure Note2 This manual is included in instruction manual CD ROM attached to the product Figure 4 1 1 Items Contained in the Package 4 2 Devices to Be Furnished by the Customer When using Mitsubishi Electric CC Link interface card the devices listed in Table 4 2 below must be furnished by the customer Table 4 2 1 Equipment prepared of the customer Device to be furnished Condition Master station The master station corresponding to the intelligent device station Communication cable The cable only for CC
45. n Figure 6 2 4 Connection of the CC Link cable CR750 D CR751 D controller 2 CR1D 700 controller Bercagar Cable ground clamp position 1 Ground clamp attachments Less than 30cm Ferrite core CC Link cable attachments Customer preparation Figure 6 2 5 Connection of the CC Link cable CR1D 700 controller 24 3 CR2D 700 controller Rear cover Cable ground clamp position 1 Ground clamp attachments N en Less than 30cm Ferrite core gt attachments Customer pr
46. n the door is locked or that the robot will automatically stop Failure todo so could lead to personal injuries Never carry out modifications based on personal judgments non designated maintenance parts Failure to observe this could lead to faults or failures When the robot arm has to be moved by hand from an external area do notplace hands or fingers in the openings Failure to observe this could lead tohands or fingers catching depending on the posture Do not stop the robot or apply emergency stop by turning the robot controller smain power OFF If the robot controller main power is turned OFF during automatic operation the robot accuracy could be adversely affected Revision History Print date Instruction manual No Revision content 2008 08 08 BFP A8701 First print Notes were added in Introduction 2009 06 15 BFP A8701 A The robot system variables M In8 M In16 M Out8 and M Out16 were added Dip switch SW1 explanation was added CR751 D CR750 D was added 2012 03 13 BFP A8701 C The supplement about CR751 D CR750 D was added Introduction Table 3 1 1 2012 04 11 BFP A8701 D The error in writing was corrected Notes about transmission delay time were added to the 2012 11 27 BFP A8701 E communication cable The signal table was corrected Error in writing mintroduction Thank you very much for purchasing this product for Mitsubishi Electric Corporation s SD series industrial robots CC
47. naling method to the related operators for starting work and follow this method Signaling of operation start caution As a principle turn the power OFF during maintenance work Place a sign indicating that maintenance work is in progress on the start switch etc Indication of maintenance work in progress N caution Before starting work inspect the robot emergency stop switch and other related devices etc and confirm that there are no errors Inspection before starting work The points of the precautions given in the separate Safety Manual are given below Refer to the actual Safety Manual for details NCAUTION NCAUTION NCAUTION NCAUTION NCAUTION NCAUTION NWARNING NwARNING NCAUTION NWARNING NCAUTION NCAUTION NCAUTION NCAUTION NWARNING NCAUTION Use the robot within the environment given in the specifications Failure to do so could lead to a drop or reliability or faults Temperature humidity atmosphere noise environment etc Transport the robot with the designated transportation posture Transportingthe robot in a non designated posture could lead to personal injuries or faultsfrom dropping Always use the robot installed on a secure table Use in an instable posturecould lead to positional deviation and vibration Wire the cable as far away from noise sources as possible If placed near anoise source positional deviation or malfunction could occur Do not appl
48. ode of the above mentioned manual Enter the correct value 8 2 An E 30 Error Has Occurred and CC Link does not Estab ish a Link Please confirm the next item when you cannot solve even if measures 1 Are the setup of rotary switch MODE on the CC Link master station unit and the setup of the parameter CCSPD in agreement 2 Is the terminator connected 3 Is the CC Link communication cable equipped with the ferrite core at the place of many noises 4 The check of the status confirmation by LED the short circuit of the CC Link unit by the tester etc is possible Please refer to open field network CC Link troubleshooting guidance for the check method 39 8 3 When 7760 errors abnormalities in cc Link initialization occur Please confirm the next item when you cannot solve even if measures Please refer to the following table in case of there is no error code shown in the tail end of the error message in the parenthesis in the cc Link system master local unit user s manual volume on details Table 8 3 1 Error code of abnormalities at CC Link initialization Error code 0010 Initial signal timeout The error in communication with the robot controller and D020 Abnormalities in the sum check of the the CC Link interface card 14576 card Since circuit on the CC Link interface card or Abnormalities in the sum check of connector section of the option slot has possibilities D030 system constructi
49. of the inside signal point of the robot is exceeded be careful of the point decreasing If the parameter CCFIX is set as 0 in CC Link Ver 2 access from the signal number corresponding to the station number For this reason the following cares are required if the station number becomes large In the 8 fold setup by four station occupancy of the robot the signal point number of I O signal is 896 and for registers is 128 words However when the number is set as the 64 stations the permissible signal points in the robot are the remaining 32 points 8016 8047 and the 4 words 6252 6255 For this reason since the set up point cannot be used be careful 3 3 Hardware of the CC Link Interface Card This section describes the settings that are performed by using the rotary switches and DIP switches on the CC Link interface card 3 9 1 Card overview 1 General Layout of the Card DIP switch SW1 SW2 SW3 LED A assis PRA p ni LT F n 8 mn cte LI LE a gt 4 CC Link cable connection connector fl Figure 3 3 1 General Layout of the Card 3 3 2 DIP switch There are the three DIP switches SW1 SW2 SW3 on the CC Link interface card TZ576 The item which can be set up with each DIP switch is shown in the following bu 2 3 4 Table 3 3 1 Function of DIP switch SW1 Switch Factory Description Specify
50. on such as damage and the short circuit please ask the Details of the error Cause and measures D040 Abnormalities in the reversal sum maker check of system construction 0050 Timeout of existence confirmation Abnormalities in the handshake with the TZ576 card 40 9 Appendix 9 1 Sample Ladder Program The example of the sample rudder program for Q series sequencers of MELSEC is shown below This sample rudder program is programmed to operate program No 1 automatically if the mode of the controller is changed to Automatic X60 X6F X61 0 _ O _ i Master station data linking Under the I master Master station unit ready station unit Master station unit abnormality AM 4 lt gt KO SW80 M1 Data link state of other stations Abnormal in No 1 to 16 the other station link executing normally lt gt KO SW81 Data link state of other stations No 17 to 32 lt KO SW82 Data link state of other stations No 33 to 48 lt gt KO SW83 Data link state of other stations No 49 to 64 Under the master station unit executing normally X1000 24 M10 Operation right M10 X1000 23 Automatic Operation mode right X1003 X1006 selection is possible X1003 Program selection is possible Program Executing 1 71000 1005 41 Request of operation right Au
51. register is set as the program number and the OVRD value However in case of the parameter IODATA is set be careful the higher priority is IODATA And the program number and the error number are outputted to the specified output register in the rising edge of the signal assigned to the parameter PRGOUT ERROUT etc In case of the parameter IODATA is set it is outputted also to the specified signal number l 7 3 Creating a Master Station GC Link Program This section describes the procedure for creating a program that allows the CC Link master station module to communicate using a one to one connection with the CC Link interface card of the robot 1 3 1 Signal map of master station and robot With the specified station number or setting values of the parameter CCFIX the refreshment device of the signal number and the master station used by the robot program changes Here the signal map in the one station the one station occupancy and the 1 fold setup which were set up in Chapter 7 1 is shown in Table 7 3 1 Please refer to chapter 7 6 Example of change of system configuration for changing the station number the number of occupancy stations the extended cyclic setup etc Table 7 3 1 Signal allocation map of the master station and the robot remote signal Master station Master station Robot Robt Master station Master station end MEETS Refreshment number efreshmen Input Output
52. sonal computer by the USB cable the RS 232C cable etc 2 Start GX Developer 3 Select on line PC read out from the menu select the kind of connected cable and read the parameter and the program on GX Developer 4 Select the parameter icon in the left frame of GX Developer and double click the network parameter Unset project 353 Program oe Device comment Parameter Network parameter Device memory EEL Device init 5 Click the CC Link button on the displayed network parameter selection screen 6 Setup the following on the displayed network parameter setting screen N Item Details Initial Setting ccc le exons Head I O No The CC Link master station specifies the head number of the unit which shows the mounting Blank 0080 position on the base board of the MELSEC sequencer 1 Number of Set up all the number of connection of the slave 2 connection station connected on the CC Link network 64 1 Range 1 64 3 Set up the device for refreshment of data Blank X1000 input output communications with slave station Y1000 Remote register WO Station Set up the type of remote station and local station Refer to information which connected Button iodine page 0040 Operahonal note Remote register SA TRE auc neconnecton COL Stand by master station Mo FLL 00 p
53. this manual has been prepared to contain accurate information please contact us if you find any errors or have questions The product names used in this manual are trademarks or registered trademarks of respective owners Copyright 2008 2012 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED CONTENTS 1 BEFORE USE NER gt 1 1 1 How USE THE INSTRUCTION MANUAL 1 1 2 GENERAL NAME AND ABBREVIATED NAME scccceseccccsecccccececcscccccesccccaseccuaccccaseceusseueuseceusseuenseueneneueneness 2 2 FLOW OF 3 3 3 FUNCTIONS AND SPECIFICATION OF THE CC LINK 4 3 1 WHAT IS CC LINK ccccccccsseccccsececcseueccusueccusueucueuscsuuccceuecasauacasauauacaueuasaueuasaueuaeueuseueucaeusucaeusucasusucaens 4 3 2 SPECIFICATION OF THE CC LINK INTERFACE CARD cccssscccsseccccsecccesecececsccueseecesscecseseuaseueuasesenseuenens 5 3 3 HARDWARE OF THE CC LINK INTERFACE CARD ccccsseccccseccccseccccsececcus
54. tomatic mode MOV K1 DO Program number MOV DO W1000 Program number DIODATA for program numbers Y1003 Program reset Program select Y1005 K1 36 T1 Program Program select number request timer Y1004 Program Program number number request request timer X1004 DO WO 4M8 Program Program DIODATA Complete number number for program of program outputting number selection confirmation M3 X1002 48 Y1002 Complete Under Servo on of program command selection X1002 X1006 Y1006 Under Executing Start servo on M10 X1008 56 PAF i s S M10 Automatic Stopping Automatic mode mode RST M10 Program Automatic selection is mode possible 42 43 a MITSUBISHI ELECTRIC CORPORATION Nov 2012 MEE Printed in Japan on recycled paper Specifications are subject to change without notice
55. ut in progress status Output 6004 signal is output to the numerical output Program selection input Designates the setting value for the program No PROSE pus signal with numeric value input signals 6006 Start input This input starts a program SIART 6006 Operating output This output indicates that a program is being executed 6007 Error reset input signal ERRRESET Error occurring output 0007 signa STOP2 6008 Stop input 4 Pausing output Servo OFF input signal SRVOFF This input stops the program being executed This output indicates that the program is paused This input turns OFF the servo power supply for the robot This output indicates a status where the servo power supply cannot be turned ON The specified numeric values are loaded Releases the error state Servo ON disable oos output signal Outputs that an error has occurred Input Numeric value input DIODATA 6000 2 Output 6000 Numeric value output The numeric values of the specified items are Register output 1 The Skip input No 0 is being fixed to the remote input No 0 Therefore use the parameter STOP2 for stop input signal of CC Link 2 In CC Link it is possible to specify the program number and the OVRD value with the parameter DIODATA the register input the register output In the rising edge of the signal assigned to the parameter PRGSEL or OVRDSEL the numerical value of the input
56. y excessive force on the connector or excessively bend the cable Failure to observe this could lead to contact defects or wire breakage Make sure that the workpiece weight including the hand does not exceed therated load or tolerable torque Exceeding these values could lead to alarms orfaults Securely install the hand and tool and securely grasp the workpiece Failure toobserve this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead tomalfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the statecould lead to operators approaching the robot or to incorrect operation When carrying out teaching work in the robot s movement range alwayssecure the priority right for the robot control Failure to observe this could leadto personal injuries or damage if the robot is started with external commands Keep the jog speed as low as possible and always watch the robot Failure todo so could lead to interference with the workpiece or peripheral devices After editing the program always confirm the operation with step operationbefore starting automatic operation Failure to do so could lead to interferencewith peripheral devices because of programming mistakes etc Make sure that if the safety fence entrance door is opened during automaticoperatio
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