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Yamaha Robotics Robot Controller CC-Link Unit User's Manual

1. X17B X101 X100 X102 109 E H Y101 X102 X109 Y10E X108 X109 Y10F 109 A HAY 108 X108 X10B X10C PA Y10D X108 X10C X10B T Jr Y10A X17B X190 1375 Y110 X191 Y111 192 Y112 X193 Y113 X1A0 Y120 X1A1 Y121 X1A2 Y122 X1A3 Y123 X1BO Y130 X1B1 Y131 X1B2 Y132 X1B3 Y133 X1C0 Y140 X1C1 Y141 X1C2 Y142 X1C3 Y143 M9036 186 TO HO X Hi60 K4Y100 K8 196 RET M9036 197 FROM HO HOE8 4 180 K8 X1F8 208 SET Y180 SET Y189 Y1F8 4 Sample program User application suoneoyioods Write to station No 1 remote output Read station No 2 remote input Set emergency stop input ON Set interlock input ON Set initial data process compete flag ON 5 15 4 Sample program X1F8 212 1857 Y1F8 H Set initial data process X181 X180 X182 complete flag OFF 214 f H YM Y181 H X182 X189 l Y18E H X188 X189 r s r s Y18F H X189 Y18B H X188 X18B X18C H H 8D H X188 X18C X18B via X1FB X110 242 Y190 H X111 v191 H X112 v192 H X113 v193 H X120 Y1A0 H m X121 User application Y1A1 H X122 Y1A2 H X123 Y1A3 H X130 Y1B0 H X131 o Y1B1 H 132 Y1B2 H X133 B8 9 X140 Y1C0 H 5 X141 H o X142 Qo TI H X143 2 Y1C3 H M9036 291
2. O LOLS Q NOTE 7 The communication speed must match the CC Link system s master station setting Front of the unit AN CAUTION Procedures Never directly touch the 1 conductive sections or electronic i parts other than the rotary switch The communication speed must be set between 156K and 10Mbps The correspon on pe CC Link compatible dence of the communication speed and switch is shown below module Do not apply impact on the CC Link compatible module Switch No 0 1 2 3 4 Other than left setting Do not place water or conductive Communication speed bps 156 625K 2 5M 5M 10M Error matters etc which could cause damage near the CC Link 2 Using a flat blade precision screwdriver set the switch No corresponding to the com compatible module munication speed with rotary switch BPS Accurately set the communica tion speed Make sure not to set the rotary switches MSB and LSB by mistake Confirm the communication speed for the robot controller in the CC Link system WARNING When setting the station No completely shut off the power supplied to the robot controller 2 4 4 Noise measures Two ferrite cores must be mounted on the input power cable when connecting to the CC Link system 4 1 Mounting the ferrite core Mount two ferrite cores onto the input power cable connected to the input power c
3. Address assigned to master module with station No setting n station No 1 X 2 1 Has a meaning in the robot controller s internal process as a dedicated input output This cannot be used as a general purpose input output in the robot program 2 This area is reserved for the CC Link system 3 Has a meaning in the robot controller s internal process as a dedicated command region This cannot be used as a general purpose input output in the robot program An example of the flow of the information in the robot controller remote device station is shown below The buffer memory in the master station used to store the infor mation etc differs according to the PLC type and station No etc Refer to the PLC Manual for details PLC CPU A1SHCPU X17F to X100 D115 to 0100 Y17F to Y100 D135 to D120 Master station Robot controller A1SJ61BT11 Remote input Remote input E7h to RX n 7 F to RXnO 2EFh to 2E0h RWrF to RWrO 167h to 160h RY n 7 F to RYnO 1EFh to 1E0h RWwF to RWwO Automatic update Zn 5 Shift of CC Link system connection status and robot controller status Always start the CC Link system specification robot controller in the servo OFF state after the power is turned ON D Normal state of CC Link system connection when robot controller power is turned ON Robot Master station controller PLC Emergency stop interlock signal in CC Link system are vali
4. ses 2 6 bozTestinsitheilinesitomitheimasterstation te mawan 2 6 6 Parameter setting for CC Link serial I O board 2 7 6 1 Parameter setting for CC Link serial I O 2 8 MEMO 1 Confirming the CC Link compatible module settings With the CC Link system specification robot controller the CC Link compatible module station No and communication speed settings can be confirmed with the programming unit hereinafter MPB When connecting CC Link compatible module to existing robot controller Follow the procedures given in section 2 and change the settings for the CC Link system specifications For CC Link system specification robot controller When robot controller is purchased with CC Link compatible module mounted Follow the procedures given in section 3 and set the station No and communica tion speed Confirmation position uonooeuuo2 Robot YK250X Axis XYZR Standard SRAM 364kB DIQ ZN Opt ifo CCLnkCS1 10M Operation Press the key 2 Press the SYSTEM key 3 The display above will appear The station No and communication speed set for the CC Link system will appear in the parentheses following on the screen The meaning of the above example is shown below 1 Station No 1 CAUTION Setting range 1 to 61 If the robot controller is not con
5. suoneoyioods 2 o 2 Details of remote input output signals 5 4 Device No Signal name Details RYnO SI 00 Emergency stop input Turn OFF to trigger emergency stop on controller Keep turned ON during normal operation SI 01 Servo ON input Turn ON to cancel emergency stop and turn ON the robot servo motor Servo ON is executed when this input is switched from OFF to ON Emergency stop input SI 00 R Yn0 must be ON and emergency stop conditions in the robot controller emergency stop terminal of SAFETY connector etc must be canceled SI 02 Service mode input Turn OFF to enter the controller in service mode Keep turned ON during normal operation Effective only when SAFE mode is enabled In SAFE mode enabled dedicated input might be disabled depending on service mode parameter setting SI 03 Step run Turn ON to execute a step in the program during AUTO mode One line of the program is executed when this input is changed from OFF to ON SI 05 IO command execution trigger input Changes from OFF to ON while executing the IO command Turns ON after the IO command is set to a general purpose input SI 10 Sequence control input Turn ON to execute sequence program in the robot controller Sequence program is executed when this input is ON SI 11 Interlock input Turn OFF to stop execution of robot progra
6. Check the station No and communication speed settings for the CC Link compatible module Confirm that the master station PLC is operating Confirmation item 2 lt Confirmation details gt Check whether an error other than CC Link Communication Error is displayed on the programming unit In this case this problem is not related to the CC Link system connection Note however the message CC Link Communication Error may not appear on the programming unit if multiple errors have occurred simultaneously lt Cause gt An error has occurred in the robot controller lt Countermeasures gt Check the error message displayed on the programming unit Check the error history using the programming unit Check the error history in the SYSTEM gt DIAGNOS gt HISTORY mode using the programming unit Take measures by following the troubleshooting section in the robot controller in struction manual Refer to the robot controller instruction manual for details on the errors 3 Troubleshooting 3 3 CC Link compatible module LED confirmation Confirmation item 1 lt Confirmation details gt The LED display on the CC Link compatible module is not RUN ERR SD RD O000 O 0N OFF lt Cause gt An error has occurred in the CC Link system connection Refer to table in Chapter 4 section 2 for the meanings of the LED displays lt Countermeasures gt Check whether the CC Link sys
7. nected to the CC Link system or if Four stations are occupied Thus this means that station No 3 there is an error in the CC Link is occu pied system the error CC Link Commu nication Error will appear on the 10M 1 OMbps MPB when the robot controller power Setting communication speed unit bps 156K 625K 2 5M 5M is turned ON The above settings can 1 be confirmed even in this state The communication speed must match the master station setting 2 1 O 2 Setting to the CC Link system specification controller When connecting the CC Link compatible module to existing robot controller the CC Link compat ible module must be installed in the robot controller Check the CC Link system specifications with the procedure given in section 1 AN CAUTION If you need an instruction manual for installing the option board please contact our sales office NOTE For instructions on how to load data using the support software VIP refer to the VIP user s manual 2 2 2 1 Saving the robot controller data Before installing the CC Link compatible module into the robot controller be sure to save the data stored in the robot controller into an external memory by using VIP soft ware etc 2 2 Installing the CC Link compatible module Install the CC Link compatible module into the robot controller while referring to the procedure for installing an option bo
8. General purpose SIW 4 General purpose SIW 5 General purpose SID 6 General purpose SIW 6 General purpose SIW 7 General purpose SID 8 General purpose SIW 8 General purpose SIW 9 General purpose SID 10 General purpose SIW 10 General purpose SIW 11 General purpose SID 12 General purpose SIW 12 General purpose SIW 13 General purpose 50 14 SIW 14 General purpose SIW 15 Used to input word or double word data from SIW or SID port Or used as remote command s command data area 9 Address assigned to master module with station No setting Name Details Dedicated SOW 0 Used as remote command s status area Dedicated SOW 1 Used as remote command s error code area General purpose SOD 2 General purpose SOW 2 General purpose SOW 3 General purpose SOD 4 General purpose SOD 6 General purpose SOW 4 General purpose SOW 5 General purpose SOW 6 General purpose SOW 7 General purpose SOD 8 General purpose SOD 10 General purpose SOW 8 General purpose SOW 9 General purpose SOW 10 General purpose SOW 11 General purpose SOD 12 General purpose SOW 12 General purpose SOW 13 General purpose SOD 14 General purpose SOW 14 General purpose SOW 15 Used to output word or doubl
9. Servo ON process from emergency stop status f Emergency stop input ON is input g Emergency stop input status output OFF is output h Servo ON input ON is input 1 Alarm status output OFF is output 1 Servo ON status output ON is output k After confirming that servo ON status output is ON servo ON input OFF is input The servo is OFF when the controller power is turned ON When SAFE mode is enabled dedicated inputs other than SI 00 and SI 11 might be disabled depending on service mode parameter setting unless service mode input sig nal is set to ON with SI 02 in the CC Link system 5 7 suoneoyioods 3 Dedicated input output signal timing chart 3 3 AUTO mode changeover program reset and program execution CAUTION The dedicated input ON OFF Sao E off process from the master station output on PLC to the controller must be RXn9 SO 11 carried out at an interval of Origin return complete off 100ms or more If the interval is status output too short the dedicated input may BXnB SO 13 not be recognized This also Robot program execution oft applies to the same dedicated status output input and differing dedicated on Intervals 5 status output If dedicated outputs are provided 9 put off for the dedicated inputs from the on _ __ n rn master station PLC to controller RYn9 SI 11 Interlock input ff use them o RYnA SI 12 Robot program start inpu
10. TO HO H168 K4Y180 K8 Write to station No 2 remote output 301 302 5 16 5 CC Link compatible module specifications The CC Link compatible module with the label is compatible with CC Link Ver 1 10 Limits on the station to station cable length etc can be eased by using the Ver 1 10 compatible CC Link cable Refer to the master station PLC instruction manual compat ible with Ver 1 10 CC Link compatible module Specification item Target controller RCX Series controller Remote station type Remote device station Number of occupied stations Fixed to four stations N CAUTION Station No setting 1 to 61 rotary switch For the dsl and descrip honof Communication speed setting 10M 5M 2 5M 625K 156Kbps rotary switch remote input output signals and remote registers refer to the tables Number of CC Link input output points D Remote Dedicated input 16 points shown 1 Profile and 2 Details input output 11 points are currently used of remote input output signals in this chapter General purpose input 96 points Dedicated output 16 points 11 points are currently used General purpose output 96 points Remote Dedicated input 2 words register General purpose input 14 words Dedicated output 2 words o General purpose output 14 words AN CAUTION Monitor LED RUN ERRL SD RD The specifications and appearance h are subject
11. YAMAHA YAMAHA MOTOR CO LTD YAMAHA Robot Controller RCX Series CC Link UNIT OWNER S MANUAL Introduction Thank you for purchasing the CC Link compatible module This CC Link compatible module is an option module that enables connection of the YAMAHA robot controller RCX Series as a CC Link system remote device station The CC Link compatible module with label is compatible with CC Link Ver 1 10 CC Link compatible modules without the CC Link label are compatible with Ver 1 00 The robot controller explained in this manual refers to the RCX Series This manual describes the flow of operations from wiring the CC Link compatible mod ule to programming and includes setting examples For details on other devices such as connecting the master station PLC and PLC program ming refer to the manual for the respective product Refer to the manual enclosed with the YAMAHA controller for details on operating the robot controller and on the robot program Safety Precautions Always read before starting use Always read this manual the robot controller instruction manual and programming manual before using this product Take special care to safety and correctly handle the product The cautions given in this manual are related to this product Refer to the robot controller instruction manual for details on the cautions to be taken with the robot controller system using this product The safety precautions are ranked as WARN
12. Communication Error is added to the error history in the robot con troller If the connection to the CC Link system shifts from the normal state to the erroneous state the CC Link system connection must be returned to the normal state The CC Link system will return when the CC Link system connection is recovered to the normal state 1 5 Outline 5 Shift of CC Link system connection status and robot controller status 1 6 3 CC Link system erroneous connection state due to following factors when robot controller power is turned ON Connection to CC Link system not possible Error in master station PLC Robot controller Emergency stop interlock signals in CC Link system are invalid Robot Master station controller PLC When SAFE mode is enabled service mode input signal is made valid with SI 02 in the CC Link system Emergency stop terminal in SAFETY connector is valid Interlock signal in STD DIO connector is valid when the external 24V monitor con trol setting in SYSTEM gt PARAM mode is left valid When the external 24V monitor control setting in SYSTEM gt PARAM mode is left valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector The signals on the CC Link system cannot be exchanged As opposed to the state given in 2 in this state the emergency stop state by SI 00 is not attained in the controller so the robot can be
13. Link serial I O board 2 8 Chapter 3 Communication 1 State when robot controller power is turned ON 3 1 2 Initial process for connecting to CC Link system 3 2 2 1 Initial data process unse ae 3 2 3 Communication with master station PLC 3 3 EC EN 3 3 3 2 Transmitting data u rote tree etti k 3 4 4 Direct connection by emulated serialization on parallel DIO 3 5 4 1 Emulated serialization setting on parallel DIO 3 5 5 Referring to communication data 3 8 5 1 Referring to the data from the programming unit 3 8 Chapter 4 Troubleshooting 1 Items to confirm before starting up CC Link system 4 1 2 Meanings of LEDs on CC Link compatible module 4 2 3 Troubleshooting 4 3 3 1 Robot controller front panel LED confirmation 4 3 3 2 Programming unit error display confirmation 4 4 3 3 CC Link compatible module LED confirmation 4 5 3 4 Confirmation from master station PLC 4 6 4 Error messages relating to CC Link 4 7 Chapter 5 Specifications Te Profile 5 1 2 Details of remote input output signals 5 3 3 Dedicated input output signal timing chart 5 6 3 1 Initial data process for CC Li
14. ON while sequence program is executed SO 13 Robot program execution status output Turns ON while robot program is executed SO 14 Program reset status output SO 15 Battery alarm output Turns ON when robot program has been reset Turns OFF when robot program starts Turns ON when the system backup battery all models of RCX series or absolute battery RCX142 222 is low SO 16 IO command execution judgment output Turns OFF while executing the IO command After executing the IO command turns ON if normal and stays OFF if abnormal SO 17 Output during IO command execution Turns ON while the IO command is being executed SO 20 to SO 27 General purpose output SO 150 to SO 157 General purpose output General purpose output turns ON OFF when value is substituted to SO port or SET RESET command is executed or OUT command is executed Initial data process request flag The initial data process request flag turns ON to request the initial data setting when the power is turned ON or when returning from a communication error Turns OFF when initial data process is completed initial data process complete flag RY n 7 8 turns ON Remote station ready Turns ON when initial data setting is completed and READY state is entered when power is turned ON or when returning from communication error n Address assigned to master module with station No setting 5 3
15. an ID number CCLnk n m A CC Link unit is installed Letters in parentheses indicate a station number n and a communication speed m A DeviceNet unit is installed Letters parentheses indicate Serial I O D_Net n m abs MAC ID number n and communication speed m A ProfiBUS unit is installed Letters in parentheses indicate Profi n m A Station address n and communication speed m Network E Net An Ethernet unit is installed 3 In SYSTEM gt PARAM gt OP BRD mode select the CCLnk with the cursor keys and press the SELECT key Fig 2 6 2 gt PARAM gt OP BRD gt SELECT V8 18 1 board condition VALID 2 remote cmd IO cmd SIO5 VALID 3 0utput MSG to SOW 1 INVALID or Erza AY 2 8 6 Parameter setting for CC Link serial 1 O board 4 Select the parameter with the cursor TA keys Fig 2 6 3 PARAM gt OP BRD gt SELECT v8 18 1 board condition VALID 2 remote cmd IO cmd SIO05 VALID 3 0utput MSG to SOW 1 INVALID E Ee 5 EDIT key Fig 2 6 4 gt PARAM gt OP BRD gt SELECT v8 18 1 board condition VALID 2 remote cmd IO cmd SIO05 VALID 3 0utput MSG to SOW 1 INVALID MA a BE 6 Press the INVALID or VALID key 7 Press the key to quit the edit mode To continue setting another parameter use the cursor T L keys to select the parameter 2 9 uonooeuuo2 MEMO
16. connection units storage device Ist unit local station information setting storage device 2nd unit local station information setting storage device Parameter setting status storage device 1 This number is determined by the master module mounting position and the number of occupied input output points mounted before the module Robot program 1st unit s RCX40 INIT ROUTINE RESET 502 RESET 5040 RESET DO4 A 101 MAIN ROUTINE MOVE P P100 Z 0 GOSUB PICK STI MOVE PP A Z 0 GOSUB PLACE MOVE P P100 Z 0 SO 41 1 WAIT SI 41 1 SO 41 0 WAIT SI 41 0 50 23 22 21 20 lt 100 0 40 1 WAIT 1 40 1 0 40 0 WAIT SI 40 0 0 23 22 21 20 0 GOSUB PICK WAIT 1 42 1 SO 42 1 WAIT SI 42 0 SO 42 0 1 TF A gt 108 THEN A 101 DO 47 1 WAIT DI 47 1 DO 47 0 ENDIF GOTO ST1 HALT SUB ROUTINE FOR PICK PICK DO 40 1 DRIVE 3 P121 S 20 WAIT ARM 3 DO 40 0 DELAY 500 RETURN SUB ROUTINE FOR PLACE PLACE DRIVE 3 P122 S 20 WAIT ARM 3 DO 40 1 DELAY 500 RETURN 4 Sample program 2nd unit s RCX142 INIT ROUTINE RESET 020 RESET 040 RESET DO4 B 201 MAIN ROUTINE MOVE P P200 Z 0 GOSUB PICK ST2 WAIT SI 41 1 SO 41 1 WAIT SI 41 0 SO 41 0 WAIT SI 40 1 B SI 23 22 21 20 0 40 1 WAIT SI 40 0 SO 40 0 B B 200 MOVE P P B Z 0 GOSUB PLACE MOVE P P200 Z 0 0 42 1 WAIT SI 42 1 SO 42 0 WAIT SI 42 0 GOSUB PICK GOTO ST2 HALT SUB ROUTINE FOR PICK PIC
17. operated from the programming unit The robot controller can be started independently when setting up the system etc Service mode input signal cannot be invalidated with SI 02 when SAFE mode is enabled so change the service mode parameter setting in SYSTEM gt PARAM mode In this case take full precautions to prevent improper settings that might lead to a hazardous situation When the connection to the CC Link system is correctly recovered the system will automatically return to the CC Link system The CC Link Communication Error has been added to the error history in the robot controller A standby state for up to 2 5 seconds will occur to check the communication 5 Shift of CC Link system connection status and robot controller status 4 Transmission from CC Link system erroneous connection state to CC Link correct connection state when robot controller power is turned ON Robot Master station controller PLC Robot Master station controller PLC Robot controller CC Link system emergency stop interlock signals change to valid state Emergency stop terminal in SAFETY connector is valid Interlock signal in STD DIO connector is valid when the external 24V monitor con trol setting in SYSTEM gt PARAM mode is left valid When the external 24V monitor control setting in SYSTEM gt PARAM mode is left valid while SAFE mode is enabled service mode input signal is made val
18. the CC Link compatible module set the station No of the robot controller in the CC Link system O MSB 5 LSB o 3 Q NOTE Up to 64 stations can be set in the CC Link system but the CC Link system itself occupies 4 stations specified No 3 so set the station No between 1 and 61 AN CAUTION Never directly touch the conduc tive sections or electronic parts Proced ures other than the rotary switch on I the CC Link compatible module 1 Check the station No of the robot controller in the CC Link system Do not apply impact on the CC The station No must be set between 1 and 61 Link compatible module Do not place water or conductive matters etc which could cause 2 damage near the CC Link compatible module Accurately set the station No 3 Make sure not to set the rotary switch BPS by mistake Front of the unit Using a flat blade precision screwdriver set the 10th digit on rotary switch MSB In the same manner set the 1st digit on rotary switch LSB WARNING When setting the station No completely shut off the power supplied to the robot controller 2 3 3 Setting the CC Link compatible module 3 2 Setting the communication speed Using the rotary switch BPS in front of the CC Link compatible module set the commu nication speed for the robot controller in the CC Link system BPS
19. the master station PLC s line test function check whether an error has oc curred in the robot controller s CC Link connection lt Cause gt The ferrite core for noise measures is not connected The CC Link cable is laid near sources of noise such as the power cable lt Countermeasures gt Connect the ferrite core for noise measures onto the input power cable Wire the CC Link cable away from noise sources such as the power cable 4 Error messages relating to CC Link This section describes error messages relating to CC Link compatible units For other messages refer to robot controller owner s manuals When an error occurs an error message appears on the message line 2nd line of the MPB screen 12 1 Emg stop on Code amp HOCO1 Meaning Cause a MPB emergency stop button was pressed b Emergency stop terminals on SAFETY connector are open emergency stop status c MPB or terminator is not connected to MPB connector d SAFETY connector is not connected e SI 00 is not ON f Error in connection to CC Link system Action 1 Release the MPB emergency stop button 2 Close the emergency stop terminals on SAFETY connector 3 Connect MPB or terminator to MPB connector 4 Attach the SAFETY connector 5 Set SI 00 to ON 6 Correct the connection to CC Link system 12 2 Interlock on Code amp HOC02 Meaning Cause a Program was executed or moving of axis attempted with interlock signal still i
20. to change without prior 1 Controller s I O update intervals 10ms at shortest but actual I O update intervals change depending on the update time for the master station gt o 517 MEMO Chapter 6 Appendix Contents MEMO 1 Term definition 1 CC Link Control amp Communication Link CC Link is a registered trademark of CC Link partner association 2 SAFE mode setting When the SAFE mode setting is enabled service mode input is made valid so that safety functions such as operating speed limits in MANUAL mode can be used The SAFE mode setting is determined at the time of shipping The SAFE mode setting 15 always enabled for controllers compatible with CE marking 3 SERVICE mode This mode is valid only when the SAFE mode setting is enabled and can be con trolled by service mode input signals 4 SAFETY connector This connector is used to connect emergency stop input and service mode input Located on the front panel of the robot controller 5 STD DIO connector This connector is used to receive or output dedicated I O signals and general purpose I O signals Located on the front panel of the robot controller 6 bit information Bit data transmitted and received between master station PLC and controller 7 Word information Word data transmitted and received between master station PLC and controller xipueddy 8 Little endian Method to sub
21. 000 Bxxxxxxx corresponds to Oth bit to 7th bit from right to left SIW monitor SIWCO amp H0132 SIW 4 amp HOOOO SIWC1 amp HOOO01 SIW 5 8H0000 SIW 2 8H8000 SIW 6 8HFFFF SIWC3 amp H0000 SIW 7 8H0000 Hxxxx expresses a hexadecimal Operation 1 Press the key A screen like that shown below will appear DI monitor DIOC amp BO0000111 DIA4 amp B11000000 011 8 amp 8 00001111 DI5 amp 8B00101000 DI2 amp B00010001 DI6 amp B00000111 DI3 amp B00000100 DI7C amp BO0000000 Press the DISPLAY key several times to check the status of SI input ports 0 to 7 Press the DISPLAY key more to check the status of SI input ports 10 to 15 Press the DISPLAY key twice more to check the status of SO input ports 0 to 7 Press the DISPLAY key more to check the status of SO input ports 10 to 15 Press the DISPLAY key more to check the status of SIW input ports 8 to 15 2 3 4 5 6 Press the DISPLAY key twice more to check the status of SIW input ports 0 to 7 7 8 Press the DISPLAY key more to check the status of SOW output ports 0 to 7 9 Press the DISPLAY key more to check the status of SOW output ports 8 to 15 10 To stop checking the input output ports press the key Chapter 4 Troubleshooting Contents 1 Items to confirm before starting up CC Link system 4 1 2 Meanings of LEDs on CC Link compatible modu
22. Chapter 3 Communication Contents 1 State when robot controller power is turned ON 3 1 2 Initial process for connecting to CC Link 3 2 Zell Minitial data 3 2 3 Communication with master station PLC 3 3 A 3 3 DM data ana a eS 3 4 4 Direct connection by emulated serialization on parallel DIO 3 5 4 1 Emulated serialization setting on parallel 3 5 5 Referring to communication data 3 8 5 1 Referring to the data from the programming 3 8 MEMO 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 D When 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
23. ING and CAUTION in this manual WARNING Failure to follow WARNING instructions could result in serious injury or death to the operator or person servicing the product CAUTION Failure to follow CAUTION instructions may result in injury to the operator or person servicing product or damage to the product or peripheral equipment OF NOTE Explains the key point in the operation in a simple and clear manner Note that some items described as CAUTION may lead to serious results depending on the situation In any case important information that must be observed is explained Store this manual where it can be easily referred to and make sure that it is delivered to the end user CC Link is a registered trademark of CC Link partner association The CC Link compatible module provided with a label is compatible with CC Link Ver 1 10 Precautions for design WARNING Refer to the CC Link system Master Module User s Manual and this manual for details on the state of the CC Link system and robot controller when a communica tion error occurs with the CC Link system etc Configure an interlock circuit in the sequence program so that the system includ ing the robot controller will work safely using the communication status informa tion The SAFETY connector of the robot controller has an emergency stop terminal to trigger emergency stop Using this terminal prepare a physical interlock circuit so that the system
24. K DO 40 1 DRIVE 3 P221 S 20 WAIT ARM 3 DO 40 0 DELAY 500 RETURN SUB ROUTINE FOR PLACE PLACE DRIVE 3 P222 S 20 WAIT ARM 3 DO 40 1 DELAY 500 RETURN 9 5 13 4 Sample program PLC program XOF 1 PLS MO MO SET 1 1 00 H of connected modules TO HO H1 DO K1 H MOV H1401 D1 H Station information MOV H1405 D2 H TO H H20 01 K2 H RST Mi M9038 i 2 42 SET YO Refresh instruction MO 44 2 H M2 46 tH SET Y6 X6 Data link start normal completion RST M2 X7 51 l FROM HO H668 D10 K1 H RST Y6 Data link start error completion o c RST M o XoF X1 63 H W4 1 FROM H680 K4M4 K16 Read each data link status 5 0080 M4 CALL P10 Station No 1 normal M4 Y20 Station No 1 error M8 2 34 CALL P20 Station No 2 normal M8 o 21 Station No 2 error END P10 M9036 92 FROM HO HOEO K4X100 Read station No 1 remote input 178 103 SET Y100 Set emergency stop input ON SET Y109 Set interlock input ON Y 178 H Set initial data process compete flag ON 178 107 178 H Set initial data process complete flag OFF 5 14 P20
25. RXn8 SO 10 The dedicated input ON OFF AUTO mode status process from the master station output a PLC to the controller must be RXn9 SO 11 on carried out at an interval of Origin return complete 100ms or more If the interval is status output off i on too short the dedicated input may RXnB SO 13 f not be recognized This also Robot program execution applies to the same dedicated status output off I input and differing dedicated RYn9 SI 11 dd input intervals Interlock input If dedicated outputs are provided off for the dedicated inputs fromthe i oy master station PLC to controller Robot program start use them input I O 4 100 Program execution process a Robot program start input ON is input b Robot program execution status output ON is output c After confirming that the robot program execution status output is ON the start input OFF is input Program stop process using interlock input d Interlock input OFF is input e Robot program execution status output OFF is output suoneoyioodsg Program execution after stopping program with interlock input f Interlock input ON is input g Robot program start input ON is input h Robot program execution status output ON is output 1 After confirming that the robot program execution status output is ON the start input OFF is input Th
26. The 2nd digit of the station No is set with this switch 5 Communication speed switch BPS This is the rotary switch for setting the CC Link system s communication speed 1 3 Outline 4 Assignment of CC Link compatible I O 202 NOTE SIW n and SOW n are handled as numerical data of word with no sign SID n and SOD n are handled as numerical data of double words with a sign OF 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 1 4 The I O expressions used in the robot controller s program language and the I O expres sions for the remote device stations differ The correspondence is shown below Output from robot controller Input to robot controller Program language Remote device station Program language Remote device station 3 RWrO 3 RWwO RWr1 3 RWw1 RWr2 RWw2 RWr3 RWw3 RWr4 RWw4 RWr5 RWw5 RWr6 RWw6 RWr7 RWw7 RWr8 RWw8 RWr9 RWw9 RWrA RWwA RWrB RWwB RWrC RWwC RWrD RWwD RWrE RWwE RWrF RWwF RXn7 RXnO RYn7 RYnO RXnF RXn8 RYnF RYn8 0 gt 0
27. WITH REGARD TO ACCES SORIES OR PARTS NOT SUPPLIED BY YAMAHA MOTOR LTD MEMO Chapter 1 Contents Outline INR 1 1 2 Mechanism 1 2 3 Names of each part on the CC Link compatible module 1 3 4 Assignment of CC Link compatible I O 1 4 5 Shift of CC Link system connection status and robot controller status 1 5 Chapter 2 Connection 1 Confirming the CC Link compatible module settings 2 1 2 Setting to the CC Link system specification controller 2 2 2 1 Saving the robot controller 2 2 2 2 Installing the CC Link compatible module 2 2 2 3 Response when starting the robot controller 2 2 3 Setting the CC Link compatible module 2 3 3 1 Setting the station NO rennen conca 2 3 3 2 Setting the communication speed 2 4 4 Noise SIA 2 5 4 1 Mounting the ferrite 2 5 5 Connecting to the CC Link system 2 6 5 1 Connecting to the cable terminal to the controller 2 6 5 2 Testing the line from the master station PLC 2 6 6 Parameter setting for CC Link serial I O board 2 7 6 1 Parameter setting for CC
28. ard Also set the station No and communication baud rate for the CC Link compatible module with the procedures given in 3 Setting the CC Link compatible module in chapter 2 2 3 Response when starting the robot controller The robot controller will always start up with an option board setting error after the CC Link compatible module has been installed Make the following settings as explained below Procedure 1 Make connections to all input connectors on the front panel of the robot controller 2 The following type of question will appear on the MPB screen so answer as YES POWER ON 12 70 option setting change OptionSlot 3 If the controller does not operate properly because of a memory error etc load the data saved in step 2 1 into the controller Refer to the controller instruction manual for details on loading the data If the robot controller is not correctly connected with the CC Link system the mes sage CC Link Communication Error will appear on the MPB 3 Setting the CC Link compatible module To connect the CC Link system specification controller to the CC Link system the station No and communication speed must be set with the rotary switch on the CC Link compatible module Confirm the current station No and communication speed with the procedures given in section 1 3 1 Setting the station No Using the rotary switches MSB and LSB in front of
29. command amp I O command parameter cannot be set to VALID serial I O can be used When set to INVALID the serial I O cannot be used uonoouuo2 3 Output MSG to SOW 1 Enables or disables the function to send an message number which is displayed on the MPB to word information SOW 1 When set to VALID the message number to be displayed on the MPB will be output When set to INVALID the message number to be displayed on the MPB will not be output This parameter cannot be set to VALID simultaneously with parameter 2 2 7 6 Parameter setting for CC Link serial 1 O board 6 1 Parameter setting for CC Link serial I O board 1 Press the PARAM key in SYSTEM mode to enter SYSTEM gt PARAM mode 2 Press the BRD key in SYSTEM gt PARAM mode to enter the option board parameter setting mode gt PARAM gt OP v8 18 5 The option boards installed in the controller are displayed in order on the MPB screen Fig 2 6 1 O O 1 DIO N 1 VALID 2 S aa 3 CCLnk S1 10M VALID ee Option boards installed into the option slots are displayed on the MPB screen Type Display Meaning DIO N n An opti n DIO board of NPN specifications is installed The number in parentheses is an ID number Option DIO DIO_P n An option DIO board PNP specifications is installed The number in parentheses is
30. compatible module cable Carefully carry out the work to valid applying excessive force on 2 Using a Phillips head screwdriver securely fix the CC Link system cable to the termi the CC Link cable nal block removed in step 1 Treat each end of the C Link system cable wire with round The name of each terminal on the cable terminal block is shown above terminal or Y terminal so that it When connecting a terminator connect it across DA DB will not dislocate MN Carefully carry out the work so A slit to prevent incorrect inverted insertion is provided on the cable terminal block that the CC Link system cable is not incorrectly wired Refer to the master station PLC 3 Connect the cable terminal into which the CC Link system cable has been installed instruction manual for details on to the CC Link compatible module terminal block section on the robot controller and the system cable completely fix with the two screws on both sides using a Phillips head screwdriver connection N CAUTION 5 2 Testing the line from the master station PLC If the line test results indicate a correct connection place the CC Link system cable into a conduit or fix it The master station PLC in the CC Link system has a function to test the line to the remote with a clamp station Using this function confirm that the robot controller is accurately recognized as a remote station in the CC Link system Refe
31. d When SAFE mode is enabled service mode input signal is made valid with SI 02 in the CC Link system Emergency stop terminal in SAFETY connector is valid Interlock signal in STD DIO connector is valid when the external 24V monitor con trol setting in SYSTEM PARAM mode is left valid When the external 24V monitor control setting in SYSTEM PARAM mode is left valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector The signals in the CC Link system are sent and received Always initialize with the master station PLC when connecting to the CC Link sys tem 2 Shift from CC Link system normal connection state to CC Link sys tem erroneous connection state Robot Master station gt Robot Master station controller PLC controller PLC or Robot controller Emergency stop input turns off with SI 00 in the robot controller Service mode input turns off with SI 02 in the robot controller Emergency stop terminal in SAFETY connector is valid Interlock signal in STD DIO connector is valid when the external 24V monitor con trol setting in SYSTEM gt PARAM mode is left valid When the external 24V monitor control setting in SYSTEM gt PARAM mode is left valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector The signals in the CC Link system are not sent or received The CC Link
32. ded in the SAFETY connector on the robot controller When the CC Link system is used while STD DIO is not used external DC 24V power supply is not used invalidate the external DC 24V monitor control setting in SYSTEM PARAM mode If it is left valid the STD DIO interlock signal is made valid causing an error in the robot operation commands CC Link is the abbreviation of Control amp Communication Link The CC Link system connects the robot controller and dispersed input output modules with dedicated cables and controls these modules from the master station PLC The CC Link system allows wiring to be reduced Master station Station that controls entire CC Link system The PLC master module corresponds to this Remote l O station Station controlled by master Remote device station station in CC Link system Station controlled by master station in CC Link system The robot controller corresponds to this CC Link is a registered trademark of CC Link partner association The CC Link compatible module provided with a label is compatible with CC Link Ver 1 10 Wiring saving One dedicated cable 4 wire 1 used to connect the robot controller and PLC This allows the entire system wiring to be reduced Emulated serialization on parallel DIO By making the robot controller s internal settings without using a robot program the various I O devices such as the sensors and relays mounted on t
33. e 1 Open Point No in pallet Point No in pallet Point above workpiece supply Ist point above pallet 8th point above pallet Z axis position point for workpiece supply Z axis position point on pallet Point above workpiece supply Ist point above pallet 8th point above pallet Z axis position point for workpiece supply Z axis position point on pallet 9 5 11 o 4 Sample program PLC data assignment 1 1 X6 1 X7 1 XOF 1 X100 X101 X17F X180 X181 XIFF YO 1 Y6 1 Y100 Y101 Y17F Y180 Y181 Y1FF MO 1 M2 M4 M8 DO DI D2 D10 Unit error Local station data link status Data link start normal completion Data link start error completion Unit ready Ist unit s SO 00 Emergency stop input status Ist unit s SO 01 CPU OK Ist unit reservation 2nd unit s SO 00 Emergency stop input status 2nd unit s SO 01 CPU OK 2nd unit reservation Refresh instruction Data link start request Ist unit s SI 00 Emergency stop input Ist unit s SI 01 Servo ON input Ist unit reservation 2nd unit s SI 00 Emergency stop input 2nd unit s SI 01 Servo ON input 2nd unit reservation Unit preparation complete flag Parameter setting flag Data link start flag Ist station data link status Sth station data link status No of
34. e module LED confirmation 3 4 Confirmation from master station PLC 3 1 Robot controller front panel LED confirmation Confirmation item 1 lt Confirmation details gt The PWR LED is OFF lt Cause gt Power is not being supplied to the robot controller lt Countermeasures gt Measure the voltage at the AC power input terminal of the power connector with a multimeter and check that the rated voltage is being supplied Refer to the robot controller owner s manual for the rated voltage for the robot con troller Bunoous lqnouL Confirmation item 2 lt Confirmation details gt The ERR LED is ON lt Cause gt The robot controller is in emergency stop A major error has occurred in the robot controller lt Countermeasures gt Confirm the error message displayed on the programming unit Take measures by following the troubleshooting section in the robot controller in struction manual Refer to the robot controller instruction manual for details on the errors 4 3 o t lt o m a 5 o gt E 3 Troubleshooting 3 2 Programming unit error display confirmation Confirmation item 1 lt Confirmation details gt CC Link Communication Error is displayed on the programming unit Cause An error has occurred in the CC Link system connection lt Countermeasures gt Check whether the CC Link system cable is disconnected or incorrectly connected
35. e program will also stop when the emergency stop input OFF is input In this case the emergency stop input status and alarm status output ON will be output and the servo ON status output OFF will be output The servo ON process is required to start the program again When SAFE mode is enabled dedicated inputs other than SI 00 and SI 11 might be disabled depending on service mode parameter setting unless service mode input sig nal is set to ON with SI 02 in the CC Link system 5 9 4 Sample program An example for the following type of hardware configuration has been prepared for this section Pallet MXYx SXYx 2nd unit supply position 1st unit supply position H P200 Remote device station Remote device station RCX40 1st unit RCX142 2nd unit Master station SXYx 3 axes MXYx 3 axes A1SHCPU Station No 1 4 Station No 5 4 A1SJ61BT11 stations occupied stations occupied eae SQ COLON Details of sample Pick amp place work is carried out using the PLC and RCX40 SXYx 3 axes RCX142 MXYx 3 axes The workpieces supplied to each robot are arranged on one pallet 0 c O 2 O o The workpiece is supplied at a rate faster than the robot operation The two robots will interfere above the pallet so data is exchanged to prevent in
36. e word data from SOW or SOD port Or used as remote command s response area n Address assigned to master module with station No setting 5 5 O O o o 3 Dedicated input output signal timing chart CAUTION 5 6 The dedicated input ON OFF process from the master station PLC to the controller must be carried out at an interval of 100ms or more If the interval is too short the dedicated input may not be recognized This also applies to the same dedicated input and differing dedicated input intervals If dedicated outputs are provided for the dedicated inputs from the master station PLC to controller use them 3 1 Initial data process for CC Link connection RX n 7 8 Initial data process request flag off RX n 7 B an Remote Ready off Initial data process complete flag off RYn0 S1 00 dl Emergency stop input off i RY n 1 1 SI 11 on Interlock input off RY n 7 8 Confirmation of connection with master station PLC power ON a Initial data process request flag ON is output b Emergency stop and interlock input ON is input Initial data process complete flag ON 1 input d Initial data process request flag OFF is output e Remote Ready ON is output Connection with the CC Link system is completed with this process This process is always required to correctly connect to the CC Link system e
37. ettings on the option unit 2 Install the correct option units 3 Replace the option unit MEMO Chapter 5 Specifications Contents 5 1 2 Details of remote input output signals 5 3 3 Dedicated input output signal timing Chart 5 6 proces 5 6 SAO AO 5 7 3 3 AUTO mode changeover program reset and program 5 8 WAN rre lO ee 5 9 4 Sample propran 5 10 5 CC Link compatible module specifications 5 17 MEMO 1 Profile YAMAHA robot controller 4 station occupying Remote input output Remote gt Master Master Remote Device No Signal name Device No Signal name RXnO SO 00 Emergency stop input status output RYnO SI 00 Emergency stop input RXn1 SO 01 CPU OK status output RYn1 SI 01 Servo ON input RXn2 SO 02 Servo ON status output RYn2 SI 02 Service mode input RXn3 SO 03 Alarm status output RYn3 RXn4 System area for future expansion RYn4 System area for future expansion RYn5 SI 05 10 command execution trigger input RYn6 System area for future expansion SO 10 AUTO mode status output SI 10 Sequence con
38. fied SIO parameter program the output results might be inaccurate 3 5 4 Direct connection by emulated serialization on parallel DIO 1 Direct connection from SI to DO n Serial port input can be directly connected to parallel port output The relation of the parallel port and serial port that can be connected is as follows W NOTE Output device such as sensor When the port specified by SIO is DO lt Slport identical with the port used by the program the output results might be inaccurate Operation 1 Select an SI port from items 1 to 4 in the SYSTEM gt OPTION gt SIO mode 2 Press the EDIT key SYSTEM gt OPTION gt SIO V8 01 1 Direct SI2 gt DO2 2 Direct SI3 gt DO3 NO 3 Direct SI4 gt DO4 NO c 3 O 4 Direct SI5 gt 005 NO 5 Direct 02 lt DI2 m ER A 3 Press the SET key to enable the connection or the NO key to cancel the setting 4 Press the key to quit setting or select another SI port with the cursor keys to continue setting 3 6 4 Direct connection by emulated serialization on parallel D 2 Direct connection from SO n to DI n Parallel port input can be directly connected to serial port output The relation of the parallel port and serial port that can be connected is as follows W NOTE Input device such as valve 7 When the port
39. g made when connected to the CC Link system A CRC error occurred in the received data and a response cannot be made Normal communication There is no data addressed to the local station Station No setting illegal Non existing station No was specified Communication speed setting illegal Unusable communication speed was specified Polling response is being carried out but a CRC error occurred in the refresh reception A CRC error occurred in the data addressed to the local station Data has not been initialized The local station is not set to a remote device station There is no data addressed to the local station or the data addressed to the local station cannot be received because of noise An illegal communication speed was set It can be spefified but differs from the master station Data cannot be received because of a line disconnection The power for communication has been cut off Communication with the master station was not possible when the power was turned ON ON Others OFF O An improbable state Flicker 3 Troubleshooting If trouble occurs in the connection with the robot controller while starting up the CC Link system or during operation check the following items in listed order 3 1 Robot controller front panel LED confirmation 3 2 Programming unit error display confirmation 3 3 CC Link compatibl
40. he robot controller s parallel I O can be controlled from the PLC as if they were CC Link system I O devices 1 1 Outline 2 Mechanism 1 2 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 PLC controller 2 The robot controller s ON OFF information is sent to master station PLC via the network CC Link system cable 2 The 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 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 2 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 w
41. id with DI 02 in SAFETY connector The signals in the CC Link system can be sent and received When the connection to the CC Link system shifts to the normal state the initializa tion process must be carried out with the master station PLC when connecting to the CC Link system When service mode parameter setting in SYSTEM PARAM mode has been changed while SAFE mode is enabled make the service mode parameter setting again In this case take full precautions to prevent improper settings that might lead to a hazardous situation The CC Link system will return when the CC Link system connection is recovered to the normal state 1 7 MEMO Chapter 2 Connection Contents 1 Confirming the CC Link compatible module settings 2 1 2 Setting to the CC Link system specification controller 2 2 Zalesavinethemobomcontrollerc tage nnm 2 2 22 dre E MOCHE 2 2 2 3 Regone senina Me ENP 2 2 3 Setting the CC Link compatible module 2 3 3slisSettiligithesstatloniNO eee n CU 2 3 IA Settime tnesconmmmunmieatiernspeedimmu s 2 4 fio NOES MEERITS ne 2 5 AAN me a e nsn 2 5 5 Connecting to the CC Link system 2 6 5 1 Connecting to the cable terminal to the controller
42. ill be sent to the master station PLC via the CC Link system by 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 2 A SIW 3 3 Names of each part on the CC Link compatible module The part names of the CC Link compatible module installed in the robot controller are described in this section The CC Link compatible module is installed into an optional slot in the robot controller O O MO 3 X Ola DIO Front of the unit D CC Link system cable terminals These terminals are used to connect the CC Link system cable Each of the four terminals has a meaning so do not make miswiring These terminals are DA DB DG and SLD from the top 2 Transmission monitor LED The status in the CC Link system is indicated with ON OFF and flickering status of four LEDs These terminals are RUN ERRL SD and RD from the top 3 Station No setting switch LSB 1st digit This 15 the rotary switch for setting the robot controller station No in the CC Link system The 1st digit of the station No is set with this switch 4 Station No setting switch MSB 2nd digit This is the rotary switch for setting the robot controller station No in the CC Link system
43. including the robot controller will work safety CAUTION The control line and communication cable must not be bound with or placed near the circuit or power line Separate these by at least 100mm Failure to observe this could lead to malfunctions caused by noise 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 Precautions for installation WARNING Always crimp press fit or solder the connector wire connections with the maker designated tool and securely connect the connector to the module Always shut off all phases of the power supply externally before starting installa tion or wiring work Failure to shut off all phases could lead to electric shocks or product damage CAUTION Use the robot controller within the environment specifications given in the manual Use in an environment outside the environment specification range could lead to electric shocks fires malfunctioning product damage or deterioration Install the CC Link compatible module into the robot controller and securely fix with screws Never directly touch the conductive sections or electronic parts other than the rotary switch on the CC Link compatible module Never directly touch the conductive sections or electric parts inside the con
44. le 4 2 Bs froubleshooting 4 3 3il lleno pa cen 4 3 3 2 Programming unit error display confirmation 4 4 3 3 eS 4 5 34 SECON APP 4 6 4 Error messages relating to CC Link 4 7 MEMO 1 Items to confirm before starting up CC Link system Q 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 Is the CC Link compatible module accurately connected Refer to Chapter 2 section 2 or 3 Is the robot controller set to the CC Link system specifications Refer to Chapter 2 section 1 Are the CC Link compatible module station No and communication speed correctly set Refer to Chapter 2 section 1 Is the ferrite core connected to the power input cable to the robot controller Refer to Chapter 2 section 4 Is the CC Link system cable accurately connected to the CC Link compatible module Refer to Chapter 2 section 5 Was the line test from the master station PLC correct Refer to
45. m Keep tuned ON to continue program execution SI 12 Robot program start input Turn ON to execute robot program Robot program is executed when this input is switched from OFF to ON Robot controller must be in AUTO mode SI 13 AUTO mode input Turn ON to select AUTO mode Robot program enters AUTO mode when this input is switched from OFF to ON RCX141 221 SI 14 Absolute reset input Turn ON to perform absolute reset on robot Reset is performed when this input is changed from OFF to ON Absolute reset is not performed on axes that use mark method for origin return Robot controller must be in MANUAL mode to perform absolute reset RCX142 222 SI 14 Origin return Turn ON to perform origin return on incremental axes When this input is changed from OFF to ON origin return is performed on axes that are set to sensor or stroke end origin return method Origin return is not performed on axes that are set to mark origin return method SI 15 Program reset input SI 16 MANUAL mode input Turn ON to reset robot program Program reset is executed when this input is switched from OFF to ON Robot controller must be in AUTO mode Turn ON to select MANUAL mode Robot program enters MANUAL mode when this input is switched from OFF to ON RCX141 221 SI 17 Origin return Turn ON to perform origin return on incremental axes When this input is changed from OFF to ON o
46. nector and then disconnect the cable Pulling on the cable fixed with screws could lead to module or cable damage or malfunction ing caused by an improper cable connection Precautions for starting and maintenance 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 CAUTION If the master station PLC and robot controller are simultaneously turned on the CC Link system may not opera
47. neral pur General purpose SOW 6 RWw n 6 General purpose General purpose SIW 6 0 1 SOD 10 General purpose SOW 11 General pur General purpose SOW 12 RWw n 12 SOD 12 General purpose SOW 13 RWw n 13 General pur General purpose SOW 14 RWw n 14 SOD 14 General purpose SOW 15 RWw n 15 SID 10 General purpose SIW 11 General purpose General purpose SIW 12 SID 12 General purpose SIW 13 General purpose General purpose SIW 14 SID 14 General purpose SIW 15 n Address assigned to master module with station No setting 5 2 2 Details of remote input output signals Device No Signal name Details RXnO SO 00 Emergency stop input status output Turns ON when robot controller is in emergency stop state RXn1 SO 01 CPU OK status output Turns ON when robot controller is in normal state RXn2 SO 02 Servo ON status output SO 03 Alarm status output Turns ON when robot controller motor power is ON Turns ON when robot controller is in following state Serious error occurred in robot controller Emergency stop input OFF SO 10 AUTO mode status output SO 11 Origin return complete status output Turns ON when selected mode is AUTO mode Turns OFF when other mode is selected Turns ON when robot has complete origin return SO 12 Sequence program execution status output Turns
48. nk connection 5 6 3 2 Servo ON and emergency 5 0 5 7 3 3 AUTO mode changeover program reset and program EXECUTION qa eset nace eoa a dne epe ceden dn 5 8 3 4 Stopping with program interlock 5 9 4 Sample program eerta antenne tnnt nennen aeo iss 5 10 5 CC Link compatible module specifications 5 17 Chapter 6 1 Appendix Term Cefinition c cccccssccsccscssssssccccsessscescesccssssscescasessces 6 1 Chapter 1 Outline Contents EEES 1 1 2 Mechanism erento eite it teer ea eo 20200asesansennessnesasnse 1 2 3 Names of each part on the CC Link compatible module 1 3 4 Assignment of CC Link compatible I O 1 4 5 Shift of CC Link system connection status and robot controller status MEMO 1 Features Q 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 AN CAUTION An emergency stop terminal for hardwire is provi
49. nput b Interlock signal turned ON during execution of program or axis movement DC 24V is supplied to STD DIO connector and DI 11 is not turned ON d SI 11 is not ON e Error in connection to CC Link system Bunoous l qnouL Action 1 Cancel the interlock signal and execute program or move axis 2 Set DI 11 on STD DIO connector to ON 3 Set SI 11 to ON 4 When not using STD DIO disable invalid the Watch on STD DO DC24V parameter in SYSTEM mode 5 Correct the connection to CC Link system 12 11 CC Link communication error Code amp HOCOB Meaning Cause a Error in cable for CC Link system b Master station sequencer power is turned off or the operation has stopped Action 1 Check for the cable and take measures to suppress noise on the controller 2 Check if the master station sequencer is operating correctly 12 12 CC Link overtime error Code amp HOCOC Meaning Cause a Communication error in CC Link system due noise etc b Master station sequencer power is turned off or the operation has stopped Action 1 Take measures to suppress noise on the CC Link system cable and controller 2 Check if the master station sequencer is operating correctly 12 70 Incorrect option setting Code amp H0C46 Meaning Cause a Error in DIP switch setting on option unit b Mismatched option units have been installed Cannot identify the installed option unit Action 1 Check the DIP switch s
50. nter the emergency stop state turn RYnO SI 00 OFF after the above process is established The servo is OFF when the controller power is turned ON CAUTION The dedicated input process from the master station PLC to the controller must be carried out at an interval of 100ms or more If the interval is too short the dedicated input may not be recognized This also applies to the same dedicated input and differing dedicated input intervals If dedicated outputs are provided for the dedicated inputs from the master station PLC to controller use them 3 Dedicated input output signal timing chart 3 2 Servo ON and emergency stop on RXn0 SO 00 Emergency stop input i status output 9 on RXn1 SO 01 CPU_OK output off on RXn2 SO 02 Servo ON status output on I i RXn3 SO 03 i Alarm status output off RYn0 SI 00 i T1 Emergency stop input y PER on i L RYn1 SI 01 de i y Servo ON input off Dui i a b c d e 99 m j k Initial servo ON process after power ON a Servo ON input ON is input b If not in the emergency stop state output servo ON status ON is output c After confirming that servo ON status output is ON servo ON input OFF is input Shift to emergency stop d Emergency stop input OFF is input e Emergency stop input status and alarm status output ON are output Servo ON status output OFF is output
51. o output device No input port No SIW 0 and SIW 1 are viewed as RYn7 RYnO dedicated input ports The robot RYnF RYn8 controller handles these ports as input ports of meaningful data so do SID 2 not use them as general purpose input ports SID 4 Set these ports to 0 in most cases SID 6 uoneoiunululo 0 SID 8 0 0 SID 10 140 150 SID 12 130 SID 14 RWw n 15 SIW 15 n Address assigned to master module with station No setting When reading the bit information from the master station PLC s output device No with the robot controller write the following commands in the robot program in the same manner as the DI input port WAIT command Assignment statement Example To wait for RY n 1 0 to turn ON WAIT SI 20 1 The robot program will wait for SI 20 to turn ON OF NOTE E xample read the RY n 1 0 to RY n 1 7 data in variable The 51 statement in the robot language can be defined from SIO to 8127 P SIZ sette The 5120 data will be converted into a deci but the CC Link compatible module mal and substituted into variable A accepts from 510 to 115 If 120 is 7Fh variable A will be 127 When reading the word information from the master station PLC s output device No with the robot controller write the following command in the robo
52. obot 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 gt 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 3 1 2 Initial process for connecting to CC Link system The initial data process must be carried out to correctly connect to the CC Link system 2 1 Initial data process The initial data process is carried out to confirm that the robot controller is correctly connected to the CC Link system Prepare the process on the master station PLC side so that the following type of process is always carried out before data is exchanged Initial data process master station PLC side CD Confirm that RX n 7 8 initial data process request flag is ON 2 Turn RYn0 emergency stop in
53. onnec tor on the front panel of the robot controller Procedures 1 Mount the two ferrite cores supplied onto the input power cable The ferrite core should be placed as close to the robot controller body as possible WARNING Completely shut off the power supply to the input power cable before starting this work 2 Fix the mounted ferrite core with an Insulock tie etc uonoouuo2 CAUTION Securely fix the ferrite core If the ferrite core is not mounted trouble could occur with the CC Link system operations 5 Connecting to the CC Link system The CC Link system cable must be connected to the CC Link compatible module in order to connect to the CC Link system e 5 O 9 5 Cable terminal PDA 0 DB 3 SLD O Front of the unit 5 1 Connecting to the cable terminal to the controller When setting the station No completely shut off the power Connect the CC Link system cable to the CC Link system cable terminal on the CC Link supplied to the robot controller compatible module AN CAUTION Procedure Always remove the terminal block 1 Using a Phillips head screwdriver completely loosen the two screws on both sides of secnon when mstalling tho CC the CC Link system cable terminal and remove the terminal block section from the Link system cable Securely fix the CC Link system CC Link
54. ontroller s bit information into the master station PLC s input device No write the following commands in the robot program in the same manner as the DO output port SET RESET command Assignment statement OUT command Example To turn RX n 1 0 ON SET SO 20 or SO 20 1 SO 20 will turn ON NOTE 7 The SO statement in the robot language Example To write variable A data into RX n 1 0 to RX n 1 7 can be defined from 502 to SO27 SOMOS Act The variable A data will be converted into but the CC Link compatible module a binary and substituted into SO2 Accents rom SOA Ne If variable A is 127 7Fh will be set in 020 When writing the robot controller s word information into the master station PLC s input device No write the following command in the robot program Assignment statement Q NOTE Word data written with SOW n is a little Example endian format with no sign Double word data written with SOD n is a little endian format with a sign To write 512 into RWr n2 as word data SOW 2 512 512 is substituted in SOW 2 and SOW 2 becomes 0200h Example To write 69905 as the double word data for RWr n 2 and RWr n3 SOD 2 69905 69905 is substituted in SOD 2 SOW 2 becomes 1111h and SOW 3 becomes 0001h 3 4 4 Direct connection by emulated serialization on parallel DIO The master station PLC can exchange bit information data with the
55. parallel port on the robot controller s parallel I O unit regardless of the robot program By using this func tion I O devices such as a sensor or relay can be used like a device connected to CC Link Master station PLC device 4 Sensor relay etc 1 1 A CC Link NOTE connection When the directly connected and set SKU a output port is used with the program the bit information may not become the Remote device station intended value Do not use the directly robot controller Parallel I O connection connected and set output port with the program O O 4 1 Emulated serialization setting on parallel DIO The relation of parallel port and serial port that can connected is shown below S Input device such as sensor Output device such as valve DI port SO port DO lt SIport 0120 020 2020 512 O 2130 5030 2030 130 5 2040 0050 Operation 1 Press the SIO key in SYSTEM gt OPTION mode SYSTEM gt OPTION gt SIO 1 Direct SI2 gt DO2 NO 2 Direct SI3 gt DO3 NO 3 Direct SI4 gt DO4 NO 4 Direct SI5 gt DO5 NO 5 Direct 502 lt DI2 Valid keys and submenu functions in this mode are as follows Valid keys Menu Function T Cursor 7 4 keys Selects SIO parameters Y NOTE Fl EDIT Sets SIO parameters When the port specified by SIO is identical with the port used by the F2 JUMP Jumps to speci
56. put and RYn9 interlock input ON 3 Turn RY n 7 8 initial data process completion flag ON c 2 4 Confirm that RX n 7 8 initial data process request flag is OFF 5 Confirm that RX n 7 B remote station Ready is ON gt 7 8 7 O RYnO RYn9 AN CAUTION e RX n 7 B remote station RY n 7 8 Ready must always be used on the master station PLC side as the flag to indicate whether the robot The robot controller internal process will automatically start when the power is controller is operating correctly turned ON and the system is returned from an error state When starting up the system in the emergency stop state using RYn0 emergency stop input carry out the initial data process first and then turn RYn0 emergency stop input OFF The robot controller will start up in the servo OFF state when the power is turned ON 3 2 3 Communication with master station PLC The method for communicating with the master station PLC by using the robot program when the CC Link system 15 correctly connected 15 explained in this section 3 1 Receiving data Data is received by reading the master station PLC output device data with the robot controller s input port The correspondence of the master station PLC s output device numbers and robot controller s input port numbers is shown below Master station Robot controller Master station Robot controller N CAUTION output device N
57. r to the master station PLC instruction manual for details 2 6 6 Parameter setting for CC Link serial 1 O board OF NOTE The following functions are enabled or disabled by setting the parameters for the CC Set the Board status parameter to Link serial I O board INVALID when not using serial 1 0 boards Parameter Meaning When the Board status parameter is set to INVALID the dedicated 1 Board condition Enables or disables the serial I O board When set to VALID the input output of the STD DIO connector becomes enabled When the Board status parameter is set lo VALID the dedicated input 2 Remote cmd IO cmd Enables or disables the functions of remote commands and I O except DIT of the SED DIO 5105 commands using word information and information When set connector becomes disabled to VALID the remote commands and I O commands can be used For remote commands and When set to INVALID the remote commands and I O commands commands refer to the command cannot beaised reference manual This parameter cannot be set to VALID simultaneously with For a description of codes issued parameter 3 from the message output function for SOW 1 refer to 1 Error message in chapter 9 When the Remote command amp I O command parameter is set to VALID the Output MSG to SOW 1 parameter cannot be set to VALID Likewise when the Output MSG to SOW 1 parameter is set to VALID the Remote
58. rigin return is performed on axes that are set to sensor or stroke end origin return method Origin return is not performed on axes that are set to mark origin return method RCX142 222 SI 17 Absolute reset input Turn ON to perform absolute reset on robot Reset is performed when this input is changed from OFF to ON Absolute reset is not performed on axes that use mark method for origin return Robot controller must be in MANUAL mode to perform absolute reset n Address assigned to master module with station No setting 2 Details of remote input output signals Device No Details RY n 1 0 to SI 20 to SI 27 General purpose input RY n 1 7 Signal name Set these inputs to ON or OFF to refer to SI port to values or execute WAIT command SI 150 to SI 157 General purpose input Turns ON when power is turned ON communication error is reset or data initialization is requested or completed Emergency stop input R Yn0 and interlock input RYn9 are turned ON when data is initialized n Address assigned to master module with station No setting Initial data process complete flag Device No Name Details RWwn Dedicated SIW 0 Used as the remote command area RWw n 1 Dedicated SIW 1 Used as the remote command s command data area General purpose SID 2 General purpose SIW 2 General purpose SIW 3 General purpose SID 4
59. 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 gt PARAM mode is left valid while SAFE mode is enabled service mode input signal is also made valid with DI 02 in SAFETY connector uoneoiunululo 2 When 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 r
60. specified by SIO is Dl pot SO port identical with the port used by the program the output results might be inaccurate Operation 1 Select a DI port from items 5 to 8 in the SYSTEM gt OPTION gt SIO mode 2 Press the EDIT key SYSTEM gt OPTION gt SIO 4 Direct 15 gt DO15 NO 5 Direct 02 lt 012 No 6 Direct SO3 lt 013 uoneoiunululo 7 Direct 504 lt DI4 NO 8 Direct SO5 lt DI5 runa NENNEN ua 3 Press the SET key to enable the connection or the NO key to cancel the setting 4 Press the key to quit setting or select another DI port with the cursor keys to continue setting a 9 5 O 5 Referring to communication data The ON OFF information exchanged with the master station PLC can be referred to using the program ming unit hereinafter MPB Note that the MPB display update interval is longer than the CC Link data update interval so if the ON OFF interval is short accurate information may not be displayed 5 1 Referring to the data from the programming unit The data exchanged with the master station PLC can be referred to with the MPB The reference unit is the robot controller input output port No SI monitor SIOC amp BO0000111 514 8 11000000 511 6 0 0001111 15 amp 00101000 512 8 00010001 SI6C amp BO0000111 SI3 amp B00000100 SI7 8B00000
61. ssigned to master module with station No setting SI 130 to SI 137 General purpose input 5 1 1 Profile Remote gt Master Master gt Remote Device No Signal name Device No Signal name RX n 6 0 RY n 6 0 0 140 to SO 147 General purpose output SI 140 to SI 147 General purpose input SO 150 to SO 157 General purpose output Reserved Reserved Initial data process request flag Not used Remote station ready Reserved Reserved QnA n Address assigned to master module with station No setting Remote gt Master Master Remote Name Device No Name Dedicated SOW 0 RWwn Dedicated SIW 0 Dedicated SOW 1 RWw n 1 Dedicated SIW 1 General pur General purpose SOW 2 RWw n 2 SOD 2 General purpose SOW 3 RWw n 3 General pur General purpose SOW 4 RWw n 4 SOD 4 General purpose SOW 5 RWw n 5 General purpose General purpose SIW 2 SID 2 General purpose SIW 3 O o o General purpose General purpose SIW 4 SID 4 General purpose SIW 5 SOD 6 General purpose SOW 7 RWw n 7 General pur General purpose SOW 8 RWw n 8 SOD 8 General purpose SOW 9 RWw n 9 SID 6 General purpose SIW 7 General purpose General purpose SIW 8 SID 8 General purpose SIW 9 General purpose General purpose SIW 10 General purpose SOW 10 Ge
62. stitute LSB in low order address and refer to LSB when handling word information data as double word data For example when the value 00012345h is substituted in SOD 2 2345h is sub stituted in SOW 2 of the first word and 0001h is substituted in SOW 3 of the second word 6 1 Revision record Manual version Issue date Description 1st Edition 2nd Edition 3rd Edition 4th Edition Ver 1 05 Ver 1 06 Jan 2002 May 2002 Nov 2002 Jan 2003 Aug 2006 English manual Ver 1 05 is based on Japanese manual Ver 1 06 Oct 2006 English manual Ver 1 06 is based on Japanese manual Ver 1 06 OWNER S MANUAL RCX Series YAMAHA CC Link Robot Controller UNIT Oct 2006 Ver 1 06 This manual is based on Ver 1 06 of Japanese manual YAMAHA MOTOR CO LTD IM Company All rights reserved No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO LTD Information furnished by YAMAHA in this manual is believed to be reliable However no responsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact YAMAHA or YAMAHA sales representatives
63. t off I on i RYnB SI 13 H AUTO mode input off no on RYnD SI 15 i zo Program reset input off Poo a b ic id gh j 100ms or more 100ms or more AUTO mode changeover process a AUTO mode input ON is input b AUTO mode status output ON is output c After confirming that the AUTO mode status output is ON the AUTO mode input OFF is input O O o o Program reset process d Program reset input ON is input e Program reset status output ON is output f After confirming that the program reset status output is ON the program reset input OFF is input Program execution process g Robot program start input ON is input h Program reset status output OFF is output Robot program execution status output ON is output 1 After confirming that the robot program execution status output is ON the robot program start input OFF is input The program cannot be executed if the emergency stop input and interlock input are OFF Tf the origin return complete status output is not ON execution of the program may not be possible depending on the execution level setting value When SAFE mode is enabled dedicated inputs other than SI 00 and SI 11 might be disabled depending on service mode parameter setting unless service mode input signal is set to ON with SI 02 in the CC Link system 5 8 3 Dedicated input output signal timing chart 34 Stopping with program interlock on CAUTION
64. t program Assignment statement Example read the RWw 2 word data in variable OF NOTE B SIW 2 The SIW 2 data will be substituted into Word data read out with SIW n is a variable B as a decimal If SIW 2 is little endian format with no sign O1FFh variable B will be 511 ee a Example Toread the RWw 2 RWw n 3 double word data into variable C i di C SID Dian The SIW 2 and SIW 3 data will be sub stituted into variable C as a decimal If SIW 2 is 0010h and SIW 3 is 0001h vari able C will be 65552 3 3 3 Communication with master station PLC 3 2 Transmitting data Data is transmitted by writing the robot controller output port data into the master station PLC s input device The correspondence of the master station PLC s input device numbers and robot controller s output port numbers is shown below Master station Robot controller Master station Robot controller input device No output port No input device No output port No RXn7 RXn0 an Sono AN CAUTION RXnF RXn8 10 SIW 0 and SIW 1 are viewed as dedicated input ports c SOD 4 SOD 6 O 70 7 SO 100 SOD 8 3 SO 110 0 127 SO 120 SOD 10 O 137 SO 130 O 147 SO 140 SOD 12 SO 150 SOD 14 RWr n 15 n Address assigned to master module with station No setting To write the robot c
65. tc 2 Minor natural phenomena that do not affect the capabilities of the robot and or related product noise from computers motors etc 3 Programs point data and other internal data that were changed or created by the user Failures resulting from the following causes are not covered by warranty repair 1 Damage due to earthquakes storms floods thunderbolt fire or any other natural or man made disasters 2 Troubles caused by procedures prohibited in this manual 3 Modifications to the robot and or related product not approved by YAMAHA or YAMAHA sales representatives 4 Use of any other than genuine parts and specified grease and lubricants 5 Incorrect or inadequate maintenance and inspection 6 Repairs by other than authorized dealers YAMAHA MOTOR CO LTD MAKES NO OTHER EXPRESS OR IMPLIED WAR RANTIES INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE THE WARRANTY SET FORTH ABOVE IS EXCLUSIVE IS IN LIEU OF ALL EXPRESSED OR IMPLIED WAR RANTIES INCLUDING WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE OR WARRANTIES ARISING FROM A COURSE OF DEAL ING OR USAGE OF TRADE YAMAHA MOTOR CO LTD SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE EQUIPMENT AND YAMAHA MOTOR CO LTD SHALL NOT BE LIABLE FOR ANY CONSEQUENTIAL DAMAGES WHETHER ARISING FROM CON TRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY YAMAHA MOTOR CO LTD MAKES NO WARRANTY WHATSOEVER
66. te correctly Always first turn on the master PLC before turning on the robot controller Precautions for disposal AN 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 Warranty The YAMAHA robot and or related product you have purchased are warranted against the defects or malfunctions as described below Warranty description If a failure or breakdown occurs due to defects in materials or workmanship in the genu ine parts constituting this YAMAHA robot and or related product within the warranty period then YAMAHA will repair or replace those parts free of charge hereafter called warranty repair Warranty Period The warranty period ends when any of the following applies 1 After 18 months one and a half year have elapsed from the date of shipment 2 After one year has elapsed from the date of installation 3 After 2 400 hours of operation Exceptions to the Warranty This warranty will not apply in the following cases 1 Fatigue arising due to the passage of time natural wear and tear occurring during operation natural fading of painted or plated surfaces deterioration of parts sub ject to wear e
67. tem cable is disconnected or incorrectly connected and whether the terminator is connected Check whether the CC Link system cable is laid near the main circuit or power cable or whether it is bundled with these Check that the ferrite core is connected to the robot controller s power supply cable Check the station No and communication speed settings for the CC Link compatible module Check that the master station PLC 15 operating correctly Check that the robot controller on the master station PLC 1 set to the remote device station Confirmation item 2 lt Confirmation details gt The LED display on the CC Link compatible module is RUN ERR SD RD 0000 O 0N OFF lt Cause gt The initial data process has not been executed when the CC Link system was con nected Refer to Chapter 3 The RX n 7 B remote station Ready signal is not ON lt Countermeasures gt Carry out the initial data process when connecting to CC Link system Bunoous lqnouL 4 5 o t lt o 2 Q 5 o gt E 3 Troubleshooting 3 4 Confirmation from master station PLC Confirmation item 1 lt Confirmation details gt Using the master station PLC s line test function confirm robot controller is correctly connected to the CC Link system Refer to the master station PLC instruction manual for details on the line test Confirmation item 2 lt Confirmation details gt Using
68. terfer ence When handling the workpiece the robot moves at a low speed The robot controller directly exchanges the pallet Refer to the robot programming manual for details on the robot program language The PLC circuit is a simple circuit that executes the selected robot program when emergency stop is canceled 5 10 4 Sample program Robot program data assignment Variables used lst unit 2nd unit Points used lst unit 2nd unit A B P100 P101 P108 P121 P122 P200 P201 P208 P221 P222 Bit information used 15 unit 2nd unit SI 40 SI 41 SI 42 SO 23 to SO 20 SO 40 SO 41 SO 42 DI 47 DO 40 DO 47 SI 23 to SI 20 SI 40 SI 41 SI 42 SO 40 SO 41 SO 42 DO 40 Point No reception complete input Movement complete response standby input Movement complete standby input Point No setting output group Point No setting complete output Movement complete output Movement complete response output Pallet change complete input Chuck hand open close 0 Close 1 Open Pallet exchange command output Point No setting input group Point No transmission complete input Movement complete standby input Movement complete response standby input Point No setting reception complete output Movement complete response output Movement complete output Chuck hand open close 0 Clos
69. the master station PLC instruction manual Is the master station PLC set for the 4 station occupying remote device Refer to the master station PLC instruction manual Is the master station PLC exchanging the data for four stations The data for four stations must always be exchanged Has the initial data process been carried out between the master station and robot controller Refer the initialization process in Chapter 3 section 2 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 Bunoous lqnouL 4 1 2 Meanings of LEDs on CC Link compatible module AN CAUTION Even if the LED displays indicate the normal communication state there may be cases when communication with the master station PLC 15 not possible unless the initial data process is carried out Always carry out the initial data process Refer to Chapter 3 o c X o 2 Q 5 o gt F 4 2 RUN ERRL SD RD ALS Ola lo Front of the unit The LEDs on the CC Link compatible module express the following statuses Use these for confirmation when an error occurs Meaning Normal communication is taking place but the CRC error occurs sometimes because of noise The settings have varied from the baud rate and station No settin
70. trol input SO 11 Origin return complete status output SI 11 Interlock input SO 12 Sequence program execution status output SI 12 Robot program start input SO 13 Robot program execution status output SI 13 AUTO mode input SO 14 Program reset status output System area for future expansion System area for future expansion SI 15 Program reset input SO 16 IO command execution judgment output SI 16 MANUAL mode input SO 17 Output during IO command execution SO 20 to SO 27 General purpose output SI 17 Absolute reset input SI 20 to SI 27 General purpose input SO 30 to SO 37 General purpose out SI 30 to SI 37 General purpose input SO 40 to SO 47 General purpose out 1 40 to SI 47 General purpose input 0 50 to SO 57 General purpose out 1 50 to SI 57 General purpose input 9 SO 60 to SO 67 General purpose out S1 60 to SI 67 General purpose input 0 70 to SO 77 General purpose out SI 70 to SI 77 General purpose input SO 100 to SO 107 General purpose ou SI 100 to SI 107 General purpose input SO 110 to SO 117 General purpose ou SI 110 to SI 117 General purpose input SO 120 to SO 127 General purpose ou SI 120 to SI 127 General purpose input SO 130 to SO 137 General purpose ou RY n 5 F n Address a
71. troller Accurately connect each connection cable connector to the mounting section Failure to observe this could lead to malfunctions caused by a connection fault Precautions for wiring WARNING Always shut off all phases of the power supply externally before starting installa tion or wiring work Failure to shut off all phases could lead to electric shocks or product damage Always install the terminal covers enclosed with the product before turning ON the power or operating the product after installation or wiring work Failure to install the terminal cover could lead to malfunctions AN CAUTION Tighten the terminal screws within the specified torque range A loose terminal screw could lead to short circuiting or malfunctioning If the terminal screw is too tight short circuiting or malfunctioning could occur due to screw damage Make sure that foreign matter such as cutting chips or wire scraps do not enter the robot controller The communication cables connected to the CC Link compatible module must be placed in a conduit or fixed with a clamp If the cable is not placed in a conduit or fixed with a clamp the module or cable could be damaged by the cable shifting movement or unintentional pulling leading to malfunctioning caused by an improper cable connection Do not disconnect the communication cable connected to the CC Link compatible module by pulling on the cable section Loosen the screws on the con

Yamaha Robotics Robot Controller CC-Link Unit User's Manual

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