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Yamaha SRCD User`s manual

1. Left 1 O CN connector pin layout Below EXT CN connector pin layout Slotted screwdriver Terminal numbers are not actually indicated but designated from 1 to 4 from the left as viewed from the front wire insertion side as shown in the drawing The register in the CC Link unit has an emergency stop input However this is just for control by the software and is not by itself totally adequate So installing an interlock circuit for emergency stop using the above mentioned Pin No 1 EMG1 and Pin No 2 EMG2 of the EXT CN connector is strongly recommended 2 5 CHAPTER2 CC Link Unit Controller system settings remote station The communication speed and station No must be set so that the controller can be cor rectly identified as a remote station on the CC Link system Thy are set from the HPB These settings are enabled after the controller is restarted BR a a a a ea a a a ee a a a a a LS SLT LS LTL a a a a a a a a a a a a 2 5 1 Validating the CC Link unit Before the CC Link unit can be used it must first be set as follows to allow it to be identified by the controller 1 P F3 SYS the initial S ress on the initial screen MENU select menu 4 LEDIT2ZOPRT3SYS 4MON 2 Press next to switch to the func sys gt tion display and then press OPT select menu 1SAFE2OPT 3UTL 4next 3 Press
2. CAUTION The data handling with the remote command is received during stop alone Ac cordingly the response of this mode is set to 0 stop status alone CHAPTER2 CC Link Unit 13 Matrix definition content read ssss anxnnnnnnnnnnnnnnnnenevnnnnnnnnnnnr Code 020D The matrix definition content is read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Pallet number Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Line number Array number Details Pallet number It is the inherent number of 0 to 31 for matrix discrimination Array number Line number It is the value of 1 to 255 Example Transmission example 1 The data of the pallet No 1 is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0001 0000 020D Response example 1 It is the matrix of line number 20 and array number 30 RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 001E 0014 0000 0200 115 CHAPTER2 CC Link Unit 14 Currently specified matrix number read rrnnnnnvvennnnnnnvnnnnn Code 020E The pallet number of the currently specified matrix is read Command option RWwn 7 RWwn 6 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Pallet number Details Pallet number It is the inherent number of 0 to 31 for matrix discr
3. RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Speed Pallet work position Axis RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 or I alone can be specified Pallet work position It is the inherent number which is given to each square of the ma trix being a value in the range of 1 to max 65025 255x255 In addition the counter arrangement variable C or D can also be used 65535 FFFFF hexadecimal is registered for C and 65534 FFFE hexadecimal is registered for D Speed It can be set at 100 intervals from 1 to 100 and 100 3000rpm if the program execution speed parameter is set to 100 In this case the maximum speed setting parameter is set to 3000 Example Transmission example 1 If the matrix of 4x3 is defined it moves to the 2nd line and 2nd array at the speed 100 RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0064 0005 0000 0000 010C Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 Transmission example 2 If the matrix of 5x5 is defined Y axis alone moves at the speed 50 to the pallet work position specified with the counter variable O RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWw
4. 2 Data handling CHAPTER2 CC Link Unit Remote Command RWwn Command option Command details Current position read register response register RWwn 2 X axis position RWrn 5 RWrn 4 Y axis position RWrn 7 RWrn 6 Current program No read Program number RWrn 2 Current step No read Step number RWrn 2 Current task No read Task number RWrn 2 Current point No read Point number RWrn 2 ROM version No read Version value RWrn 2 Axis number read Axis number RWrn 2 Emergency stop status check Emergency stop status RWrn 2 Servo status check RWwn 2 Servo status RWrn 2 Return to origin status check RWwn 2 Return to origin status RWrn 2 Service mode status check Service mode status RWrn 2 Operation mode check Operation mode status RWrn 2 Matrix definition content read Pallet number RWwn 2 Array number RWrn 2 Line number RWrn 3 Currently specified matrix No read Matrix No RWrn 2 Current point variable P read Point number RWrn 2 Arrangement element No read of currently specified C Arrangement element No RWrn 2 Counter arrangement variable C read Arrangement element No Counter arrangement variable RWrn 2 Current counter variable D read Counter variable RWrn 2 Current shift data read X axis shift data RWr
5. Movement point zone output Outputs PO when the robot enters the position judgment parameter range for point data that is registered in the controller and serves as the movement target position of a point movement command ABS PT INC PT MEMO seg F FF Ff Ff fF fF iF iF if fF jf fF fF fF if ffi The movement point zone output is supported by the following controller versions ERCX SRCX Ver 13 64 or later DRCX Ver 18 64 or later SRCP SRCD Ver 24 21 or later SRCP30 Ver 24 30H or later 41 CHAPTER2 CC Link Unit 3 Point zone judgment method selection The position judgment parameter is selected when the point output selection is 2 point zone output or 3 movement point zone output Value Description 0 OUT valid position 1 Positioning completed pulse MEMO M I The Point zone judgment method selection is supported by the following controller versions ERCX SRCX Ver 13 64 or later DRCX Ver 18 64 or later SRCP SRCD Ver 24 21 or later SRCP30 Ver 24 30H or later In controller versions prior to the above versions the OUT valid position is the only point zone judgment method Initial value 0 CAUTION Any value other than the above is handled as a 0 Type 0 Example If set to 2331 this is handled as a 0 Type 0 If set to 10 this is handled as a 0 Type 0 Moreover if Type 2 Point number output type
6. MEMO EE HE EE DE GN EE GE GE EE GE EE GE GS GE ee Once origin return is performed after the absolute battery and robot cable are con nected it does not have to be performed again even if the power is turned off Ex ceptions to this are if the absolute battery backup was disabled or origin point related parameters were changed Origin point is then incomplete pending and must be re performed CAUTION Do not halt on going origin return during origin point detection while contacting the mechanical limits when using the stroke end origin detection method A con troller overload will trigger an alarm stop condition and the power must be turned off and then on again CAUTION When repeating origin return by the stroke end detection method is unavoidable wait at least 5 seconds before trying it again E Servo ON command SERVO After an emergency stop cancel it by releasing the emergency stop switch This trig gers an input to turn the servo power on and the robot can then resume operation The SERVO command is also a pulse input so must be turned OFF when BUSY turns ON On dual axis controllers the servo recovery axis can be specified with S1213 S1214 by making PRM10 varid 21 CHAPTER2 CC Link Unit E Reset command RESET This command returns the program step to the first step of the lead program and turns DOO DO12 SO200 SO231 and the memory I O all off The point va
7. In the multi task program the task selected at the time is executed Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Example Transmission example 1 The step operation is started RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 Rwwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0104 Response example 1 The step operation is completely executed RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 Response example 2 The origin incomplete error occurs to interrupt the robot opera tion RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 4020 73 CHAPTER2 CC Link Unit 5 Servo status change rassavvnnnnvnnnnnnnnnvnnnvevennnnnnnnnnnvnnnnnnennnnnnnner Code 0105 The servo of all axes or specified axis is turned ON and OFF Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Status Axis Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Details Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 or 1 alone can be specified Status 1 means servo ON and 0 means servo OFF Example Transmission example 1 Servo OFF is set for all axes 0000 0000 0000 0000 0000
8. RWrn 2 RWrn 1 RWrn 0000 61A8 0000 3A98 0000 0000 0000 0200 121 CHAPTER2 CC Link Unit 20 General purpose input and memory input status read mnnnnnnnnnnnvvvnnnnnnnnnnnnnnvvvnnnnnnnnnnnn The status of the general purpose input or memory input is read Command option RWwn 2 RWwn 7 RWwn 6 RWwn 4 RWwn 3 DI MI SI number Command response RWrn 2 RWrn 7 RWrn 6 RWrn 4 RWrn 3 Details DI SI MI number Input status One number is specified among the general purpose input 0 to 15 16 points memory input 100 to 147 48 points and serial gen eral purpose input 200 to 231 32 points Input status 1 means ON and 0 means OFF Example Transmission example 1 The status of SI201 is read RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 00C9 0000 0214 Response example 1 The SI201 status is SI201 1 ON RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0001 0000 0200 0 to 7 8 points for the SRCP SRCD series controllers 122 CHAPTER2 CC Link Unit 21 General purpose output and memory output status read rvvrrnnvnnnvnnnnnnnnnnnnnnennnennnennnennennr Code 0215 The status of the general purpose output or memory output is read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 DO MO SO number Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4
9. RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 CHAPTER2 CC Link Unit 20 Point variable P definition nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn Code 0114 The point variable P is set Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Point number Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Point number A value of 0 to 999 can be specified Example Transmission example 1 The point variable P is set to 100 RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0064 0000 0114 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 MEMO EE DE DE DE GE GN GE GE HE HE DEE EEE DEN KE Since the point variable is prepared to treat the point number as the variable a value of 0 to 999 can be specified CAUTION Though the content of the point variable is held even if the controller power supply is turned OFF the point variable is initialized to 0 if the program is reset or the execution program switch or other operation which the program reset is applied 89 CHAPTER2 CC Link Unit 21 Addition of specified value to point variable P Code 0115 The specified value is added to the point variable P Command option
10. 0000 0000 0000 0000 0000 0000 0000 0200 CHAPTER2 CC Link Unit 30 Shift execution of position data evvrrrrnnnnnnnnnnnvnnennnnnnnnnnnnver Code 011E The position data is shifted by the specified point data It is valid until this code is executed again or the program reset is applied Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Point number Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Point number It is the inherent number which is assigned to a total of 1000 points of 0 to 999 To specify the point variable P register 4095 0FFF hexadecimal Example Transmission example 1 Hereafter the position data is shifted by the data of the point 1 during movement RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0001 0000 OME Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 99 CHAPTER2 CC Link Unit 31 Linear interpolation movement execution sssssnsnnnnnnnnnnnnnn Code 011F It moves to the position of the data of the specified point number in the linear interpolation mode Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 Speed Point number Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Axis In the linear interpolation movement 0 All
11. 3 Input status Here 1 means ON and 0 means OFF The speed during execution of the MOVF statement can be set with the MOVE speed parameter This has no effect on speed in OPRT mode 0 to 7 8 points for the SRCP SRCD series controllers 58 2 10 2 JMPF Function Format Example Explanation Others CHAPTER2 CC Link Unit Jumps to the specified label of the specified program when the jump con dition input matches the value that was set JMPF lt label No gt lt program No gt lt input condition value gt JMPF 12 3 5 Jumps to label 12 of program 3 when the condition jump input value is 5 If not proceeds to the next step JMPF is a command to control the program flow according to the condi tion jump input 1 Label No The label No is a number defined by the character L and signifies the jump destination This number can be specified from 0 to 255 2 Program No The program numbers are numbers assigned to 100 programs ranging from 0 to 99 3 Input condition value This value sets the condition for the jump A general purpose input or a serial general purpose input is considered a binary input value and the jump is performed if it matches the input value conditions The number of points that can be sub grouped by input condition depends on the number of conditional input points The number of conditional input points is set by the conditional input point parameter single ax
12. Current counter variable D read xannnnnnnnnnnnnnnnnnnnnnnnnnnnnnen Code 0212 The value of the counter variable D is read Command option RWwn 7 RWwn 6 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Counter value Example Transmission example 1 The value of the counter variable D is read RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0212 Response example 1 The element No is 65535 RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 FFFF 0000 0200 120 CHAPTER2 CC Link Unit 19 Current shift data read sennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn Code 0213 The currently set shift data is read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Y axis position X axis position Details Axis position The shift data is indicated unit 0 01mm When the robot is set at the rotary axis the unit of the position is 0 01 degrees Single axis controllers does not use RWrn 6 to RWrn 7 Example Transmission example 1 The current shift data is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0213 Response example 1 The shift data is X 150 00 Y 250 00 RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3
13. Please refer to I O Interface in the controller instruction manual for detailed infor mation on parallel I O operation Row B No 1 Row B Row A No 1 Row A The register in the CC Link unit has an emergency stop input however this is just for control by the software and is not by itself totally adequate So installing an interlock circuit for emergency stop using the above mentioned A 24 EMG1 and B 24 EMG2 is recommended CHAPTER2 CC Link Unit E When the SRCP SRCD series is used 1 Short Pin No 1 EMG 1 and Pin No 2 EMG 2 of the EXT CN connector 2 Short Pin No B 4 LOCK of the I O CN connector and Pin No 4 24G of the EXT CN connector This wiring can be eliminated by disabling bit 6 Interlock function set ting of PRM34 System mode selection 3 Connect Pin No 3 24V and Pin No 4 24G of the EXT CN connector to an external 24 volt supply If Step 1 is not completed an emergency stop will occur If Step 2 is not completed an interlock will be activated The robot cannot move in either case Also note that 24 volt power will not be supplied to the I O circuit unless connected as in Step 3 An alarm is issued 06 24V POWER OFF and the operation is disabled Refer to I O Interface in the controller user s manual for detailed information on parallel I O operation A20 A19 on side of connector B20 B19
14. RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0204 Response example 1 The currently selected task is 0 main task RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 106 CHAPTER2 CC Link Unit 5 Current point NO read ss vvrrrrnnnnnnnnvnnnvenennnnnnnnnnnvnnennnennnnnnnnver Code 0205 The point number currently selected is read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Point number Details Point number It is the inherent value of 0 to 999 assigned to each point Example Transmission example 1 The current point number is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 Rwwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0205 Response example 1 The point number currently selected is 57 RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0039 0000 0200 MEMO M ee It is used to know what point number was used for movement or search for the point which causes an error if the error is caused by the point data 107 CHAPTER2 CC Link Unit 6 ROM version number read nannnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen Code 0206 The controller system version value is read Command option RWwn 7 RWwn 6 RWwn 4 RWw
15. The inherent number assigned to each parameter is 0 to 63 for single axis controllers and is 0 to 127 for dual axis controllers Parameter data For the parameter data refer to Chapter 5 Parameters of each controller manual Example Transmission example 1 The Y axis transfer mass parameter PRM90 is set to 3 kilograms RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0003 0000 005A 0000 0303 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 128 CHAPTER2 CC Link Unit 4 Point data write ssnensnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen Code 0304 The data is written into the specified point Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Y axis position X axis position Axis Point number RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Point number It is the inherent number of 0 to 999 assigned to each point Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 or I alone can be specified Axis data The position data desired to register is directly specified Unit 0 01 mm When the rotary axis is set for the robot the unit of the movement position is 0 01 degrees If any axis is specified the data of other axes not
16. however the point number is only output to the serial I O In controllers of the following versions the position judgment parameter for select ing the point judgment method can be set to either OUT valid position or Posi tioning completed pulse this is specified in the thousands place of the I O as signment selection parameter In controllers prior to the following versions the point zone judgment method specified by the position judgment parameter can only be set to OUT valid position ERCX SRCX Ver 13 64 or later DRCX Ver 18 64 or later SRCP SRCD Ver 24 21 or later SRCP30 Ver 24 30H or later The OUT valid position can be changed by parameter setting single axis con trollers PRM20 dual axis controllers PRM56 for X axis PRM96 for Y axis The Positioning completed pulse can be changed parameter setting single axis controllers PRM6 dual axis controllers PRM53 for X axis PRM93 for Y axis CAUTION When the current robot position is within two or more point zone output ranges the smaller or smallest point number is output Example If the current robot position is within two point output ranges specified by P2 and P5 then P2 is output If the current robot position is not within any point output range all of PO200 to PO205 turn off A 10ms sampling time is needed for position monitoring so the point zone output might not be detected when moving the robot at high speeds
17. i manufacturer Poor connections will cause faulty operation CAUTION When installing the unit be careful not to directly touch any electronic compo nents except DIP switches or parts conducting electrical current i CAUTION Make sure that foreign matter such as wiring debris or dust does not penetrate into the controller i CAUTION Always store network cable inside cable ducts or clamp them securely in place Otherwise excessive play or movement or mistakenly pulling on the cable may damage the unit or cables or poor cable contact may lead to faulty operation i i CAUTION When detaching the cable remove by holding the connector itself and not by tug ging on the cable Otherwise removing by pulling on the cable itself may damage the unit or cables or poor cable contact may lead to faulty operation CHAPTER1 Cautions To Ensure Safety 1 4 Start up and maintenance safety points CAUTION Never attempt to disassemble the robot or controller When a robot or controller component must be repaired or replaced contact us for details on how to perform the servicing CAUTION Always cut off all power to the controller and the overall system before attempting maintenance or servicing This will prevent possible electrical shocks After the controller has been on for a while some points in the controller may be extremely hot or remain at high voltages After cutt
18. means OFF 0 to 7 8 points for the SRCP SRCD series controllers EO a ee a Ea a a a a a a a a LS SSL a a a a a a STL 2 10 4 DO Function Format Example Explanation Turns the general purpose output or memory output or serial general purpose output on or off DO lt DO or MO ar SO No gt lt Output status gt DO 3 1 Sets DO3 to ON The DO command turns the general purpose output or memory output or serial general purpose output ON or OFF 1 DO or MO or SO No Specify one from among the general purpose outputs 0 12 13 points or memory output 100 131 32 points or the serial general purpose outputs 200 231 32 points 2 Output status Here 1 means ON and 0 means OFF 0 to 4 5 points for the SRCP SRCD series controllers 60 CHAPTER2 CC Link Unit 2 10 5 WAIT Function Waits until the specified general purpose input or memory input or serial general purpose input sets to the specified status Format WAIT lt DI or MI or SI No gt lt Input status gt Example WAIT 5 1 Waits until DIS sets to ON Explanation The WAIT command adjusts the timing according to the status of the general purpose input or memory input or serial general purpose input 1 DI or MI or SI numbers Specifies one from among the general purpose inputs 0 15 16 points or memory input 100 147 48 points or the serial general purpose outputs 200 231 32 points 2 Input status Here 1 means
19. 0000 0000 0000 0000 0000 0000 401E 1 Single axis controllers PRM30 dual axis controllers PRM17 2 Single axis controllers PRM44 dual axis controllers PRM64 and PRM104 77 CHAPTER2 CC Link Unit 9 Position specification movement execution s eeee Code 0109 The specified axis moves the position of the data of the point No specified with the number Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 Speed Point number Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Details Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 or 1 alone can be specified Point number This is the inherent number assigned to each of 1000 points as a total from 0 to 999 To specify the point variable P register 4095 OFFF hexadecimal Speed It can be set at 100 intervals from 1 to 100 and 100 3000rpm if the program execution speed parameter is set to 100 In this case the maximum speed setting parameter is set to 3000 Example Transmission example 1 It moves to the position of P123 at the speed 100 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0064 007B 0000 0000 0109 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 Response
20. 0000 00C8 0000 0118 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 MEMO EE ee DE DE DN GE GE GE GE GE GE GE GEN GE ee The counter arrangement variable is the arrangement variable of 32 elements and a desired number of 0 to 65535 can be set to each 93 CHAPTER2 CC Link Unit 25 Addition of specified value to counter arrangement variable C rrrrnssvrnnnnnnvnnnnnnnvnnnnnnnnnen Code 0119 The specified value is added to the counter arrangement variable C specified with the arrangement element specification command code 0117 Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Addition value Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 Details Addition value A value of 1 to 65535 can be specified Example Transmission example 1 10 is added to the counter arrangement variable C 0000 0000 0000 0000 0000 oooa 0000 0119 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 CHAPTER2 CC Link Unit 26 Subtraction of specified value from counter arrangement variable C nsrrnnnnnnvvnnnnnnnnvvnnnnn Code 011A The specified value is subtracted from the counter arrangement variable C speci fied with the arrangement elemen
21. 12 3 Remote command details robot operation 1 Return to origin execution sssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn Code 0101 The return to origin operation of all axes or specified axis is executed or the re turn to origin status is judged If the search system is selected for the origin point detection system the return to origin operation is executed and if the mark sys tem is selected the return to origin status is judged Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Axis RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 and 1 alone can be specified Example Transmission example 1 Return to origin is executed to all axes RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 Rwwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0101 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 Response example 2 Origin incomplete occurs since the return to origin is not com pleted in the axis of the mark system RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 4020 MEMO If any axis of the mark system and axis of the search system are mixed it is necessary to previously complet
22. 156K in bps The communi cation speed must match the master station speed a N 1 Press F3 SYS on the initial screen MENU select menu y LEDIT2ZOPRT3SYS 4MON 2 Press F4 next to switch to the func sys D tion display and then press F2 OPT pay F2 select menu 9 1SAFE2OPT 3UTL 4next 3 Press F3 SPD E3 SYS OPT select menu C 1DEV 2NODE3SPD 4next 4 The currently set communication speed a is displayed To change the speed press the function key matching the new com speed 5M bps munication speed you want to set If the new communication speed does not ap SYS OPT SPD pear press F4 next and the remaining L 110M 25M 32 5M4next available communication speeds will ap pear is fini N 5 When entry is finished the screen returns SYS OPT SPD to 4 speed 10M bps E 110M 25M 32 5M4next CHAPTER2 CC Link Unit 2 6 Sequencer master station settings The master station sequencer or PLC in the CC Link system can make line tests on the remote station Use this function to check whether or not the controller is identified as a remote station on the CC Link system before starting any actual work Refer to the in struction manual for the master station sequencer PLC for detailed information CAUTION When the program is stopped on the master side an interlock stop may occur in the controlle
23. 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 130 2 12 7 CHAPTER2 CC Link Unit Status details When the controller receives the command the relevant process will be executed and the result status will be informed to the master sequencer PLC side via RWrn The meanings indicated with the statuses are described in this section Code 0000 inne akadiske Command ready It indicates that the remote command is not executed and can be newly received When the command is issued to the controller the status must be surely 0000 Here 0000 is set to RWwn in order to set 0000 to the status Code 0100 6 cic cccessatdcased catdeccevbanducsstuxvancedatsaacasechanncseviatecas Command executing It indicates that the controller receives the remote command and is on the way of the execution If the reset command or other command of a short execution time is executed the code 0100 can sometimes not be detected on the sequencer PLC side due to the scan time 10 milliseconds on the controller side Take sufficient care to assemble the sequence program Code 0200 E EE Normal end of command It indicates that the controller normally completes the remote command Code 4OXxX nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn Command error occurrence It indicates that an error occurs and the execution of the remote command cannot be normally completed The occurrence error number is set
24. Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 or 1 alone can be specified Point number This is the inherent number assigned to each of 1000 points as a total from 0 to 999 To specify the point variable P register 4095 OFFF hexadecimal DI SI number Specify one among the general purpose input DIO to 15 and SI200 to 231 DI SI status 1 means ON and 0 means OFF Example Transmission example 1 Y axis alone is continuously moved to the position of P2 until SI210 1 ON 0000 0000 0001 oob2 0002 0001 0000 0108 Response example 1 Since the conditions are established on the way of movement the robot stops with the normal end RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 The movement speed is set with MOVF speed parameter but is not influenced by the program execution speed parameter 1 DIO to DI7 when the SRCP SRCD series controllers are used 2 Single axis controllers PRM9 dual axis controllers PRM4 3 Single axis controllers PRM30 dual axis controllers PRM17 CHAPTER2 CC Link Unit 12 Pallet work position specification movement executiON nranunanunnnunnnunnnunnnunnnunnnunnnunnnunnnunnnunnnunnn Code 010C It moves to the pallet work position specified with the matrix Command option
25. LS LSLSSLL LS LSLSLLLSLSLSLSL LL LSLSLL LS SSL SSL SSL LL SSL gaa SSL SSL LS LS SSS 2 7 5 Emergency stop input EMG Use this EMG input when you want to set the robot to emergency stop Setting this input to OFF cuts off the servo power and turns off the servo To restart operation first set this input to ON then input the servo recovery command SERVO after checking that the READY output is ON The servo turns ON and the robot can now be operated When the HPB or personal computer is connected you can reset from emergency stop by the HPB or personal computer operation The emergency stop input in the CC Link unit is only controlled by the software and does not constitute a complete safety circuit So installing a hardware interlock circuit for emergency stop utilizing the emergency stop input pins installed on the parallel I O of the controller is strongly recommended 24 2 7 6 CHAPTER2 CC Link Unit Service mode SVCE This input is valid when the service mode function of the controller main body is valid The service mode input is used to inform the controller whether the current status is the service mode status or not In the service mode status keep this input OFF the contact is open MEMO Em DE ESN GEN EE DE GE EE GE EE GE EE GS GS GE ee When the status of the service mode input varies during robot operation the opera tion execution will be interrupted MEMO EE EE E
26. O ORG O ORG O ORG O ORG O RXn7 RXn8 RXn9 A RXnA g RXnB RXNC Cannot g RXnD END be used END END END END E RXnE BUSY BUSY BUSY BUSY BUSY E RXNF READY READY READY READY READY 2 RX n 1 0 50200 PO200 PO200 PO200 PO200 O RX n 1 1 50201 PO201 PO201 PO201 PO201 RX n 1 2 50202 PO202 PO202 PO202 P0202 RX n 1 3 50203 PO203 PO203 PO203 P0203 n 1 ORG O ZONEO ORG O ZONEO n 1 SRV O ZONE1 SRV O ZONE1 n 1 n Value determined by station number setting 1 The PO output format differs depending on the values in the hundreds and thousands places of the I O assignment selection parameter single axis controllers PRM59 dual axis controllers PRM26 2 Specifies the permissible number of movement points for a point movement command ABS PT INC PT 3 Specifies the permissible number of speed switching points for a point movement command ABS PT INC PT 4 In dual axis controllers a desired axis can be specified using S1213 and S1214 when executing I O dedicated commands ABS PT INC PT ORG S and SERVO In this case the PRM10 control axis selection with I O command must first be set to Valid The same applies when specifying a control axis for executing JOG movement commands JOG JOG 40 CHAPTER2 CC Link Unit 2 9 3 I O assignment selection parameter description The I O assignment selection parameter single axis controllers PRM59 dual axis con trollers PRM26 selects the function to be assig
27. SRCD Ver 24 00 or later SRCP30 Ver 24 30H or later ae a a a a LL SSL LS SLSLLSL SSL LS SS LSLLSSLSLSL LS a SSS LSLL LS SSL SSL LL SSL LL SSL LSLL SL LSLSLL SSL LS SSL 2 7 9 General purpose outputs S0200 S0231 These are outputs available to the user and can be freely turned on and off within the program All general purpose outputs are reset OFF when the power is turned on or when the program is reset A parallel I O port used for emulated serialization cannot be controlled while a pro gram is running Also the output from a parallel I O port used for emulated serializa tion does not change even if reset with the RESET command 27 CHAPTER2 CC Link Unit 2 7 10 Initial data processing request flag This is an output for performing the handshake to start communication between the controller and the master station sequencer PLC During controller start up or when communication with the master station was not per formed because an error occurs on the CC Link system the controller sets this output to ON When this output turns ON set the initial data end flag to ON from the sequencer PLO Doing this makes the controller set this output to OFF so you should then set the initial data processing end flag to OFF on the sequencer PLC Refer to 2 6 1 Starting data exchange with the controller for more detailed informa tion a a ee a Ra a a a a a A a a a a a a a SLT 2 7 11 Remote READY This out
28. YAMAHA YAMAHA MOTOR CO LTD SRCD SRCP YAMAHA NETWORK BOARD ERCX SRCX DRCX CC Link User s Manual ENGLISH E YAMAHA MOTOR CO LTD IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html E70 Ver 5 02 INTRODUCTION Thank you for purchasing the CC Link unit for the YAMAHA single axis dual axis robot controllers SRCP SRCD ERCX SRCX DRCX series This is an optional unit to allow connecting YAMAHA single axis dual axis robot controllers SRCP SRCD ERCX SRCX DRCX series hereafter called controller to the widely used CC Link which is a de facto standard for FA factory automation field network This manual describes typical examples for taking safety measures installing wiring making machine settings and operating the machine to ensure that the CC Link unit is used safely and effectively After reading this manual keep it in a safe easily accessible location so it can be referred to whenever needed When moving this unit always make sure this manual accompanies it and make sure that the person who will actually use this CC Link unit reads this manual thoroughly This manual only contains information involving the CC Link unit Please refer to the controller user s manual for information about basic controller operation and programming etc The HPB screen displays in this manual are for the DRCX series controllers hereafter called dual axis cont
29. arrangement variable C used are speci fied Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Arrangement element No Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Details Arrangement element No It expresses the inherent number of 0 to 31 to specify the arrange ment element of the counter arrangement variable If 65534 FFFE hexadecimal is input here the value in the counter variable D is used to specify the element of the counter variable Example Transmission example 1 Hereafter the counter arrangement variable of the element No 1 is used 0000 0000 0000 0000 0000 0001 0000 0117 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 92 CHAPTER2 CC Link Unit 24 Counter arrangement variable C specification Code 0118 The counter value is set at the counter arrangement variable C specified with the arrangement element specification command code 0117 Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Counter value Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Counter value A value of 0 to 65535 can be specified Example Transmission example 1 200 is set at the counter arrangement variable C RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000
30. at the area of xx For example if the 403E code is sent to the sequencer PLC side it indicates from 3E hexadecimal 62 decimal that the command is interrupted by the interlock from I O For the error numbers refer to Message tables in Instruction Manual for Con troller Code 80xx 81X sinnet X Y axis alarm occurrence It indicates that an alarm occurs in the controller If any alarm occurs at the X axis 80xx will be sent to the sequencer PLC side and if it occurs at the Y axis 81xx will be sent to the sequencer PLC side The occurrence alarm number will be set at the xx area For example if the 800F code is sent to the sequencer PLC side it indicates from OF hexadecimal 15 decimal that the alarm of the feed back error 2 occurs To cancel the alarm it is necessary to turn off the controller power supply For the alarm number and alarm treatment method refer to Troubleshooting in Instruc tion Manual for Controller 131 CHAPTER2 CC Link Unit 2 12 8 Current position indication mode The current position indication mode is selected by setting 0001 to RWwn 1 In the current position indication mode the current position of the robot is always output to RWrn 4 to RWrn 7 regardless of the execution status or no execution status of the remote command The position of the robot can be always grasped by selecting the cur rent position indication mode Remote command RWwn 1 RWwn Meaning of c
31. can be accepted since interlock was triggered As an exception the reset command is executed if only the BUSY output conditions are met The servo recovery command is executed if the BUSY conditions are met and all emergency stop inputs to the emergency stop circuit are cancelled A dedicated command input is accepted when the dedicated command input is switched from OFF to ON at the instant the contact point closes Whether the controller accepts the command or not can be checked by monitoring the BUSY signal Note that dedicated command inputs cannot be used as data in a program ACAUTION The dedicated command inputs explained below must always be pulse inputs In other words they must be turned off contact open when the BUSY signal turns on If a dedicated command input is not turned off then the BUSY signal will not turn OFF even when the command has ended normally This means that the next com mand cannot be accepted 19 CHAPTER2 CC Link Unit E Point movement command with absolute ABS PT When origin point coordinates are set at 0 this command moves the robot to a posi tion specified in data by point No See 2 7 3 General purpose inputs specified by SI200 through SI209 and at a speed specified by SI210 and SI211 On dual axis controllers the axis to be moved can be specified with SI213 SI214 by making PRM10 varid CAUTION When executing this command ABS PT the status of SI200 and
32. ee Data retention Point number designation inputs 1 200 to 205 i F l END i i 1 1 i ry i BUSY i l i i i i I 1 ot I I READY i ah l a a a l 1 1 1 1 x 3 I I I I Point data write T T T T 1 I 1 i I Point data writing l 1 1 1 1 1 moon gt l 1 1 l 1 30ms or more 30ms or less ims or less 30ms or less The number of point number outputs that can be used depends on the I O assignment type Precondition The CHG signal is on before and during point data writing until the 1 2 3 4 5 6 following procedure is complete Designate the point number input PI200 to PI205 to write the point data The point numbers that can be used depend on the I O assignment type Refer to the I O assignment list in 2 9 2 Changing the I O assignment e The input status for designating the point number must be kept unchanged until step 3 is complete If this input status is changed the controller might misrecognize the data After 30ms or more has elapsed turn on the PSET The END signal turns off and the BUSY signal turns on indicating that the controller received the point data write command Turn off the PSET Wait until the BUSY signal turns off The BUSY signal immediately turns off since point data writing is already finished The END signal should be on at this point indicating that the point data writing was completed normally 49 CHAPTER2 CC Link Unit E Target position s
33. example SI21 3 JOG JOG Selected axis CAUTION If the CHG mode switch input signal is switched during jog movement the robot comes to an error stop When selecting the axis of a dual axis controller the status of SI213 and SI214 must first be determined Refer to Jog movement JOG JOG in 2 9 5 Timing chart E Jog movement direction command JOG Moves the robot in jog mode along the minus direction The robot moves in jog mode along the minus direction as long as this signal is on The movement speed is 100mm sec This speed can be changed by using SPD201 and SPD202 In this case the move ment speed is given by the following equation Movement speed mm sec 100 x Movement speed specified with SPD201 and SPD202 100 In the case of dual axis controllers the X axis is usually used for jog movement However the Y axis can be specified with SI213 and SI214 by enabling PRM10 Control axis selection with I O command Refer to PRM10 Control axis selection with I O command in the DRCX controller user s manual Axis selection example SI21 3 JOG JOG Selected axis CAUTION If the CHG mode switch input signal is switched during jog movement the robot comes to an error stop When selecting the axis of a dual axis controller the status of SI213 and SI214 must first be determined Refer to Jog movement JOG JOG in 2
34. option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Example Transmission example 1 Execute the program reset RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0102 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 CAUTION At the output port which has simulatively serialized the parallel I O any output does not vary even if the reset command is executed CAUTION If the return to origin completing operation selection parameter single axis controllers PRM33 dual axis controllers PRM2 is set to 1 or 3 D04 will not be turned OFF even if the reset command is executed If the servo status output selection parameter single axis controllers PRM46 dual axis controllers PRM21 is set to 1 DO7 will similarly not be turned OFF even if the reset command is executed MEMO Em DE GE GE GE GE GE GE GE GE DEE ee The head program is the program selected by switching the program which is finally executed at HPB or POPCOM The head program is also switched when the communication command SWI is executed Moreover when the program data is loaded from the memory card to the controller it is sometimes switched 1 DOO to DO4 when the SRCP SRCD se
35. or Type 3 Point teaching type is selected in controller versions not supporting the movement point zone output while the point output selection is specified as 3 this is also processed as a 0 Type 0 setting Example In controller versions not supporting the movement point zone output If set to 331 this is handled as a 0 Type 0 42 2 9 4 CHAPTER2 CC Link Unit I O signal descripion The meaning of each signal is explained below For the meaning of signals not described here refer to 2 7 2 Dedicated command input and the following sections E Point number designation inputs 200 to 205 P1200 to PI205 These inputs designate the point number of the target position where the robot moves with a point movement command ABS PT INC PT For details on the ABS PT and INC PT commands see 2 7 2 Dedicated command input in this chapter These inputs are also used to designate the point number of the target position where point data is written with a point data write command PSET The point number of the target position must be specified before running a point movement command or point write command The point number is specified by a binary code See the table below to specify each point number Point number designation example PI No Point No E Movement speed setting SPD201 SPD202 Designates the speed at which the robot moves with a point movement command ABS PT INC P
36. output PO output occurs when the current position enters the point data registered at the controller position judgment parameter range 3 Movement point zone output PO output occurs when the current position enters the point data registered at the controller and the point movement command s ABS PT INC PT movement point data position judgment parameter range MEMO M KE The movement point zone output function is supported by the following controller versions ERCX SRCX Ver 13 64 or later DRCX Ver 18 64 or later SRCP SRCD Ver 24 21 or later SRCP30 Ver 24 30H or later Output example PO No Point No When using PO as an output signal that indicates the target position s point number for point movement commands ABS PT INC PT If moving the robot to point 0 with at the first point movement command which is executed after turning the controller on all the PO200 to PO205 signals still remain off because PO 000000 even after the robot has moved to point 0 This means that the PO200 to P0205 signal statuses do not change even after the robot has moved to P0 so no information is available to indicate whether the robot motion to PO is complete or whether the move ment command was received This should be kept in mind when moving the robot to point 0 When using PO as an output signal that indicates t
37. output range is the point data registered at the controller Moreover the point zone output range s corresponding point can be further narrowed to correspond to point movement commands ABS PT INC PT with the point number being output to the PO This is referred to as the movement point zone output function Point zone output function For single axis controller Point zone output range 14 gt w w Corresponding point Pn A e 8 B 04 ER d zZ PO OFF OFF a Position judgment parameter range selected by the PRM59 thousands digit value For dual axis controller a X axis position judgment parameter range Corresponding point Pn selected by the PRM26 thousands digit value 45 b Y axis position judgment parameter range selected by the PRM26 thousands digit value CHAPTER2 CC Link Unit Target position point numbers for point movement commands ABS PT INC PT are output as binary values The same applies to point numbers which correspond to the point zone output function and the movement point zone output function The PO output format is specified in the hundreds place of the I O assignment selection parameter setting single axis controllers PRM59 dual axis controllers PRM26 0 PO output occurs at normal movement completion 1 PO output occurs when movement command is received 2 Point zone
38. specified is free It does not matter that the data of Y axis is free in single axis controllers Example Transmission example 1 X 25 00 and Y 10 00 are written into P100 RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 03E8 0000 0904 0000 0064 0000 0304 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 129 CHAPTER2 CC Link Unit 2 12 6 Remote command details Special commands 1 2 No execution status clear rrrnrrnnnrnnnvnnnvnnnennnnnnnnnnnnnnnnnnennr Code 0000 The status is cleared to 0000 for the command ready remote command acceptable status Initialization of response register vrunnnnnnnnnnnnnvvnnnnnnnnnnnnnneer Code 0401 The command option register is copied to the response register If 0000 hexadeci mal is set to RWwn 2 to RWwn 7 the response will be initialized Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Copy source data Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Copy destination data Details Copy data The data in the option register RWwn 2 to RWwn 7 is copied to RWrn 2 to RWrn 7 Example Transmission example 1 The response register is initialized RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0401 Response example 1 It is normally ended RWrn
39. to point 0 When specifying the axis the SI213 and SI214 status must be checked before hand Refer to PRM10 Control axis selection with I O command in the DRCX controller user s manual 53 CHAPTER2 CC Link Unit 3 Outputting the corresponding point number by the point zone output function Zone outputs ZONE 0 ZONE 1 are also explained here PO PO Po PO PO PO PO PO PO PO PO PO 203 202 201 200 203 202 201 200 203 202 201 200 Eg 1 E 1 amp Eg 8 2 23 22 2 29 m No is output as binary value OFF OFF OFF OFF n No is output as binary value ti of 1 1 1 1 1 I PO200 to 203 ye N Target position s point number i outputs 200 to 203 I i I Point output Point output point m i point n i 1 1 1 1 i 1 1 1 1 1 1 1 1 1 ZONEO Zone output 0 I og 1 i 1 1 Positive logic T T T T 1 1 1 1 1 1 1 1 1 1 I I 1 1 i 1 1 ZONE1 Zone output 1 i i i i i Positive logic i 1 i i 1 1 1 I 1 1 i 1 1 j 1 I 1 1 1 1 1 1 1 l 1 1 1 i 1 1 1 i 1 1 1 1 Pm P900 P901 P902 1 Pn P903 I 1 1 1 i 1 1 Current robot position s h gt Xe For single axis type ROER I 1 I I 1 I pala 1 4 i i i SEE ER i Point zone output range 1 i Point zone output range 1 1 1 1 1 1 1 1 i i i it i i 1 1
40. when a dedicated command input is received and then turns ON when the command ends normally When an error occurs during execution of a command or when an interlock or emergency stop has triggered the END signal remains unchanged at OFF ACAUTION When the RESET command or a movement command for only a small move ment is run the time for running the command in other words the interval that the END signal is OFF is extremely short Sometimes less than Ims The END signal will not change during operation from the HPB or personal computer MEMO M ee By changing the System mode selection parameter setting single axis controllers PRM34 dual axis controllers PRM20 the execution result of a dedicated command can be output to the END signal at the time when the dedicated command input has turned OFF after the command execution For details on the System mode selection parameter refer to Description of each parameter in the controller ae manual CHAPTER2 CC Link Unit E Servo status output SRV O Displays the robot servo status This turns ON when all axes are at servo ON However this output is OFF if even just one axis is in servo OFF status This servo status output is always enabled even if the servo status output selec tion parameter single axis controllers PRM46 dual axis controllers PRM21 does not have to be changed Orig
41. 0 xx31 1 Standard Function No of points 1000 64 16 64 16 Maan af i None 4 Song Program operation by I O Yes No No No No Device No RYnO SERVO SERVO SERVO SERVO SERVO RYn1 INC PT INC PT INC PT INC PT JOG INC PT JOG RYn2 ABS PT ABS PT ABS PT ABS PT JOG ABS PT JOG RYn3 STEP R CHG CHG RYn4 AUTO R PSET PSET RYn5 RESET RESET RESET RESET RESET RYn6 ORG S ORG S ORG S ORG S ORG S RYn7 LOCK LOCK LOCK LOCK LOCK RYn8 RYn9 RYnA RYnB RYnC RYnD 2 RYNE SVCE SVCE SVCE SVCE SVCE E RYNF EMG EMG EMG EMG EMG a RY n 1 0 S1200 P1200 P1200 P1200 P1200 S RY n 1 1 1201 P1201 P1201 P1201 P1201 3 RY n 1 2 1202 P1202 P1202 P1202 P1202 RY n 1 3 S1203 cannot __ P1203 P1203 P1203 P1203 Ry n 1 4 S1204 be used P1204 SPD201 P1204 SPD201 RY n 1 5 1205 P1205 SPD202 P1205 SPD202 RY n 1 6 1206 RY n 1 7 S1207 RY n 1 8 S1208 RY n 1 9 S1209 RY n 1 A S1210 RY n 1 B S1211 RY n 1 C S1212 RY n 1 D 1213 4 4 4 4 4 RY n 1 E SI214 4 4 4 4 4 RY n 1 F 1215 RY n 2 0 S1216 to to RY n 2 F S1231 continued to next page 39 CHAPTER2 CC Link Unit RXnO SRV O SRV O SRV O SRV O SRV O RXn1 ZONEO ZONEO ZONEO ZONEO ZONEO RXn2 ZONE1 ZONE1 ZONE1 ZONE1 ZONE1 RXn3 ZONE2 ZONE2 ZONE2 ZONE2 ZONE2 RXn4 ZONE3 ZONE3 ZONE3 ZONE3 ZONE3 RXn5 RXn6 ORG
42. 0 0000 0005 0000 0200 124 CHAPTER2 CC Link Unit 23 Specified point data read rrrrrrnrnnnnvvvvvevennnnnnnnnnnvnnennnnnnnnnnnner Code 0217 The specified point data is read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Point number Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Y axis position X axis position Details Point number Itis the inherent number of 0 to 999 assigned to each point Example Transmission example 1 Data of P254 is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 OOFE 0000 0217 Response example 1 The shift data is X 0 05 Y 0 01 RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0001 FFFF FFFB 0000 0000 0000 0200 125 CHAPTER2 CC Link Unit 2 12 5 Remote command details utilities 1 Execution program number switching rrnnanvvvvnnnnnnnnnnnnnnnr Code 0301 The execution program number is switched If the program reset is hereafter ex ecuted it will return to the Ist step of the program selected here When this command is issued the program reset will be applied Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Program number Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Details Program number It is the inherent number of 0 to 99 assigned to each program Example Transmission example 1 The prog
43. 0000 0000 0105 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 CHAPTER2 CC Link Unit 6 JOG movement INCHING rerrnnnnnnnvvnvvrvennnnnnnnnnnnvenennennnnnnnnver Code 0106 The specified axis moves in the specified direction at the stroke shown with the following formula Movement stroke 1 x Teach movement data 100 mm Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Direction Axis RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Axis 1 means X axis and 2 means Y axis On single axis controllers I alone can be specified Direction 0 means direction and 1 means direction Example Transmission example 1 Y axis is moved only at the specified stroke in the direction RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0001 0001 0000 0106 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 CAUTION If the robot is the rotary axis the unit is degree Single axis controllers PRM26 dual axis controllers PRM12 75 CHAPTER2 CC Link Unit 7 JOG movenenkuismasvasatunstmsstrskdnalnait Code 0107 The specified axis continues moving in the specifie
44. 10A Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 Response example 2 The software limit over occurs RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 401E ACAUTION Since the current position on the program does not vary if the movement is in terrupted due to the stop interlock etc the movement can be continued by executing the command again However if resetting is executed the current po sition on the program will be initialized at the position of the robot 1 Single axis controllers PRM30 dual axis controllers PRM17 2 Single axis controllers PRM44 dual axis controllers PRM64 and PRM104 79 CHAPTER2 CC Link Unit 11 General purpose input response movement EXECUTION ivsciccacieisiecessevevendaunersiusiesennsiensnesnnanaueas Code 010B Until the conditions of DI SI input are established the specified axis continues moving to the specified point position When the DI SI conditions are established the robot stops and the command is normally ended Even if any DI SI condition is not established the command is normally ended at the step where it reaches the target point Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 DI SI status DI SI number Point number Axis Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Details
45. 208 S0209 S1209 S0210 S1210 S0211 S1211 S0212 S1212 S0213 1213 50214 S1214 S0215 S1215 17 CHAPTER2 CC Link Unit OUTPUT Remote Master INPUT Master gt Remote Device No Signal Name Device No Signal Name 0 1216 I x a ND QRIRIRIR IR IR IR IR IR RR IR IR IR IR IR I x a DI ID XX ma re FIF amp do o Reserved Reserved D D av XXX mk ok en F F Initial data request flag Initial data end flag Not Used Error flag Not Used Remote READY OJ Jm S D A oInMNI 1OIT1IM U O U gt 0 MISS O UO7 QRRIRIRIRIRIQR Reserved Reserved RX n 2 RX n 3 w I x a I x a 2 I x lt a T M U N U n Value determined by station number setting Use RXn0 RXnF as dedicated outputs RX n 1 0 RX n 2 F as general purpose out puts RYnO RYnF as dedicated inputs and RY n 1 0 RY n 2 F as general purpose inputs RX n 3 0 RX n 3 F and RY n 3 0 RY n 3 F are areas reserved for the CC Link system The above profile is for cases where the I O assignment selection parameter is set to Type 0 Conventional type when the controller has an I O assignment function For information
46. 9 5 Timing chart E Mode switch input CHG Switches the Type 3 Point teaching type mode Selectable modes are as follows 1 Point trace mode 2 Teaching mode The Type 3 Point teaching type mode is switched to Point trace mode when the CHG signal is off and is switched to teaching mode when the CHG signal is on If the CHG signal is switched during execution of a point movement command ABS PT INC PT or jog movement command JOG JOG the robot comes to an error stop 44 CHAPTER2 CC Link Unit Point data write command PSET Writes the current position data in the specified point number To use this command the point number for writing the current position data must first be specified using a PI point number designation input input The PSET is enabled only when return to origin has been completed E Target position s point number outputs 200 to 205 PO200 to PO205 These are the output signals for the point movement command ABS PT INC PT target position point numbers and for the point numbers corresponding to the point zone output and movement point zone output functions For details on ABS PT and INC PT commands see 2 7 2 Dedicated command input in this chapter The point zone output function outputs the corresponding point number to the PO when the robot enters the point zone output range corresponding point position judgment parameter range The corresponding point of this point zone
47. E DE DE EN EE GN EE GE DE GE DEE GE EE DE DE GE GS GE DEE ee When the service mode function is valid DI15 on the parallel I O also functions as the service mode input Accordingly it will be switched to the service mode status if either of two service mode inputs is merely turned OFF To escape from the service mode status it is necessary to turn ON both service mode inputs DI7 when the SRCP SRCD series controllers are used Be a a a a a a a a a a a gaa ee a a 2 7 7 Initial data processing end flag This is an input for performing the handshake to start communication between the con troller and the master station sequencer PLC During controller start up or when an error occurs on the CC Link system and commu nication with the master station was not performed the controller sets the initial data request flag to ON When the initial data request flag turns ON set this input to ON from the sequencer PLC Doing this makes the controller set the initial data request flag to OFF so you should then turn this input OFF from the sequencer PLC Refer to 2 6 1 Starting data exchange with the controller for more detailed informa tion 25 CHAPTER2 CC Link Unit 2 7 8 Dedicated outputs Dedicated outputs inform the sequencer PLC of controller status E Preparation completed output READY The dedicated output is ON while the controller system is operating normally How ever the output turns OFF under any of t
48. END output that is ON at this time shows the command ended normally However the command did not end normally if the END output is OFF HM Always input the dedicated command input as a pulse signal If this input stays on the BUSY signal cannot turn OFF even if the command is complete 1 When a long execution time command runs and ends normally The command execution is in progress and the END signal off when the dedicated command input turns off contact open Dedicated command BUSY END 1 30ms or less 1ms or less ims or less At the rise of the dedicated command input the END signal turns off and the BUSY signal turns on 2 Turns off the dedicated command input after the BUSY signal turns on 3 Wait until the BUSY signal turns off 4 The END signal should be on when the BUSY signal turns off indicating that the command has ended normally ACAUTION With the auto run AUTO R command the END signal turns on and the BUSY signal turns off when the program has ended or a STOP statement was executed When an endless program one that always automatically returns to the top line of the program from the last step was run the BUSY signal does not turn off unless an interlock or emergency stop is triggered 30 CHAPTER2 CC Link Unit 2 When a short execution time command runs and ends normally In the following cases when the dedicated command input is turned OFF the com mand has already
49. F1 DEV SYS OPT b select menu 4 1DEV 2NODE3SPD 4next 4 The current CC Link unit identity status appears on the display Now using the number key pad enter a 1 CC Link 0 to make the CC Link unit identifiable from the controller or enter a 0 to prevent it being identified from the controller and SYS OPT DEV O invalid 1 valid then press the mp key is fini C A 5 ae entry is finished the screen returns SYS OPT DEV CC Link 1 O invalid 1 valid CHAPTER2 CC Link Unit 2 5 2 Setting the station No The CC Link unit occupies 2 stations So the station displayed on the HPB and another station the station No 1 are occupied 1 Press F3 SYS on the initial screen S MENU select menu 1EDITZOPRT3SYS 4MON 2 Press F4 next to switch to the func N tion display and then press OPT SYS b select menu L 1SAFE2OPT 3UTL 4next 3 Press NODE N SYS OPT select menu 1DEV 2NODE3SPD 4next 4 The currently set station No is displayed N To change this setting enter the new sta va gt tion No with the number pad keys and SYS OPT NODE then press the mp key node 30 range 163 bee Aar G J 5 When entry is finished the screen returns to 4 Se x SYS OPT NODE node 1 range 163 CHAPTER2 CC Link Unit 2 5 3 Setting the communication speed Communication speed can be set to 10M 5M 2 5M 625K
50. For point zone output and zone output PO and ZONEO0 to ZONE3 are output only when the all axes of the robot are within the output range specified for each zone If outputting point 0 P0 as the corresponding point for the point zone output function all of PO200 to PO205 remain off because PO 000000 hier This means that the PO200 to PO205 status does not change even after the robot has entered the zone specified by P0 This should be kept in mind when moni toring PO 55 CHAPTER2 CC Link Unit 4 Outputting the corresponding point number by the movement point zone output function Zone outputs ZONE 0 are also explained here PO PO PO PO PO PO PO PO PO PO PO PO 203 202 201 200 203 202 201 200 203 202 201 200 GLE JE ea 23 22 2 29 23 22 2 29 OFF OFF OFF off OFF ON ON OFF OFF OFF OFF OFF PO200 to 203 Target position s point number outputs 200 to 203 I I 1 i i Point output I 1 point 6 1 1 1 I 1 j 1 I 1 ZONEO Zone output 0 i i i i Positive logic i l 1 1 i I 1 1 1 j 1 l 1 1 1 i i 1 1 1 1 PT i 1 P6 1 P900 P901 1 i i 1 I 1 Current robot position T T T T Xe 1 1 I 1 1 1 For single axis type i He He i pata pala I I i i 1 1 Point zone output range Zone output range Y j I 1 1 1 1 IN 1 1 i 1 1 1 OE k
51. I O inputs 16 dedicated outputs and 32 general purpose outputs for 2 stations Dedicated inputs are sub grouped by assigned function into 13 dedicated command in puts interlock service mode and emergency stop inputs Some ports are currently reserved for future use and not available for dedicated com mand input and dedicated outputs CC Link I O functions and methods for using them are basically identical to those for the parallel I O that are a standard feature in the controller Ba a a a SSL SSL a a a a a a a a a a a a a a a a a a a 2 7 1 Profile I O signal table The following table is a list profiling the CC Link unit More detailed information on each signal is listed in 2 7 2 Dedicated command in puts Remote I O signals for 2 stations OUTPUT Remote Master INPUT Master gt Remote Device No Signal Name Device No Signal Name RXn0 Servo status SRV O RYnO SERVO servo recovery ZONE 0 INC PT move relative point ZONE 1 ABS PT move absolute point ZONE 2 STEP R step operation ZONE 3 AUTO R auto operation Reserved RESET Origin return status ORG O ORG S origin return Reserved LOCK interlock Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved END Reserved BUSY executing command SVCE service mode READY EMG emergency stop input 0200 1200 0201 1201 50202 1202 50203 1203 50204 1204 S0205 S1205 50206 1206 50207 S1207 S0208 S1
52. LLL ALLL CHAPTER2 CC Link Unit 2 1 CC Link unit features The term CC Link is an abbreviation for Communication amp Control Link and is an FA field network developed by the Mitsubishi Corporation The PLC sequencer the master unit in the system runs the controller under high speed control though dedicated cables connected to all units in the CC Link system This sys tem eliminates the need for a great deal of wiring and therefore makes wiring tasks faster and more efficient and also reduces maintenance and installation costs Main features of this CC Link unit are as follows E The controller can be connected to the CC Link system using this unit This unit fits directly inside the controller and so does not require any extra installation space E The PLC is connected to the robot system using only one dedicated cable with 4 wires This allows the entire system wiring to be reduced and also makes wiring tasks faster and more efficient while reducing maintenance and installation costs Mi A total of 32 general purpose input output pins and 16 dedicated input output pins are available per 2 stations The parallel I O interface can of course be used as is E Emulated serialization on parallel I O is available All types of I O equipment such as sensors and relays connected to the parallel I O of the controller can be controlled from the PLC sequencer just as if connected to the I O of the CC Link system and with
53. MENU select menu LEDIT2ZOPRT3SYS 4MON MENU select menu 1PGM 2PNT 3UTL N EDIT PNT select menu 1MDI 2TCH 3DTCH4DEL EDIT PNT TCH 1 50 PO X 0 00 mm 0 00 0 00 1CHG 2DO 3Y 4next EDIT PNT TCH 1 50 SO 200 0 201 0 202 0 SO 203 0 204 0 205 0 1520025201352024next EDIT PNT TCH 1 50 PO X 0 00 mm 0 00 0 00 ICHG 2DO0 BY 4next J The manual control is invalid on the port that used emulated serialization on a parallel T O 137 CHAPTER2 CC Link Unit 2 14 Error Message Regarding CC Link system the following error message is added Error No 38 Message net link error Cause connection was forcibly disconnected because an error occurred in the network connection Remedy Remedy the network connection error and then restart 138 CHAPTER2 CC Link Unit 2 15 Troubleshooting Check the following items if any problems occur during operation Also refer to Trouble shooting in the controller instruction manual and always refer to the section on trouble shooting in the master station sequencer PLC instruction manual If the following items do not eliminate the problem promptly contact your Yamaha dealer or Yamaha for assis When using the master station sequencer line test function unable to verify from the master station sequencer PLC that the robot controller is correct
54. NC PT point movement commands As shown in the table below a binary code should be entered in SI200 SI209 to specify the point numbers PO P999 The movement speed is 100 when SI210 and SI211 are both OFF At all other times the movement speed is specified by parameters By making parameter settings SI213 and SI214 are sometimes used to specify the move ment axis Specifying a point number SI No 1209 S1208 S1207 S1206 S1205 1204 1203 1202 S1201 1200 Point No TA A 9 a Ca HENNE ENE IN e O q q a i lgs T Z Z Z Z Z Z Z Z Z Z gs Ti Z Z Z Sisigisisisisigigis Sisisigisisigsigigs Z Zz Pei Specifying the movement axis Specifying movement speed For dual axis controllers SI211 S1210 Movement speed SI214 S1213 Movement axis All axes X axis Y axis All axes For dual axis controllers For single axis controllers the speed is set in order from the top by PRM41 PRM42 PRM43 MEMO EE DE DE GE EE GE GE KEN The above tables are for cases where the I O assignment selection parameter is set to Type 0 Conventional type when the controller has an I O assignment function For examples of specifying each item when the I O assignment selection parameter is set to another type refer to 2 9 4 I O si
55. R2 CC Link Unit 2 8 4 When emergency stop signal is input oe stop EMG Dedicated command BUSY END READY par 5ms or less 1ms or less E The READY output turns OFF The BUSY output turns OFF during running of a dedicated command The END output is unchanged E To resume robot operation after canceling emergency stop and checking that the READY output is ON input the SERVO command 35 CHAPTER2 CC Link Unit 2 8 5 When an alarm is issued A occurs Dedicated command i RX n 3 B RX n 3 A BUSY END READY 5ms or less 30ms or less ims or less RX n 3 B Remote READY RX n 3 A Error flag E The remote READY output turns OFF and the error flag turns ON The READY BUSY END outputs are all OFF E Refer to Alarm and Countermeasures in the controller instruction manual for in formation on eliminating the problem 36 CHAPTER2 CC Link Unit 2 8 6 When point movement commands are run HM When executing a point movement command ABS PT INC PT the point data and speed data must be input before inputting the dedicated command When specifying the moving axis the axis selection data must be input The point data and speed data inputs are designated with SI200 to SI211 The axis selection data input is designated with SI213 to SI214 Refer to 2 7 3 General purpose input SI200 to SI231 Point data 51200 to 209 Speed data S1210 S1211 Data retention Axis sel
56. RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 CAUTION This command is invalid for single axis controllers 82 CHAPTER2 CC Link Unit 14 Distance specification arch motion definition Code 010E The arch motion of the distance specification is defined Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Specified distance Axis RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Axis It is the execution axis number of the arch motion I means X axis and 2 means Y axis Specified distance It is the movement position relative position of origin reference of the arch motion execution axis The position can be specified in the range of 9999 to 9999 in the millimeter units Example Transmission example 1 The arch motion in which Y axis returns by 100 00 is defined RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 FFC 0002 0000 010E Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 CAUTION This command is invalid for single axis controllers CAUTION Since the current position on the program does not vary if the movement is in terrupted due to the stop interlock etc the movement can be continued by executing the command again However if resetting is executed the curre
57. RWrn 3 RWrn 2 Output status Details DO SO MO number One number is specified among the general purpose output 0 to 12 13 points memory output 100 to 131 32 points and serial general purpose output 200 to 231 32 points Output status 1 means ON and 0 means OFF Example Transmission example 1 The status of SO202 is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 OOGA 0000 0215 Response example 1 The S0202 status is SO202 0 OFF RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 0 to 4 5 points for the SRCP SRCD series controllers 123 CHAPTER2 CC Link Unit 22 Specified parameter data read rrrnnvvnnnnnnnvvnnnnnnnvnnnnnnnvnnnnnnneen Code 0216 The specified parameter data is read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Parameter number Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Parameter value Details Parameter number The inherent number assigned to each parameter is 0 to 63 for single axis controllers and is 0 to 127 for dual axis controllers Example Transmission example 1 Y axis transfer mass parameter PRM90 is read 0000 0000 0000 0000 0000 oosa 0000 0216 Response example 1 The parameter is PRM90 5 kg RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 000
58. RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Addition value Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Details Addition value A value of 1 to 999 can be specified Example Transmission example 1 10 is added to the point variable P RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 CHAPTER2 CC Link Unit 22 Subtraction of specified value from point variable Puuusuxuuismsmsnummnnenmnmnssmllnsdrnss Code 0116 The specified value is subtracted from the point variable P Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Subtraction value Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Subtraction value A value of 1 to 999 can be specified Example Transmission example 1 10 is subtracted from the point variable P RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 000A 0000 0116 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 91 CHAPTER2 CC Link Unit 23 Arrangement element specification of counter arrangement variable Ci ssrrrrrnnnnnnnnnnvnvnnevnnnnnnnnn Code 0117 The arrangement elements of the counter
59. SI211 must be checked in advance SI213 and SI214 must also be checked when specifying the axis E Point movement command with incremental INC PT This command moves the robot from the current position to a position specified in data for point No specified by SI200 through SI209 and at a speed specified by SI210 and SI211 On dual axis controllers the movement axis can be specified with SI213 SI214 by enabling PRM10 MEMO M ee Current position is not necessarily the actual position of robot It is the data of the current position that is saved internally in the controller On each execution of a move ment command the point that was the target position changes to the current position Therefore even if interlock is triggered during execution of the relative movement command the operation restarts from the point where the robot is stopped by execut ing the same relative movement command again This does not constitute a relative movement based on the interlock stopped point Likewise when the robot is moved manually to another position after executing the robot movement command the relative movement command which is subsequently executed does not make a relative movement from the actual position of the robot Instead the robot makes a relative movement based on the target position of the previous robot movement command Please bear this movement in mind Th
60. T or jog movement command JOG JOG For details on the ABS PT and INC PT commands see 2 7 2 Dedicated command input in this chapter The movement speed must be specified before running a point movement com mand or jog movement command See the table below to specify the movement speed Movement speed setting example SPD201 Movement speed 100 T O point movement command first speed single axis controllers PRM41 dual axis controllers PRM5 T O point movement command second speed single axis controllers PRM42 dual axis controllers PRM6 T O point movement command third speed single axis controllers PRM43 dual axis controllers PRM7 E Jog movement direction command JOG Moves the robot in jog mode along the plus direction The robot moves in jog mode along the plus direction as long as this signal is on The movement speed is 100mm sec This speed can be changed by using SPD201 and SPD202 In this case the movement speed is given by the following equation Movement speed mm sec 100 x Movement speed specified with SPD201 and SPD202 100 In the case of dual axis controllers the X axis is usually used for jog movement However the Y axis can be specified with SI213 and SI214 by enabling PRM10 Control axis selection with I O command Refer to PRM10 Control axis selection with I O command in the DRCX controller user s manual 43 CHAPTER2 CC Link Unit Axis selection
61. USY signal turns on indicating that the controller received the point movement command 4 When the BUSY signal turns on in step 3 the target position s point number is output from the specified point number PO200 to PO205 The output status of the target position s point number is retained until the next point movement command is received 5 Turn off the ABS PT or INC PT 6 Wait until the BUSY signal turns off 7 The BUSY signal turns off The END signal should be on at this point indicat ing that the point movement finished normally 52 CHAPTER2 CC Link Unit Point movement command execution 8 Execute the next point movement command 9 When the controller received the point movement command and the BUSY signal turned on the previous target position s point number being output from the specified point number PO200 to PO205 is cleared and the current target position s point number is then output ACAUTION If moving the robot to point 0 by specifying it with a point movement com mand that is first executed after turning on the controller all of PO200 to PO205 still remain off because PO 000000 aie even after the robot has moved to point 0 This means that the PO200 to PO205 status does not change even after specifying PO as the target position so no information is available to indicate whether the movement command to PO was received This should be kept in mind when moving the robot
62. Zone output range I Zone output range i pet i i i Ya 1 1 Lo I 1 1 1 A i i i l l P903 1 1 O Pm b Pn Current robot position F gt Xe For dual axis type 1 b 1 j vaags 900 i P902 1 1 f 1 1 i 1 1 a pit pit gt I ao i O j a X axis position judgment parameter range b Y axis position judgment parameter range In this case this is the OUT valid position range The number of target point number outputs that can be used depends on I O assignment type Precondition 1 The following steps are explained assuming that the I O assign ment selection parameter single axis controllers PRM59 dual axis controllers PRM26 is set to 221 When I O assignment selection parameter 221 single axis controllers PRM59 dual axis controllers PRM26 I O assignment type Type 2 Point No output type Permissible number of movement points 16 points Point output selection Point zone output Point zone judgment method position judgment parameter OUT valid position 2 The Zone 0 output and Zone 1 output are enabled and set to posi tive logic output by the Zone output selection parameter single axis controllers PRM53 dual axis controllers PRM24 1 Target position s point number outputs PO200 to PO203 are off since the cur rent robot position is not within the point zone output range ZONE 0 and ZONE 1 output signals are also off since the robot does not yet enter the zone o
63. a parallel I O Do not make simultaneous function settings with parameters such as for emulated serialization parallel I O settings origin return end action selection and servo sta tus output selection and alarm number output selection since the functions will not operate normally 1 SI200 to SI204 when the SRCP SRCD series controllers are used 2 DOO to DO4 when the SRCP SRCD series controllers are used 3 DIO to DI7 when the SRCP SRCD series controllers are used 4 O200 to SO207 when the SRCP SRCD series controllers are used 5 S1I205 to SI231 when the SRCP SRCD series controllers are used 62 1 2 3 4 5 6 Press F3 SYS on the initial screen Press F4 next to switch to the func tion display When the function display appears then press F2 OPT Press F4 next to switch the function display To directly send the external par allel I O input to the master sequencer PLC press F1 D3S0 To directly send the input from the master sequencer PLC to the external parallel I O press S3DO This is the screen when DSO was selected above in step 3 The DI15 DIO current settings appear on the screen from the left side Here 0 indicates normal status and 1 indicates a emu lated serialization setting To change a setting press the function key displaying the DI No you want to set If the DI No you want to set is not shown just press the n
64. ad 0000 0000 0000 0000 0000 0000 0000 0202 Response example 1 No 31 is being executed RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 001F 0000 0200 104 CHAPTER2 CC Link Unit 3 Current step number read rrrrnnnnnnnvvvnvnvrnnnnnnnnnnnnvnnnnnnnnnnnnnnver Code 0203 The current step number is read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Step number Details Step number It is the inherent value of I to 255 assigned to each step Example Transmission example 1 The execution step number is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 Rwwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0203 Response example 1 The 170th line is being executed RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 OOAA 0000 0200 105 CHAPTER2 CC Link Unit 4 Current task number read svvrnnnnnnvvnnnnnnnvnnnnnnnnvnnnnnnnvnnnnnnneen Code 0204 The task number currently selected is read Command option RWwn 7 RWwn 6 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Task number Details Task number It is the inherent number of 0 to 3 assigned to each task Example Transmission example 1 The execution task number is read RWwn 6 RWwn 5 RWwn 4 RWwn 3
65. and ABS PT INC PT is registered as the movement point Because movement points are reset immediately after a controller power on all PO outputs turn off Movement points are also reset when the RESET command is executed and movement point zone outputs by PO are cleared The position judgment parameter for selecting the point zone judgment method can be set to either OUT valid position or Positioning completed pulse this is speci fied in the thousands place of the I O assignment selection parameter The OUT valid position can be changed by parameter setting single axis con trollers PRM20 dual axis controllers PRM56 for X axis PRM96 for Y axis The Positioning completed pulse can be changed parameter setting single axis controllers PRM6 dual axis controllers PRM53 for X axis PRM93 for Y axis CAUTION All the PO200 to PO205 outputs are off when the robot is not within the point zone output range A 10ms sampling time is needed for position monitoring so the point zone output may not be detected during high speed robot motion For movement point zone output and zone output PO and ZONE0 to ZONE3 are output only when the all axes of the robot are within the output range specified for each zone When outputting point 0 P0 as the corresponding point for the movement point zone output function all the PO200 to PO205 outputs remain off be cause PO 000000 ry Therefore the PO200 to PO205 statuses do n
66. axes alone can be as signed Point number It is the inherent number which is assigned to a total of 1000 points of 0 to 999 To specify the point variable P register 4095 EOFFF hexadecimal Speed It can be set at 100 steps of 1 to 100 and when the program execu tion speed parameter is 100 100 1000mm s is established When the maximum speed setting parameter is 3000 and the lead length is 20mm Example Transmission example 1 It moves to the P123 position at the speed 20 in the linear inter polation mode 0000 0000 0000 0014 0078 0000 0000 O11F Response example 1 It is normally ended 0000 110B 0000 13AD 0000 0000 0000 0200 Response example 2 The software limit over occurs RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 401E CAUTION This command is invalid for single axis controllers CAUTION The SCARA robot etc which do not operate in the cartesian coordinates cannot be moved in the linear interpolation mode 1 Single axis controllers PRM30 dual axis controllers PRM17 2 Single axis controllers PRM44 dual axis controllers PRM64 and PRM104 CHAPTER2 CC Link Unit 32 Circular interpolation movement execution vrrrrrnnrnnnnnnnrr Code 0120 The circular interpolation movement which passes the specified point is executed If the point specification number is n it moves on the circula
67. bsequent steps Press next 2 times to switch to the function table and then press F2 SIO 135 CHAPTER2 CC Link Unit WI 00000000 00000000 WO FFFF1000 00000000 00000000 00000000 00000000 00000000 MENU select menu LEDIT2ZOPRT3SYS 4MON MENU select menu LEDIT2ZOPRT3SYS 4MON OPRT select menu 1ORG 2STEP3AUTO N OPRT STEP 100 0 0 001 MOVA 254 100 0 00 0 00 1MIO 2SI0 3 4next CHAPTER2 CC Link Unit 10 11 12 13 Press F1 SIO1 to display the RY n RY n 1 and RX n RX n 1 status Press F2 S102 to display the RY n 2 RY n 3 and RX n 2 RX n 3 Press F3 WIO to display the status of the remote register Continue displaying the status of each se rial I O If F1 SIO1 was pressed above in step 10 then the RY n RY n 1 RX n RX n 1 status is displayed from the up per row If S102 was pressed above in step 10 then the RY n 2 RY n 3 RX n 2 RX n 3 status is displayed from the upper row Each row start from the left in order from F 0 This is the screen when F3 pressed Each remote register will be displayed in the hexadecimal mode Each register is indicated with 4 charac ters The top row displays the statuses of RWwn 3 RWwn 2 RWwn 1 and RWwn from the left The 2nd row indicates the statuses of RWwn 7 RWwn 6 RWwn 5 and RWwn 4 from the lef
68. ction described in the controller user s manual E Servo status output Zone output 1 SRV O ZONE 1 This is the servo status output When Zone 1 output is enabled with the Zone output selection parameter single axis controllers PRM53 dual axis controllers PRM24 the SRV O output is used as the output port of Zone 1 ZONE The SRV O output is an output signal having the same function as device No RXn0 For details on the output signal refer to Servo status output SRV O in 2 7 8 Dedicated output The ZONE 1 output is an output signal having the same function as device No RXn2 For details on the output signal refer to Zone output ZONEO to ZONE3 in 2 7 8 Dedicated output and also to Zone output selection described in the controller user s manual 47 CHAPTER2 CC Link Unit 2 9 5 Timing chart This section shows timing charts for the operations that are added by changing the I O assignment E Jog movement JOG JOG CHG Mode switch input Axis designation data Data retention 1213 SI214 JOG movement command END BUSY READY Robot movement 1 2 3 4 5 6 7 8 1 I l i I JOG JOG l l I v Robot movement p i i 1 a l 1 30ms or more 30msorless ims or less 30ms or less 1ms or less For dual axis controllers only In the case of dual axis controllers the X axis is usually
69. d direction at the movement speed shown with the following formula until the interlock input is OFF or it reaches the software limit Movement speed 100 x Teach movement data 100 mm Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Direction Axis Command response ee eee Details Axis 1 means X axis and 2 means Y axis On single axis controllers 1 alone can be specified Direction 0 means direction and 1 means direction Example Transmission example 1 Y axis is moved only at the specified speed in the direction 0000 0000 0000 0000 0001 0001 0000 0107 Response example 1 It reaches the software limit and is normally ended RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 CAUTION If the robot is the rotary axis the unit is degree CAUTION In the JOG movement it is also regarded as the normal end that the movement is stopped after the interlock input is OFF Take care that the software limit is invalid in the origin incomplete state Single axis controllers PRM26 dual axis controllers PRM12 76 CHAPTER2 CC Link Unit 8 Direct position specification movement execution Code 0108 It moves to the specified coordinate position Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Y axis position X axis position Speed Axis RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWr
70. de 0112 The matrix is defined Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Pallet number Line number Array number Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Array number Line number A value of 1 to 255 can be applied to each matrix Pallet number It is the inherent number of 0 to 31 for the matrix discrimination Example Transmission example 1 The matrix of 5x2 is defined at the 1st number RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0001 0002 0005 0000 0112 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 87 CHAPTER2 CC Link Unit 19 Movement matrix specification sssannnnnnnnnnnnnnnnnnnnnnnnnnnnenen Code 0113 The movement matrix is specified with the pallet work position specification move ment execution command code 010C Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Pallet number Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Details Pallet number It is the inherent number of 0 to 31 for matrix discrimination Example Transmission example 1 The matrix of the pallet No 0 is specified 0000 0000 0000 0000 0000 oooo 0000 0113 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4
71. e Command RWwn Command option Command details Option register response register Return to origin execution RWwn 2 Program reset Automatic operation start Step operation start Servo status change Axis RWwn 2 Status RWwn 3 JOG movement inching Axis RWwn 2 Movement direction RWwn 3 JOG movement Axis RWwn 2 Movement direction RWwn 3 Direct position specification Axis RWwn 2 movement execution Speed RWwn 3 movement execution Point number RWwn 3 Speed RWwn 4 General purpose input Axis RWwn 2 response movement execution Point number RWwn 3 DI SI number RWwn 4 Oor1 RWwn 5 X axis position RWwn 5 RWwn 4 Y axis position RWwn 7 RWwn 6 Position specification Axis RWwn 2 movement execution Point number RWwn 3 Speed RWwn 4 Movement stroke specification Axis RWwn 2 65 CHAPTER2 CC Link Unit Remote Command RWwn Command option Command details Option register 010C Pallet work position specification Axis RWwn 2 Command response response register movement execution Pallet work position RWwn 3 Speed RWwn 4 Position specification arch motion definition Axis RWwn 2 Specified position RWwn 3 Distance specification arch motion definition Axis RWwn 2 Specified distance RWwn 3 General purpose output or memory output status change General purpose input or memory input
72. e command specifications The following functions are assigned to the remote register OUTPUT Remote Master INPUT Master gt Remote Address Description Address Description RWrn Status RWwn RWrn 1 Reserved RWwn 1 RWrn 2 RWwn 2 Execution command RWrn 3 RWwn 3 Command response RWwn 4 Command option RWrn 5 RWwn 5 RWrn 6 RWwn 6 n Value determined by station number setting E The remote command is executed by setting RWwn and RWwn 1 with the command code desired to execute When the controller receives the command it will execute the process and inform the result status to the master sequencer PLC side via RWrn When the command is ended set RWwn to 0 and clear the status After the status is cleared the next command can be executed E The command is sometimes provided with options on the remote command The op tion data is set at RWwn 2 to RWwn 7 Since the number of options size and setting address of the command option are different in each command refer to 2 12 3 Re mote command details robot operation and the subsequent sections Similarly some commands return the data to the master sequencer PLC side as the response In this case the response data is set at RWrn 2 to RWrn 7 Like the com mand option the number of options size and setting address of the response data are also different in each command Even if the data is set at the register not defined as any command option when the c
73. e controller instruction manual for information regarding safety when using this unit with the controller It is not possible to detail all safety items within the limited space of this manual So it is essential that the user have a full knowledge of basic safety rules and also that the opera tor makes correct judgments on safety procedures during operation Industrial robots are highly programmable mechanical devices that provide a large de gree of freedom when performing various manipulative tasks Failure to take necessary safety measures or mishandling due to not following the instruction in this manual may result in trouble or damage to the robot and injury to personnel robot operator or service personnel including fatal accidents Important caution points in this manual are from hereon indicated by the term CAUTION be ELSE S SLET SLETTES aa LL SLSL ELLES ELSE 1 2 System design safety points CAUTION When communication errors occur in the CC Link system check the status of the network system and the controller beforehand by referring to the CC Link instruction manual and this instruction manual Also use this communication sta tus information to contrive circuits and interlocks in the sequence program so that the system including the controller will operate safely CAUTION Emergency stop signals may sometimes interrupt register operation in the CC Link unit however this is merely a sof
74. e current position and robot position differ when When emergency stop or interlock LOCK is applied during axis movement A communication command C movement interruption is sent during axis movement e The axis is moved manually and e The axis is move manually in the servo off state including emer gency stop state CAUTION S1200 to SI211 status must be checked in advance when running INC PT SI213 and SI214 must also be checked when specifying the axis M Automatic run start command AUTO R The program is run continuously starting from the current step All tasks are executed when the multi task program is running M Step run start command STEP R The program is run step by step starting from the current step The multi task program only executes the selected task 20 CHAPTER2 CC Link Unit E Origin return command ORG S This command performs origin return when the search method was selected as the origin detection method or checks the origin return status if the mark method was selected On dual axis controllers you can specify the axis for origin return with SI213 SI214 by making PRM10 varid MEMO Em DE DE EE GE DE EE GE DE GN EE DE DEE ee When performing origin return on a search method axis if both a mark method axis and a search method axis are present then origin return must first be completed on the mark method Mark method origin return is performed on the HPB
75. e the return to origin of the axis of the mark system in order to execute the return to origin of the axis of the search system The return to origin of the mark system is executed with HPB MEMO If the return to origin is once executed after the robot cable is connected to the abso lute battery it is unnecessary to execute it again even if the power supply is turned off As an exceptional example it is necessary to execute the return to origin again since the origin is incomplete if the absolute back up function is made to be invalid or if any parameter concerned with the origin is changed 69 CHAPTER2 CC Link Unit CAUTION In return to origin of the stroke end origin system do not stop return to origin operation during origin detection mechanical limit in contact The alarm stop results from the overload of the controller and it is necessary to turn ON the power supply again CAUTION If return to origin of the stroke end origin system is inevitably repeated provide an interval of 5 seconds or more between the repeated operations 70 CHAPTER2 CC Link Unit 2 Program reset 2 ssaisstaiedsraeeptsaenbede dd cedesacensdsessescdeceseseaseeeess Code 0102 Return the step of the program to the Ist step of the head program and turn OFF all DOO to DO12 SO200 to SO231 and memory I O Moreover also clear the point variable P to 0 Do not clear the counter variables C and D Command
76. ection data SI213 S1214 Point movement command ABS PT INC PT BUSY Actual robot operation __ Robot movement END EE 30ms or more 1 Input the point and speed data into SI200 SI211 To specify a movement axis input the axis designation data into 1213 SI214 Please hold this data until the BUSY signal turns on Changing data while busy may sometimes cause data recognition errors 2 Input the point movement commands ABS PT INC PT after delaying the time to 30 ms or more 3 The END signal turns off at the rise of the dedicated input pulse and the BUSY signal turns on 4 After checking that the BUSY is on the dedicated input command is set to off From hereon point data speed data SI200 SI211 and the axis designation data SI213 and SI214 may be changed as needed 5 Waits until the BUSY signal turns off 6 When the BUSY signal has turned off the END signal is at ON indicating that the command ended normally 37 CHAPTER2 CC Link Unit 2 9 I O assignment change function a a ee SL SSS LSLL LS a SSL LL SSL LS SLT SSL LS SSL LL SSL LL SSL LL SSS LS SSL LL SSL STL 2 9 1 Changing the I O assignment The I O assignment change function changes the function assigned to each input output I O signal I O assignment can be changed by setting the I O assignment selection parameter single axis controllers PRM59 dual axis controller PRM26 Fo
77. eeeeeeseeseeeeseeeenseneneeeeeeeeeeeeeeeeeeeeees 9 2 3 CC Link cable connections Luumnmnosgkmriedidaeeddutrd teased 10 2 4 Parallel I O connector rrvrvrrrrrrrrrrnnrrrrrnrrnnnnnnnnnnrnrrrrnnnnennnnnnenerssssse 11 2 5 Controller system settings remote station rrnnrrnnnnnnnnonrrrnnnnnnrn 13 2 5 1 Validating the CC Link unit eerrnnnornennnnnvnnerannvnnnnnnrvnnennrnnvenennnnnn 13 2 5 2 Setting the station NO uasesanpodassavendungmnuangenptiin 14 2 5 3 Setting the communication speed mrrrnrrnnnnrrrrrrnnnrnnvvnnnrrnvnnnerenr 15 2 6 Sequencer master station settings rrrrrrrnnnnnnnnnnrrrnnnrnnrrrrrrnnnnn 16 2 6 1 Starting data exchange with the controller rarannvrrnnnnnnrnnnnrvnnr 16 er NORMAN 17 2 7 1 Profile I O signal table um vvasvrinvmmanmm ide 17 2 7 2 Dedicated command INPUTS sris nc cotiedexcemsaesienaneercendacaetetaante ees 19 2 7 3 General purpose inputs S1200 S1231 rrrnvrrnrnrrnrvvrnrrnvrnnrvnnne 23 2 04 Interlock LOCK vissent 24 2 7 5 Emergency stop input EMG rnrrnnronnrrrnnnonnrrennnnnnvrnnnrrnnrrnnreennr 24 2 7 6 Service mode SVCE causal sconces oeteeat eksen 25 2 7 7 Initial data processing end flag rrnnnnnrrrnnnnnnvrvnnnnnnvrnnnrrnnrnnnnrennn 25 2 7 8 Dedicated outputs sicccietceie nateecnnidigl eee eee liad Guru 26 2 7 9 General purpose outputs S0200 S0231 0 eee eee 27 2 7 10 Initial data processing request flag rrrrrnnnnvrvnnnnnnvrnnnrrnr
78. ement number read of currently specified C rrrnvnnnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnnvennr Code 0210 The element number of the counter arrangement variable C currently specified is read Command option RWwn 7 RWwn 6 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Element No Example Transmission example 1 The element number of the counter arrangement variable C is read 0000 0000 0000 0000 0000 0000 0000 0210 Response example 1 The element No is 31 RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 001F 0000 0200 118 CHAPTER2 CC Link Unit 17 Counter arrangement variable C read rrrrnnnnvvvvrvennnnnnnnnnnnver Code 0211 The value of the counter arrangement variable C of the specified element number is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Element No RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Counter value Details Element No The number specifies the arrangement element in the range of 0 to 31 Example Element No The value of the counter arrangement variable C is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0211 Response example 1 The element No is 21202 RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 52D2 0000 0200 119 CHAPTER2 CC Link Unit 18
79. ended and END has turned ON e When running a movement command ABS PT INC PT with an extremely short movement distance e When RESET was run e When running steps of a command having an extremely short processing time such as L or DO statements Dedicated command BUSY END i el i 1 gt 30ms or less 1ms or less 30ms or less 1 At the rise of the dedicated command input the END signal turns off and the BUSY signal turns on 2 Turns off the dedicated command input after the BUSY signal turns on 3 Wait until the BUSY signal turns off The BUSY signal immediately turns off since the command execution time is short 4 The END signal should be on when the BUSY signal turns off indicating that the command has ended normally The bit 7 END output sequence setting at command execution completion in the System mode selection parameter single axis controllers PRM34 dual axis con trollers PRM20 can be changed so that the END signal turns ON when the dedi cated command input turns OFF MEMO Em DS DE DE GEN EE DE GE EE DE GN EE GE DEE ee The bit 7 END output sequence setting at command execution completion in the System mode selection parameter single axis controllers PRM34 dual axis con trollers PRM20 is supported by the following controller versions ERCX SRCX Ver 13 74 or later DRCX Ver 18 74 or later SRCP SRCD Ver 24 32 or later SRCP30 Ve
80. example 2 The software limit over occurs RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 401E 1 Single axis controllers PRM30 dual axis controllers PRM17 2 Single axis controllers PRM44 dual axis controllers PRM64 and PRM104 CHAPTER2 CC Link Unit 10 Movement stroke specification movement EXeCcutiON rrxannnnnnnnnnnnnnnnnnnnennnnnnnnnnnnsnnennnnnnnnnnnn Code 010A The specified axis moves from the current position by the data of the point number specified Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Speed Point number Axis RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 or I alone can be specified Point number This is the inherent number assigned to each of 1000 points as a total from 0 to 999 To specify the point variable P register 4095 OFFF hexadecimal Speed It can be set at 100 intervals from 1 to 100 and 100 3000rpm if the program execution speed parameter is set to 100 In this case the maximum speed setting parameter is set to 3000 Example Transmission example 1 It moves from the current position by the P123 stroke alone at the speed 100 RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0064 0078 0000 0000 0
81. ext as many times as needed to select DI3 DI15 This is the screen when F2 S gt DO was selected above in step 3 The DO12 DOO current settings appear on the screen from the left side Here 0 indi cates normal status and 1 indicates a emulated serialization setting To change a setting press the function key displaying the DI No you want to set If the DI No you want to set is not shown just press the next as many times as needed to select DO3 DO12 Press the ESC key to return to the screen in step 3 63 CHAPTER2 CC Link Unit MENU select menu 1EDITZOPRT3SYS 4MON SYS select menu 1SAFEZOPT 3UTL 4next RYG SYS OPT select menu 1D 502S5 D03 4next SN SYS OPT D S0 DI 00001111 00000000 DISSO connect IDIO 2DI1 3DI2 4next SYS OPT S DO DO 00011 00000000 SI3DO connect 1D00 2DO1 3D02 4next SYS OPT select menu 1D 502S5 D03 4next CHAPTER2 CC Link Unit 2 12 Remote command When the remote register is used the message command can be issued directly from the sequencer PLC The high ranked commands such as MOVD command movement command which directly specifies the position coordinates which must use RS 232C unit conventionally can be easily executed The method to use these commands is ex plained in this section a a a ee a a a a a a ae a a a a a a a a a a 2 12 1 Remot
82. gnal description 23 CHAPTER2 CC Link Unit 2 7 4 Interlock LOCK These are inputs to temporarily stop robot movement Robot operation can be stopped by setting this input to OFF during running of dedicated commands from the I O during running of a program by HPB or personal computer or during return to origin Of course the program operation also stops When this input is OFF however dedicated commands from the I O and running of programs from the HPB or personal computer as well as origin return are all disabled Therefore you should normally keep this input at ON The only exceptions to this are the RESET and SERVO commands whose inputs are enabled regardless of whether this interlock input is ON or OFF Once the interlock is set to OFF the robot remains stopped until another command is input AUTO R ORG S even if the interlock is set to ON again ME MO EE EE EE DE DE EN EE DEN DE DEN DE GE DEE EE DE GN EE GE DEE DEE KEN KEN The interlock input on the parallel I O of the controller is also always valid Accord ingly the interlock will be activated to prevent the automatic operation and others if either of two interlock inputs is OFF For automatic operation and others it is neces sary to surely keep both interlock inputs ON On the SRCP SRCD series the paral lel I O interlock can be disabled by the parameter setting For more details refer to 2 4 Parallel I O connector a a a a LS SLLLSL SSS a ae
83. he corresponding point num ber at the point zone output function or the movement point zone output func tion If outputting point 0 P0 as the corresponding point for the point zone out put function or the movement point zone output function all the PO200 to PO205 signals remain off because PO 000000 binary This means that the P0200 to PO205 signal statuses do not change even after the robot has en tered the zone specified by P0 This should be kept in mind when monitoring PO 46 CHAPTER2 CC Link Unit MEMO M KE KEN ee When using PO as an output signal that indicates the target position s point number for point movement commands ABS PT INC PT e When a point movement is received through a parallel I O the target position s point number is output to the corresponding parallel I O POO to POS When received through a serial I O such as a CC Link the target position s point num ber is output to the corresponding serial I O PO200 to PO205 All PO outputs are reset OFF when a program reset is performed When using PO as an output signal that indicates the corresponding point number at the point zone output function The corresponding point number for the point zone output function is output to both the corresponding parallel I O POO to POS and the serial I O PO200 to PO205 In the SRCP SRCD series however the point number is only output to the seria
84. he following conditions and the motor be comes free During emergency stop The READY output turns ON again when emergency stop is canceled After can celing emergency stop operation can be restarted by inputting the servo recovery command SERVO During alarm If the READY signal is OFF but the robot is not in emergency stop then some kind of alarm was issued In this case operation cannot resume unless the power is turned off and then on again E Command execution in progress output BUSY The BUSY signal is ON during execution of a dedicated command input or execu tion of a command from the HPB or personal computer This signal turns ON when the dedicated input signal is received so turn dedicated input signal OFF when the BUSY signal turns ON The BUSY output turns OFF when the executing of this command is ended However all the dedicated inputs must be OFF at this time ACAUTION Always input the dedicated command input as a pulse signal If the input stays ON the BUSY signal will not turn OFF even after the command is executed If the BUSY output is at ON then the controller cannot accept dedicated inputs and commands from the HPB or personal computer Do not try to operate the HPB while the I O interface is controlling the controller This could cause communication errors with the sequencer PLC or cause com munication error to occur in the HPB E Execution ended output END This signal turns OFF
85. imination Array number Line number It is the value of 1 to 255 Example Transmission example 1 The currently specified pallet number is read 0000 0000 0000 0000 0000 0000 0000 020E Response example 1 The pallet 0 is specified RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 116 CHAPTER2 CC Link Unit 15 Current point variable P read rrsnnnvvvvvvrnnnnnnnnnnnvnnennnennnnnnnveer Code 020F The point variable P is read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Point number Details Point number It is the inherent number assigned to the point of 0 to 999 Example Transmission example 1 The point variable P is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 020F Response example 1 The point variable is P 100 RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0064 0000 0200 CAUTION Though the content of the point variable P is held even when the controller power supply is turned off the point variable P is initialized to 0 in case of the program reset or any operation which the program reset is applied with the execution program switch etc 117 CHAPTER2 CC Link Unit 16 Arrangement el
86. in return status output ORG O This outputs the robot origin return status This output is ON when origin return is complete on all axes This output however turns OFF if even origin return on even just one axis is incomplete This output is always enabled even if the origin return completed action selec tion parameter single axis controllers PRM33 dual axis controllers PRM2 does not have to be changed Zone output ZONEO to ZONE3 This specifies the output destination of the zone output function The zone output is used to control the signal output when the robot s current position is within the specified range To use the zone output function the desired zone output must be enabled by the Zone output selection parameter single axis controllers PRM53 dual axis controllers PRM24 This parameter also sets the zone output logic Use point data to specify the range Point numbers and output signal names used for each zone are shown below For details on the zone output refer to the Zone output selection parameter de scribed in the controller user s manual Setting range and output port for each zone ZONE No Specified range Output signal name P900 P901 P902 P903 P904 P905 P906 P907 MEMO EE DE DN DE EE DE GE EE GE GE GE ee The zone output is supported by the following controller versions ERCX SRCX Ver 13 50 or later DRCX Ver 18 50 or later SRCP
87. ing off the power when install ing or removing the unit wait at least 5 minutes before starting work CAUTION Do not touch the terminals or pins while power is still applied to the unit This may cause electrical shocks or faulty operation be a LESS SLETTES ELSE SLET ELELN 1 5 Precautions when disposing of the unit ACAUTION This product must be properly handled as industrial waste when its disposal is required 1 6 CHAPTER1 Cautions To Ensure Safety Warranty For information on the warranty period and terms please contact our distributor where you purchased the product This warranty does not cover any failure caused by 1 Installation wiring connection to other control devices operating methods inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual 2 Usage that exceeded the specifications or standard performance shown in the YAMAHA manual 3 Product usage other than intended by YAMAHA Storage operating conditions and utilities that are outside the range specified in the manual P Damage due to improper shipping or shipping methods Accident or collision damage Installation of other than genuine YAMAHA parts and or accessories oO N A Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA including customizing performed by YAMAHA i
88. is controllers PRM8 dual axis controllers PRMO e The conditional input point parameters have been expanded as fol lows Input range 1 8 11 18 Initial value 4 Conditional input points general purpose input and condition range Conditional 7 DR input points General purpose inputs used Settable conditional input range DIO DIO DI1 DIO DI2 DIO DI3 DIO DI4 DIO DI5 DIO DI6 DIO DI7 S1200 S1200 S1201 S1200 S1202 S1200 S1203 S1200 S1204 S1200 S1205 S1200 S1206 S1200 S1207 59 CHAPTER2 CC Link Unit 2 10 3 JMPB Function Format Example Explanation Jumps to the specified label when the specified general purpose input or memory input or serial general purpose input is on or off JMPB lt label No gt lt DI or MI or SI No gt lt input status gt JMPB 12 8 1 Jumps to level 12 when D18 is ON If not proceeds to the next step JMPF is a command to control the program flow according to the gen eral purpose input or memory input or serial general purpose input 1 Label No The label No is a number defined by the character L and signifies the jump destination This number can be specified from 0 to 255 2 DI or MI or SI No Specify 1 number from among the general purpose inputs 0 15 16 points or memory input 100 147 48 points or the serial general purpose inputs 200 231 32 points 3 Input status Here 1 means ON and 0
89. l I O All PO outputs are reset OFF when a program reset is performed When using PO as an output signal that indicates the corresponding point number at the movement point zone output function The corresponding point number for the movement point zone output function is output to both the corresponding parallel I O POO to POS and the serial I O PO200 to PO205 In the SRCP SRCD series however the point number is only output to the serial I O e Movement points are reset immediately after a controller power on and all PO outputs are therefore turned off at that time Movement points are also reset if a program reset is performed and the movement point zone PO outputs are reset OFF at that time as well E Return to origin complete output Zone output 0 ORG O ZONEO This output notifies that return to origin operation is complete When Zone 0 output is enabled with the Zone output selection parameter single axis controllers PRM53 dual axis controllers PRM24 the ORG O output is used as the output port of Zone 0 ZONEO The ORG O output is an output signal having the same function as device No RXn6 For details on the output signal refer to Return to origin status output ORG O in 2 7 8 Dedicated output The ZONEO output is an output signal having the same function as device No RXn1 For details on the output signal refer to Zone output ZONEO to ZONE3 in 2 7 8 Dedicated output and also to Zone output sele
90. l axes are read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwwn 2 RWwn 1 RwWwn 0000 0000 0000 0000 0000 0000 0000 0209 Response example 1 The servos of all axes are on RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0001 0000 0200 111 CHAPTER2 CC Link Unit 10 Return to origin status Check rnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn Code 020A It reads that the return to origin is completed in all axes or specified axes In thee all axis specification mode the result becomes 1 only when all axes are completely returned to the origin Command option RWwn 7 RWwn 6 RWwn 4 RWwn 3 RWwn 2 Axis Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Origin status Details Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 or 1 alone can be specified Origin status 0 means that the origin is incomplete and I means that the return to origin is completed Example Transmission example 1 It reads that the return to origin is completed in all axes 0000 0000 0000 0000 0000 0000 0000 020A Response example 1 The return to origin is completed in all axes RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0001 0000 0200 112 CHAPTER2 CC Link Unit 11 Service mode s
91. l remains off when the BUSY signal turns off indicating that the command could not end normally 32 CHAPTER2 CC Link Unit 4 When an on going command becomes impossible to run In the following cases END will not turn ON when running of an on going com mand becomes impossible e When an interlock or emergency stop was triggered during running of a dedicated command e When a jump to an unregistered program was made during automatic operation a move to an unregistered point was made or some kind of error occurred ae execution impossible Dedicated command BUSY END Kid Differs according to execution command 1 At the rise of the dedicated command input the END signal turns off and the BUSY signal turns on 2 Turns off contact open the dedicated command input after the BUSY signal turns on 3 Wait until the BUSY signal turns off 4 The BUSY signal turns off because the command execution becomes impos sible before it is fully executed 5 The END signal remains off when the BUSY signal turns off indicating that the command could not end normally 33 CHAPTER2 CC Link Unit 2 8 3 When interlock signal is input Ha LOCK Dedicated command BUSY END Differs according to execution command E The BUSY output turns OFF when an interlock signal is input during running of a dedicated command The READY output and the END output remain unchanged 34 CHAPTE
92. lation Reinstall the CC Link unit away from the source of noise motor power lines CC Link unit is defective e Replace the CC Link unit If this solves the problem replace the CC Link unit Servo won t turn on continued to next page Handshake was not performed at communication startup e Check RX n 3 B status and check if it was possibly set to OFF Refer to 2 6 1 Starting data exchange with the controller correctly perform handshake for communication start up Set to emergency stop with RYnF at OFF e Check RYnF status To turn on the servo servo on set RYnF to ON Set to emergency stop from HPB or external parallel I O e Check if set to emergency stop at HPB or external parallel I O Cancel emergency stop on the HPB or external parallel I O in order to set the servo to on servo on Controller alarm was issued e Connect the HPB and check the alarm that was issued e Status LED is lit up in red 139 Refer to the controller instruction manual and troubleshoot per the particular alarm CHAPTER2 CC Link Unit Program stops by itself during automatic operation 1 Error occurred on the CC Link system during communication Checkpoints e Check RX n 3 B status and check if it was possibly set to OFF e Check for any problems with noise or the wiring specifications and eliminate factors causing errors on the CC Link s
93. lection Point No output to PO when movement ends normally 2 The point numbers of the target positions are designated before running a point movement command ABS PT INC PT Point movement command execution 1 To specify the movement axis by a dual axis controller input the axis designa tion data to SI213 and SI214 The input status specified here must be kept unchanged until step 3 is com plete If this input status is changed the controller might misrecognize the data 2 Turn on the ABS PT or INC PT 3 The END signal turns off and the BUSY signal turns on indicating that the controller received the point movement command 4 Turn off the ABS PT or INC PT 5 Wait until the BUSY signal turns off 6 The BUSY signal turns off The END signal should be on at this point indicat ing that the point movement is normally finished 7 When the END signal is on in step 6 the target position s point number is output from the specified point number PO200 to PO205 The output status of the target position s point number is retained until ex ecution of the next point movement command is complete 50 CHAPTER2 CC Link Unit L Point movement command execution 8 Execute the next point movement command 9 Point movement ends 10 The END signal turns on The previous target position s point number being output from the specified point number PO200 to PO205 is cleared and the current ta
94. lid of the controller must be removed in order to monitor the LED NOTE The product external appearance and specifications are subject to change without prior notice for purposes of improvement or other factors 141 Revision record Manual version Issue date Description Ver 5 00 Oct 2009 Addition of I O assignment function Addition of customize function for END output timing in execution of dedicated I O command Caution was added to 2 6 Sequencer master station settings Clerical error corrections etc Ver 5 02 Jul 2012 The description regarding Warranty was changed User s Manual SRCD SRCP VA M A H A ERCX SRCX DRCX Single axis Dual axis Robot Controllers C C Link network board Jul 2012 Ver 5 02 This manual is based on Ver 5 02 of Japanese manual YAMAHA MOTOR CO LTD IM Operations 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 your distributor
95. ly connected to the CC Link system tance Causes 1 CC Link cable not correctly connected Checkpoints e Check if CC Link cable is not connected is miswired or wires are broken e Correctly repair any miswirings or unconnected wiring Replace the cable if broken CC Link unit is not validated so cannot be identified from controller e Refer to 2 5 1 Validating the CC Link unit and check that the CC Link unit is properly validated Validate the CC Link unit and turn on the controller power again Wrong station No setting e Refer to 2 5 2 Setting the station No and check the station No Reset the station No correctly and turn on the controller power again Wrong communication speed setting e Refer to 2 5 3 Setting the communication speed and check the communication speed Reset the communication speed correctly and turn on the controller power again Alarm occurring on controller e Connect the HPB and check for an alarm e Check if the status LED is lit in red Refer to the controller instruction manual and troubleshoot according to the particular alarm CC Link cable length does not meet specifications for the CC Link ora terminating resistor is not connected e Check the CC Link cable wiring Repair the wiring CC Link cable is in proximity to a noise source such as motor power lines e Check the CC Link cable instal
96. ments WAIT state ments and JMPB statements Serial input outputs I O for the CC Link are assigned using I O numbers from 200 onwards Designated I O ports can be controlled indepen dently of the program by making emulated serialization settings on the parallel I O CHAPTER2 CC Link Unit 2 3 CC Link cable connections Wire the CC Link cable to the accessory CC Link plug Make the wiring connections by referring to the drawing below or the marks on the plug Make sure the connections are correct When finished wiring the cable to the plug connect it to the CC Link connector as shown below 1 DA blue CC Link plug JJ TG 2 DB white MSTB2 5 5 STF 5 08 A Y Z Phoenix Contact dad 3 DG yellow 4 SLD shield wire This is black on the controller side J S CC Link cable k CC Link connector Controller Fig 2 1 CC Link cable wiring The SLD line connects to controller ground internally inside the controller so there is no connection to pin 5 FG on the CC Link connector There is no need to make a connection to pin 5 on the normal connector but a ground wire can be connected to this pin if the customer wants a more secure frame ground connection Pins 4 and 5 should be connected in the connector in this case CAUTION Always cut off the power before making the above connections Clamp the cable in place so it will not come loose Be sure to put an excessive pulling or weight load o
97. n 2 Details Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 or 1 alone can be specified Speed It can be set at 100 intervals from 1 to 100 and 100 3000rpm if the program execution speed parameter is set to 100 In this case the maximum speed setting parameter is set to 3000 Axis position The desired movement position is directly specified unit 0 01mm When the robot is set at the rotary axis the unit of the movement position is 0 01 degrees When the axis is specified the axis data is free for any other axis not specified Similarly it does not matter that the data of Y axis is free on single axis controllers Example Transmission example 1 In the current position indication mode it moves to the position of X 50 37 and Y 45 55 at the 100 speed RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 110B 0000 13AD 0064 0000 0001 0108 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 110B 0000 13AD 0000 0000 0000 0200 Transmission example 2 It moves to the position of Y 850 00 at the 50 speed RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0001 4008 0000 0000 0032 0002 0000 0108 Response example 2 The software limit over occurs RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000
98. n 2 RWwn 1 RWwn 0000 0000 0000 0032 FFFE 0002 0000 0106 Response example 2 Since the D value is not proper the data error occurs RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 4017 Since it is calculated on the presumption that the robot moves in the cartesian coordinate system the SCARA robot does not move as expected 1 Single axis controllers PRM30 dual axis controllers PRM17 2 Single axis controllers PRM44 dual axis controllers PRM64 and PRM104 CHAPTER2 CC Link Unit 13 Position specification arch motion definition Code 010D The arch motion of the position specification is defined Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Specified position Axis Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 Details Axis It is the execution axis number of the arch motion I means X axis and 2 means Y axis Specified position It is the movement position absolute position of origin reference of the arch motion execution axis The position can be specified in the range of 9999 to 9999 in the millimeter units Example Transmission example 1 The arch motion in which Y axis returns to Y 10 00 is defined RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 000A 0002 0000 010D Response example 1 It is normally ended RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2
99. n 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Version value Details Version value It is the system version which is possessed by the controller If the version is V13 30 1330 532 hexadecimal is indicated Example Transmission example 1 The controller system version is read RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0206 Response example 1 The version is V 13 30 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0532 0000 0200 MEMO The controller versions are as follows ERCX SRCX V13 xx DRCX V18 xx SRCP V24 xx SRCD V24 xxB SRCP30 V24 xxH 108 CHAPTER2 CC Link Unit 7 Number of axes read ennnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen Code 0207 The total number of operable axes is read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Axis number Example Transmission example 1 The total number of axes is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 Rwwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0207 Response example 1 2 axes are operable RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0002 0000 0200 109 CHAPTER2 CC Link Unit 8 Emergency stop status check rrrnu
100. n 5 RWrn 4 Y axis shift data RWrn 7 RWrn 6 General purpose input and memory input status read DI MI SI number RWwn 2 Input status RWrn 2 General purpose output and memory output status read DO MO SO number RWwn 2 Output status RWrn 2 Specified parameter data read Parameter number RWwn 2 Parameter value RWrn 3 RWrn 2 Specified point data read 67 Point number X axis data RWrn 5 RWrn 4 Y axis data RWrn 7 RWrn 6 CHAPTER2 CC Link Unit 3 Utility Remote Command RWwn Program number Command option ommand details Option register RWwn 2 Command response response register 1 0301 Execution program No switching 2 0302 Execution task No switching Task number Parameter number RWwn 2 RWwn 2 Parameter data RWwn 5 RWwn 4 0304 Point data write 3 0303 Parameter data write 4 4 Special commands Remote Command RWwn Command option Command details Point number Axis RWwn 2 RWwn 3 X axis data RWwn 5 RWwn 4 Y axis data Option RWwn 7 RWwn 6 register Command response response register 1 0000 No execution status clear 2 0401 Response register initialization 68 Initial value data RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Initial status RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 CHAPTER2 CC Link Unit 2
101. n compliance with distributor or customer requests 9 Pollution salt damage condensation 10 Fires or natural disasters such as earthquakes tsunamis lightning strikes wind and flood damage etc 11 Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA The following cases are not covered under the warranty 1 Products whose serial number or production date month amp year cannot be verified 2 Changes in software or internal data such as programs or points that were created or changed by the customer 3 Products whose trouble cannot be reproduced or identified by YAMAHA 4 Products utilized for example in radiological equipment biological test equipment applications or for other purposes whose warranty repairs are judged as hazardous by YAMAHA THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT ANY AND ALL OTHER WARRANTIES OR LIABILITIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY DISCLAIMED BY YAMAHA MOREOVER YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT Ver 1 00_201205 MEMO CHAPTER I YIl sW J m n CC Link Unit SSS LS SSL LL LLL L LE LLL LLL LLLLLLLLLLLLDLLDLDLLLLDLDDLLLLLLLDLDLDLLLLLL SSL SSL LLL
102. n the cable when wiring or installing There are limits on the total cable length and the cable length between stations so always consult the instruction manual for the master station sequencer PLC MEMO M This CC Link unit is compatible with CC Link Ver 1 10 Using a CC Link cable com patible with Ver 1 10 eases restrictions such as on cable length between stations Please refer to the instruction manual for the master station sequencer PLC for further details CHAPTER2 CC Link Unit Parallel I O connector The I O connector must be wired into the controller so install as shown below even if not using the controller s parallel I O E When the ERCX SRCX DRCX series controllers are used 1 Short Pin No A 24 EMG 1 and B 24 EMG 2 2 Short Pin No B 4 LOCK and A 15 to B 15 OV 3 Connect an external 24 volts to Pin No A 13 B 13 IN COM On DRCX and SRCX you can connect to A 14 B 14 24V and to A 13 B 13 IN COM instead of connecting to an external 24 volt supply If Step 1 is not completed an emergency stop will occur If Step 2 is not completed an interlock will be applied In either case the controller cannot be operated see Chapter 4 Note that 24 volt power will not be supplied to the I O circuit unless shorted as in 3 An alarm is issued 06 24V POWER OFF when power is not supplied and the opera tion disabled
103. nd a desired value of 0 to 65535 can be set CHAPTER2 CC Link Unit 28 Addition of specified value to counter variable D Code 011C The specified value is added to the counter variable D Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Addition value Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Addition value A value of 1 to 65535 can be specified Example Transmission example 1 10 is added to the counter variable D RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 000A 0000 011C Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 97 CHAPTER2 CC Link Unit 29 Subtraction of specified value from counter variable D esronannnonannnnnnvnnanannnnnnnnnnnnnennnnnnaneunen Code 011D The specified value is subtracted from the counter variable D Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Subtraction value Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Details Addition value A value of 1 to 65535 can be specified Example Transmission example 1 10 is subtracted from the counter variable D 0000 0000 0000 0000 0000 oooa 0000 O11D Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn
104. ned to each I O signal This parameter setting allows changing the function assigned to each I O signal This makes it possible to output the destination point number and perform jog movement After changing the I O assignment the controller must be restarted to enable the changes MEMO M EE EE DE GE EE GE EE DE GE GS GE ee The I O assignment selection parameter is supported by the following controller ver sions ERCX SRCX Ver 13 57 or later DRCX Ver 18 57 or later SRCP SRCD Ver 24 17 or later SRCP30 Ver 24 30H or later I O assignment selection parameter Parameter number Single axis controllers PRM59 Dual axis controllers PRM26 Input range 0 or another number Refer to 2 9 2 I O assignment list Meaning PRM59 PRM26 x x xx TET 0 CD I O assignment type selection Description Type 0 Conventional type standard Type 2 Point number output type Type 3 Point teaching type MEMO m BEE I Type 1 cannot be used with the SRCP SRCD SRCX SRCX and DRCX 2 Point output selection Make setting only for Type 2 Point number output type or Type 3 Point teaching type Description Outputs PO when movement ends normally Outputs PO when movement command is received Point zone output Outputs PO when the robot enters the position judgment parameter range for point data registered in the controller
105. nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnr Code 0208 The status of the emergency stop is read Command option RWwn 7 RWwn 6 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Emergency stop Details Emergency stop 1 means the emergency stop status and 0 means that the emer gency stop is canceled Example Transmission example 1 The status of the emergency stop is read RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0208 Response example 1 0 the emergency stop is canceled is established RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 110 CHAPTER2 CC Link Unit 9 Servo status check rrssssvvvvrrrrnnnnnnnnvnnnvnnennnnnnnnnnnvnvennnennnnnnnneer Code 0209 The servo statuses of all axes or specified axes are read When all axes are specified the result becomes I only if the servos of all axes are on Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Axis RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Servo status Details Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 or I alone can be specified Servo status 1 means the servo on and 0 means the servo off Example Transmission example 1 The servo statuses of al
106. nnnrrrnnr 28 27 41 Remote READY niiin ia ba Stene as 28 212 NORTON Ta tea tant eee Se 28 28 TIMING CHAM ssrin n a aa 29 2 8 1 Handshake for starting data exchange rsrnrrrnnnnnnnvrnnrnrrrrnnnrrnnnr 29 2 8 2 Dedicated input command execution rrnnrrnnrrrnrrrrrrrrrrrrnrnnnnnnn 30 2 8 3 When interlock signal is input eenennernnrnnnnvnnnnnnnnnrnnnnrnnnnnnnnnenn 34 2 8 4 When emergency stop signal iS input rsnnnnrnnrnnnnrnnrnnnrrrrnnnnnnnnn 35 2 8 5 When an alarm is issued Luninrmenidmvesmitdrvmutednser miisiesietvstei 36 2 8 6 When point movement commands are run rrrrrnrrrnrrrrrrrrnrrnnnnnnn 37 2 9 l O assignment change function eernnnnnnonnennnnnnnnnvnnnnnnnnnnnnnnnnnnn 38 2 9 1 Changing the I O assignment rrnrnnnnnnnrrrnnnonvrrvnnnnnnvrnnnrrnnrnnnrrennn 38 2 9 2 IO assignment NSti ni ccacdetccseeas sesdennideaptanapntdcus tense ocbaueepeatsadeeneeanes 39 2 9 3 I O assignment selection parameter description ceeee 41 2 9 4 W O signal descripion arrnrrvnrnrnnnvnnnrrnnrrnnnnrrrrrnnnnnnnrennernnnnnnnerenn 43 2 9 9 Miming CHAM saadan saadan 48 2 10 Robot lang ge irrisa ioa dene eneren 58 2 A 0T MOVE sese a Pence San Aa iste 58 2102 a WP E e ente e a 59 210 3 JMP Bareer a A EAN 60 aao E DO E EE E A TE 60 2 10 5 WAT idee Greener 61 2 11 Emulated Serialization on parallel DIO eerrsnnnrrrrrnnrnrnnnnrrrennnnnrrnnr 62 2 12 Remote command vvvdvsveadkadm
107. nt po sition on the program will be initialized at the position of the robot i 83 CHAPTER2 CC Link Unit 15 General purpose output or memory output status change r rnnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn Code 010F ON OFF control of the general purpose output or memory output is performed Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Output status DO MO SO number Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 Details DO MO SOnumber One is specified among the general purpose output 0 to 12 13 points serial general purpose output 200 to 231 32 points or memory output 100 to 131 32 points Output status I means ON and 0 means OFF Example Transmission example 1 The serial general purpose output 203 is turned ON RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0001 oocB 0000 010F Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 0 to 4 5 points for the SRCP SRCD series controllers 84 CHAPTER2 CC Link Unit 16 General purpose input or memory input wait vnnnnnnnen Code 0110 It waits until the specified general purpose input or memory input comes into the specified state Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Input status DI MI SI number Command response RWrn 7 RWrn 6 RW
108. o P901 I Hy 7 l 1 P1 b P6 b Current robot position gt Xe For dual axis type b b 1 I j A 1 1a ay a ay P900 1 1 1 i i i i i pid pid gt gt OE OE OG a X axis position judgment parameter range b Y axis position judgment parameter range In this case this is the OUT valid position range The number of target point number outputs that can be used depends on I O assignment type Precondition 1 The following steps are explained assuming that the I O assign ment selection parameter single axis controllers PRM59 dual axis controllers PRM26 is set to 321 When I O assignment selection parameter 321 single axis controllers PRM59 dual axis controllers PRM26 I O assignment type Type 2 Point No output type Permissible number of movement points 16 points Point output selection Movement point zone output Point zone judgment method position judgment parameter OUT valid position 2 The Zone 0 output is enabled and set to positive logic output by the Zone output selection parameter single axis controllers PRM53 dual axis controllers PRM24 3 Set the movement point as P6 1 Although the robot is within the P1 OUT valid position range point zone output range all the PO200 to PO203 target position point number outputs are off because P1 is not the movement point Moreover the ZONE 0 output is also off because the robot is not within the specified zone
109. ommand Current position information is displayed in RWrn 4 to 0001 XXXX RWrn 7 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Y axis position X axis position Details Axis position The current position of the robot is indicated unit 0 01mm If the rotary axis is set for the robot the unit of the movement posi tion is 0 01 degrees RWrn 6 to RWrn 7 is not used in single axis controllers Example Transmission example 1 Current position is output by current position display mode 0000 0000 0000 0000 0000 0000 0001 0000 Response example 1 The current position of the robot is X 321 05 and Y 0 02 FFFF FFFE 0000 7De9 0000 0000 0000 0000 Transmission example 2 Move to the position of X 50 37 and Y 45 55 at the 100 speed in the current position indication mode 0000 110B 0000 13AD 0064 0000 0001 0108 Response example 2 Moving to the target position is normally ended The current po sition of the robot is X 50 37 and Y 45 55 RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 11CB 0000 13AD 0000 0000 0000 0200 CAUTION Before executing a command which uses RWrn 4 to RWrn 7 as the response such as the specified point data read command code 0217 cancel the current position indication mode If the current position indication mode is kept the command response overlaps with the current position indication and the data canno
110. ommand is executed there is not any problem It is unnecessary to clear the not defined register to 0 Moreover the register which is not defined as the response data is not influenced during the command execution and the register content before the command execution is held E It is necessary to set the command option to the register at the same time when or before the command desired to execute is set M The data is set with the binary code If the data size exceeds 16 bits 1 word set the data of the upper ranked bit at the higher address Little endian Example To set 12345678 hexadecimal at the register of RWwn 2 and RWwn 3 set 1234 hexadecimal at RWwn 3 and 5678 hexadecimal at RWwn 2 E RWrn 1 is the system reservation When it is read 0 is returned 64 CHAPTER2 CC Link Unit 2 12 2 Remote command amp status value list The remote command code and status code are expressed in the hexadecimal mode Remote Command Remote command Meaning of command RWwn 1 RWwn g 0000xxxx The command of the code xxxx is executed 0001xxxx The command of the code xxxx is executed with the current position information indicated at RWrn 4 to RWrn 7 Status Status value RWrn Meaning of status Command ready Command executing Command normal end Error occurrence xx Error code X axis alarm occurrence xx Alarm code Y axis alarm occurrence xx Alarm code 1 Robot movement Remot
111. on the profile when the I O assignment selection pa rameter is set to another type refer to 2 9 2 I O assignment list The zone output is supported by the following controller versions ERCX SRCX Ver 13 50 or later DRCX Ver 18 50 or later SRCP SRCD Ver 24 00 or later SRCP30 Ver 24 30H or later CHAPTER2 CC Link Unit Remote Register OUTPUT Remote Master INPUT Master gt Remote Address Description Default Address Description RWrn Status RWwn RWrn 1 Reserved RWwn 1 RWrn 2 RWwn 2 Default 0 Execution command RWrn 4 Command response RWrn 5 RWrn 6 RWrn 7 RWwn 4 Command option RWwn 5 RWwn 6 RWwn 7 n Value determined by station number setting RWrn 3 RWwn 3 For details on the remote register refer to 2 12 Remote Command a a ea a a a a aa a a a a oe a E 2 7 2 Dedicated command inputs Dedicated command inputs are inputs from the sequencer PLC to the controller for performing specific processing such as origin return or servo recovery To accept these inputs the READY BUSY and Lock signals must be set as follows E READY ON E BUSY OFF E LOCK ON If the above conditions are not satisfied then dedicated command inputs cannot be ac cepted For example when the BUSY signal is on this means that the controller is al ready executing a dedicated command so other dedicated commands are ignored if they are input When the LOCK signal is off no other commands
112. ot change even after the robot has entered the zone specified by P0 This should be kept in mind when monitoring P0 57 CHAPTER2 CC Link Unit 2 10 Robot language The robot language expanded by using in the CC Link unit Pe ee SSL SSS SL SSL SSS LSL SSL SLL SSS LL SSL LL SSL LS SLT LL SSL LS SSL LL SSL LS SSL LL SSL LS SSL LL SSL SSL 2 10 1 MOVF Function Format Example Explanation Other Moves until the specified DI or SI No is input MOVE lt point no gt lt DI or SI No gt lt input status gt MOVF 1 2 1 This command moves the robot towards P1 ends movement when D12 turns ON and proceeds to the next step MOVF is used when searching for the target position with sensors etc The robot starts movement when all axes enter the positioning complete pulse range and stops when the SI and DI conditions are met Even if the SI or DI conditions are not met the command ends at the stage the robot reaches the specified point and proceeds to the next step 1 Point numbers Point numbers are identifying numbers assigned to 1 000 points in a range from 0 to 999 These point numbers are used to create point data in point mode As a special usage method when a character called P is input here a point variable defined by the P character is set in the point No 2 DI or SI numbers Specify one from among serial general purpose inputs 200 231 32 points or general purpose inputs 0 15 16 points
113. out using a robot program E When the remote register is used the message remote command can be issued directly from the sequencer PLC The high ranked commands such as MOVD command movement command which directly specifies the position coordinates which must use RS 232C unit conventionally can be easily executed Refer to the particular service manual involved when detailed information on connecting to the master station PLC sequencer or on PLC sequencer programs is needed when using other equipment Refer to the controller instruction manual for information involving operating the con troller unit and on robot programming CC Link is a registered trademark of the Mitsubishi Corporation CHAPTER2 CC Link Unit CC Link system concept In order to understand how the controller and sequencer PLC operate on the CC Link system let s first take a look at how the system communicates Each equipment connected in the CC Link system is classified according to function as a master station remote device station remote I O station etc The master station is a station for supervising the entire CC Link system and can be considered the PLC se quencer master unit The remote device station is controlled by the master station and exchanges bit data and word data with the master station The remote I O station like the remote device station is also controlled by the master station but differs from the remote device station in that
114. output range 2 All the PO200 to PO203 target position point number outputs are off because the robot is not within the point zone output range Moreover the ZONE 0 output is also off because the robot is not within the specified zone output range 56 CHAPTER2 CC Link Unit 3 The corresponding point number P6 is output to PO200 through PO203 P201 P202 are on P200 P203 are off because the robot is within the P6 OUT valid position range point zone output range and because P6 is the move ment point ZONE 0 remains off at this time because the robot is not within the specified zone output range 4 The ZONE 0 output turns on because the robot is within the specified zone output range P900 to P901 All the PO200 to PO203 target position point number outputs are off at this time because the robot is not within any point zone output range MEMO The movement point zone output function is supported by the following controller versions ERCX SRCX Ver 13 64 or later DRCX Ver 18 64 or later SRCP SRCD Ver 24 21 or later SRCP30 Ver 24 30H or later When using an option unit the corresponding point number for the movement point zone output function is output to both the corresponding parallel I O POO to POS and the serial I O PO200 to PO205 In the SRCP SRCD series however the point number is only output to the serial I O The movement point number specified just prior to movement START by point movement comm
115. point number output PO 1 Outputting the point number at the timing that movement is normally completed Axis designation data 1 Data retention Data retention 1213 S1214 Command Command ABS PT INC PT Point movement command Target position s point number outputs 200 to 205 j i i PO200 to 205 2 i Point number output Point number output 2 1 i 1 1 S END BUSY e 1 l I 1 ot I Robot movement t i Conn k 1 I l i l 1 1 I 1 1 1 l i i i 30ms or more 30ms or more i 3 1 1 1 1 30ms or less 1ms or less imsorless 30msorless 1ms or less 1ms or less 1 For dual axis controllers only In the case of dual axis controllers all axes are usually used for movement However the desired axis can be specified with S1213 and S1214 by enabling PRM10 Control axis selection with I O command 2 The number of point number outputs that can be used depends on the I O assignment type Precondition 1 The following steps are explained assuming that the I O assign ment selection parameter single axis controllers PRM59 dual axis controllers PRM26 is set to 30 When I O assignment selection parameter 30 single axis controllers PRM59 dual axis controllers PRM26 I O assignment type Type 3 point teaching type Permissible number of movement points 64 points Point output se
116. put turns ON when normal communication exchange between the controller and the master station sequencer PLC can be performed This output turns OFF in the following cases In such cases the controller sets to emer gency stop and auto operation is impossible e Controller power cannot turn on Alarm occurs on controller e Alarm was issued on CC Link system and communication with the master station is impossible e Handshake for starting communication between the controller and master station sequencer PLC cannot be performed Refer to 2 6 1 Starting data exchange with the controller for information involving handshake for communication start up ba ea SSL a a aaa aa a a aa a a a aa a a a 2 7 12 Error flag This output turns ON when an alarm occurred on the controller If this output turns ON refer to Alarm and Countermeasures in the controller instruc tion manual for information on eliminating the problem To restore operation first eliminate the cause of the alarm and then turn the controller power off and then back on again 28 CHAPTER2 CC Link Unit 2 8 Timing chart Timing charts are included so please refer to them when creating a sequencer PLC program ba a a ee a a a ae a a a a a a aa a a a a 2 8 1 Handshake for starting data exchange RX n 3 8 RY n 3 8 RX n 3 8 Initial data request flag RY n 3 8 Initial data end flag RX n 3 B Remote READY 1 When
117. r 24 32H or later 31 CHAPTER2 CC Link Unit 3 Dedicated command Even after dedicated command execution completion execution completion the END signal does not turn on until the dedicated command input turns off Dedicated command BUSY END i DE Titi hha enig 30ms or less 1ms or less ims or less 1ms or less When running a command was impossible from the start In the following cases END will not turn ON when running of command was impossible from the start When a movement command ABS PT INC PT was run without first completing return to origin e When an operation start command AUTO R STEP R was run without first com pleting return to origin except when pre operation selection parameter single axis controllers PRM48 dual axis controllers PRM9 was set to 1 or 3 e When an unregistered point No was specified and a movement command ABS PT INC PT was run When a dedicated command was run while in emergency stop or an interlock trig gered except for RESET and SERVO commands Dedicated command BUSY END re 30ms or less 1ms or less 30ms or less 1 At the rise of the dedicated command input the END signal turns off and the BUSY signal turns on 2 Turns off the dedicated command input after the BUSY signal turns on 3 Wait until the BUSY signal turns off The BUSY signal immediately turns off since the command cannot be executed 4 The END signa
118. r If this happens movement commands cannot be executed be a SSL SSS 2 6 1 Starting data exchange with the controller To correctly transmit and receive data between the master station sequencer PLC and the controller input the following sequencer PLC program from the master station sequencer PLC so the following handshake process will be performed If this handshake processing is not performed and RX n 3 B is not set to ON automatic operation is disabled because emergency stop is triggered Perform this handshake process before trying to actually transmit or receive data SG ET RY n 3 8 a RX n 3 8 Initial data request flag RY n 3 8 Initial data end flag RX n 3 B Remote READY 1 When the controller starts up or when communication with the master station is disabled because an error occurs in the CC Link system the controller turns RX n 3 8 ON and turns RX n 3 B OFF 2 Check that RX n 3 8 is set to ON and then set RY n 3 8 to ON from the master station sequencer PLC 3 After checking that RX n 3 8 is set to ON the controller turns RX n 3 8 OFF and turns RX n 3 B ON 4 Check that RX n 3 8 is set to OFF and then set RY n 3 8 to OFF from the master station sequencer PLC The actual data can now be sent and received CHAPTER2 CC Link Unit I O information On off I O information handled by the CC Link unit consists of 16 dedicated inputs 32 general purpose
119. r locus on which the current position is the start point the point n is passed and the point n 1 is the end point If the circle is specified it moves on the circle locus on which the current position is the start point the points n and n 1 are passed and the start point is the end point Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Locus specification Speed Point number Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Point number A point number of 0 to 998 can be specified If the point variable P is specified 4095 0FFF hexadecimal is registered Speed It can be set at 100 steps of 1 to 100 and when the program execu tion speed parameter is 100 100 1000mm s is established When the maximum speed setting parameter is 3000 and the lead length is 20mm Locus specification The locus type is selected 0 Circular segment 1 Circle Example Transmission example 1 It moves at the speed 20 on the circular locus where the start point is the current position the point 123 is passed and the point 124 is the end point RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 007B 0001 0000 0120 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 Transmission example 2 It moves at the speed 5 on the circle locus where the sta
120. r the contents of I O assign ment refer to 2 9 2 I O assignment list Also refer to 2 9 3 I O assignment selection parameter description for details on the I O assignment selection parameter and 2 9 4 Input output signal description for details on each input output signal used for I O as signment selection After changing the I O assignment the controller must be restarted to enable the changes MEMO M KE The I O assignment change function is supported by the following controller ver sions ERCX SRCX Ver 13 57 or later DRCX 18 57 or later SRCP SRCD Ver 24 17 or later SRCP30 Ver 24 30H or later 38 CHAPTER2 CC Link Unit 2 9 2 I O assignment list The table below shows the function assigned to each input output I O signal by setting the I O assignment selection parameter For details on the I O assignment selection parameter refer to 2 9 3 I O assignment selection parameter description For details on each I O signal refer to 2 9 4 I O sig nal description I O assignment list Type 0 Type Conven Type 1 i Type 2 Type 3 tional type Point number output type Point teaching type tags re es I O assignment selection 0 parameter xx20 xx21 xx3
121. ram is switched to NO31 0000 0000 0000 0000 0000 OO1F 0000 0301 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 126 CHAPTER2 CC Link Unit 2 Execution task number switching rvrnnnnnnnnnnnvnnnnnnnnnnnnnnnnnnr Code 0302 The execution task number is switched If the step operation is hereafter executed the program of the task selected here will be executed as one step Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Task number Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Task number It is the inherent number of 0 to 3 assigned to each task Example Transmission example 1 Task is switched to 1 RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0001 0000 0302 Response example 1 The specified task is not executed RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 4048 127 CHAPTER2 CC Link Unit 3 Parameter data write nsnnnnnernnnnnnnnnnnnnnnnnnnnnnnnnnnnenennnnnnnnnnnnr Data is written into the specified parameter Command option Code 0303 RWwn 2 RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 Parameter data Command response Parameter number RWrn 2 RWrn 7 RWrn 6 RWrn 4 RWrn 3 Details Parameter number
122. rget position s point number is then output CAUTION If moving the robot to point 0 with a point movement command that is first executed after turning on the controller all of PO200 to PO205 still remain off because P0 000000 kid even after the robot has moved to point 0 This means that the PO200 to PO205 status does not change even after the robot has moved to P0 so no information is available to indicate whether the robot motion to PO is complete or whether the movement command was received This should be kept in mind when moving the robot to point 0 When specifying the axis the SI213 and SI214 status must be checked before hand Refer to PRM10 Control axis selection with I O command in the DRCX controller user s manual 51 CHAPTER2 CC Link Unit 2 Outputting the point number at the timing that a movement command is received Axis designation data 1 Data retention Data retention 1213 S1214 i i 1 i i ABS PT INC PT Command Command 2 Point movement command i i T i l i P0200 to 205 2 Point number output Point number output Target position s point number I i outputs 200 to 205 i i i i i i i l i i T I END ko i i I i I I 1 i Bg i BUSY Loa NG 1 1 I pe mj SMN i 30ms or more l TO oO 1 yy UL is Hl 30ms or less 1ms or less imsorless 30ms or less im
123. riable P is also cleared to 0 Does not clear the counter variables C and D The output from a parallel I O port used for emulated serialization does not change even if reset with the RESET command When the origin return completed action selection parameter single axis con trollers PRM33 dual axis controllers PRM2 is 1 or 3 DO4 does not turn OFF even if reset with the RESET command In the same way if the servo status output selection parameter single axis controllers PRM46 dual axis controllers PRM21 is 1 DO7 does not turn OFF even if reset with the RESET command MEMO Em EE KEN The lead program is a program selected by switching to the last program run by HPB or POPCOM The lead program can also be switched by running the SWT communication com mand It can also be switched even when program data is loaded from the memory card 1 DOO to DO4 when the SRCP SRCD series controllers are used 2 DOS when the DRCX series controllers are used 3 DO3 when the SRCP SRCD series controllers are used 22 2 7 3 CHAPTER2 CC Link Unit General purpose inputs SI200 SI231 General purpose inputs are inputs freely available to the user for handling as data in the program AS a special usage method SI200 SI209 can specify point numbers and SI210 SI211 can specify movement speed during running of ABS PT or I
124. ries controllers are used 2 DOS when the DRCX series controllers are used 3 DO3 when the SRCP SRCD series controllers are used 71 CHAPTER2 CC Link Unit 3 Automatic operation start ssssnsnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn Code 0103 The program is executed to the final step In the multi task program all tasks are executed Command option RWwn 7 RWwn 6 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Example Transmission example 1 Automatic operation is started 0000 0000 0000 0000 0000 0000 0000 0103 Response example 1 It is executed to the final step RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 Response example 2 The origin incomplete error occurs to interrupt the robot opera tion RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 4020 CAUTION If any endless program in which it unconditionally return to the program head from the final step is executed the response will stay at 0100 command execut ing since the program is not ended In this case the program is stopped by inputting the stop command of the interlock etc or activating the emergency stop to forcibly stop 72 CHAPTER2 CC Link Unit 4 Step operation start rnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnvnnnnnnnne Code 0104 The program is executed by one step
125. rn 5 RWrn 4 RWrn 3 RWrn 2 Details DI MI SI number One is specified among the general purpose input 0 to 15 16 points serial general purpose input 200 to 231 32 points or memory input 100 to 147 48 points Input status 1 means ON and 0 means OFF Example Transmission example 1 It waits until SI201 1 RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0001 0009 0000 0110 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 0 to 7 8 points for the SRCP SRCD series controllers 85 CHAPTER2 CC Link Unit 17 Specified time waiting ssrrrnnnnvvnnnnnnvvvnnnnnnnvvnnnnnnnnnnnnnnnvnnnnnnnen Code 0111 It waits for the specified time alone Command option RWwn 7 RWwn 6 RWwn 4 RWwn 3 RWwn 2 Time Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Details Time It can be specified in the range of 1 to 65535 in the 10 millisecond units Example Transmission example 1 It waits for 1 second 0000 0000 0000 0000 0000 0064 0000 0111 Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 CHAPTER2 CC Link Unit 18 Matrix definition ssssssnxxennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenennnnnnnnnnnnnnr Co
126. roller and so may differ somewhat from the HPB screen display for the SRCP SRCD ERCX SRCX series controllers hereafter called single axis controller Please note that this will cause no problem with the functions of the controller or CC Link unit CAUTION The contents of this manual may be changed in advance without prior notice Every effort was made to ensure the contents of this manual are complete how ever please contact us if errors ambiguities or possible trouble points are found This manual does not constitute a warranty of industrial rights or other rights nor a concession of utility rights Further no responsibility whatsoever is ac cepted for problems arising from use of the information contents listed in this manual MEMO Contents Cautions To Ensure Safety ccccccecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseaeeeees 1 1 1 Basic safety POMS aa 2 1 2 System design safety points fie cescces Caste te ls cede ocean ieee de be erees verte 2 1 3 Installation and wiring safety points errrrrnnnrrnnnnnnnonnnrrrrnnnnrnnnnnnnnen 3 1 4 Start up and maintenance safety points rrrrrrrnnnnnnnnrrrrrnnnrrrnnnnnnnn 4 1 5 Precautions when disposing of the unit rrnnnnnnnnnnannnrrrrrnnnernnnnnnnn 4 16 MANN NR B GG LHNK VDN Guuddeensnareuisnekeeidan nada Aa 7 2 1 CC Link unit features 20 ec ceceeeeeeeeeeeeeeeeeeseeseeesensaeaaaaaaeeeeeeeees 8 2 2 CC Link system concept ccccccec
127. rt point is the current position P100 and P101 are passed and the start point is the end point RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0001 0005 0064 0000 0120 Response example 2 The software limit over occurs RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 401E 101 CHAPTER2 CC Link Unit CAUTION This command is invalid for single axis controllers CAUTION The applicable radius is max 1000mm and min 2mm ACAUTION The SCARA robot etc which do not operate in the cartesian coordinates cannot be moved in the circular interpolation mode 1 Single axis controllers PRM30 dual axis controllers PRM17 2 Single axis controllers PRM44 dual axis controllers PRM64 and PRM104 102 CHAPTER2 CC Link Unit 2 12 4 Remote command details data handling 1 Current position read Lu vnsaeennmsnmirddanemaessremmoadsde Code 0201 The current positions of all axes or specified axes are read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Axis RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Y axis position X axis position Details Axis 0 means all axes I means X axis and 2 means Y axis On dual axis controllers all axes are also specified when 3 is set On single axis controllers 0 or I alone can be specified Axis position The curren
128. senekuar ata 64 2 12 1 Remote command specifications orrrrrnnnonvrrvnnnnnnvrnnrnrrrrnnnrennnn 64 2 12 2 Remote command amp status value list rnnnnnnnnnnrnnrnnnnrrrrnnnnnnnnnn 65 2 12 3 Remote command details robot operation rrrrrrnnnnrrrrnnnnnnnnnn 69 2 12 4 Remote command details data handling errrrnnnnnnnnrrrrnnnnnnnn 103 2 12 5 Remote command details utilities rrnnnnrrrrnnnnnnnnnnnrrrrnnnnnnn 126 2 12 6 Remote command details Special commands eerrnnnrrnnnrrn 130 2 12 7 Status deal 131 2 12 8 Current position indication Mode rrrnrrnnnnnrnrrrnnnnnnnvnnnrrnnrnnnnenr 132 2 12 9 Sending receiving example rrnnnnrnnnrrrrrvrnnnnvrvvrrrrrrrrnnnnrrrrererrenn 133 2 13 Other peratlon Sisan e a a a a aat 134 2131 Serial VO display r a eaea aE AE EE EEEa 134 2 13 2 Manual control of general purpose output rrrrrnnrrnnrrrnnrnnnnnn 137 2 14 ETorMessagEaseN at eae 138 2 15 WOUDIESMOOTING vasdajaeser Gore tear tt 139 2 16 Specifications uLunimrvrumimnhyusssdidhteiidrlbvsndnnirnvfhvj 141 CHAPTER SJ NN Cautions To Ensure Safet CHAPTER1 Cautions To Ensure Safety 1 1 Basic safety points Besides reading this instruction manual and the controller user s manual also be sure to handle the equipment correctly while paying sufficient attention to safety Points regarding safety in this instruction manual only list items involving this product Please refer to th
129. sorless ims or less i 30ms or more l l 1 l 1 I 1 ae i Robot movement i i l ene I 1 l 1 1 I 1 i 1 For dual axis controllers only In the case of dual axis controllers all axes are usually used for movement However the desired axis can be specified with S1213 and S1214 by enabling PRM10 Control axis selection with I O command 2 The number of point number outputs that can be used depends on the I O assignment type Precondition 1 The following steps are explained assuming that the I O assign ment selection parameter single axis controllers PRM59 dual axis controllers PRM26 is set to 130 When I O assignment selection parameter 130 single axis controllers PRM59 dual axis controllers PRM26 I O assignment type Type 3 point teaching type Permissible number of movement points 64 points Point output selection Point No output to PO when movement command is received 2 The point numbers of the target positions are designated before running a point movement command ABS PT INC PT Point movement command execution 1 To specify the movement axis by a dual axis controller input the axis designa tion data to 1213 and SI214 The input status specified here must be kept unchanged until step 3 is com plete If this input status is changed the controller might misrecognize the data 2 Turn on the ABS PT or INC PT 3 The END signal turns off and the B
130. t The 3rd row indicates the statuses of RWrn 3 RWrn 2 RWrn 1 and RWrn from the left The bottom row indicates the statuses of RWrn 7 RWrn 6 RWrn 5 and RWrn 4 from the left WIO is Press the ESO key to return to the screen in step 10 136 OPRT STEP 100 0 0 001 MOVA 254 100 0 00 0 00 1SI012SI023WIO r SI 00000000 00000000 00000000 00000000 SO 00000000 00000000 a 00000000 00000000 Va WI 00000000 00000000 FFFF1000 00000000 WO 00000000 00000000 4 00000000 00000000 OPRT STEP 100 0 0 0 00 001 MOVA 254 100 0 00 1SI012SI023WIO 2 13 2 CHAPTER2 CC Link Unit Manual control of general purpose output The serial general purpose output can be manually controlled from HPB 1 2 3 4 5 6 Press F1 EDIT on the initial screen Press PNT Press TCH or DTCH The teaching play back screen is ex plained in the subsequent steps During movement of the robot it reaches the position where the general purpose output is desired for operation At this time stop the operation once and press DO The current status of the general purpose output appears on the screen Just press F4 next as many times as needed to select SO200 to SO231 Press the function key displaying the SO number desired to control to hilight the output status To return to the screen in step 4 press Esc
131. t be normally read out Do not use the current position indication mode when executing a command which uses RWrn 4 to RWrn 7 as the response MEMO The renewal interval of the current position is every 10 milliseconds Accordingly when the robot moves at a high speed the error becomes large between the actual position of the robot and the robot position sent as the response 132 CHAPTER2 CC Link Unit MEMO Em EE EE DE HE DE DE GN EE GE DE GE EE GE DE GE EE GE DEE DEE KEN ee If the robot position cannot be judged due to the incomplete origin position status cable breakage etc the robot position will not be determined 2 12 9 Sending receiving example The sending receiving example is shown when the direct position specification move ment execution code 0108 Values are expressed in the hexadecimal mode RWwn 0000 0108 0000 Command RWwn 1 0000 or 0001 RWwn 2 RWwn 7 Axis movement Axis moving Y Status RWm Ready Executing 0100 Result 0000 Executing 1 The direct position specification movement execution command is executed by setting 0108 to RWwn Here the options movement axis speed target position necessary for movement are set at the specified addresses in RWwn 2 to RWwn 7 before the command is set to RWwn or at the same time when the command is set 0000 is usually set to RWwn 1 and 0001 is set to execute the command in the current posi
132. t position of the robot is indicated unit 0 01mm When the robot is set at the rotary axis the unit of the movement position is 0 01 degrees Single axis controllers does not use RWrn 6 to RWrn 7 Similarly writing is not applied to the unspecified axis with the command option Example Transmission example 1 The current position information of all axes is read RWwn 7 RWwn 6 RWwwn 5 RwWwn 4 RWwn 3 RWwn 2 RWwwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0201 Response example 1 The current position of the robot is X 321 05 and Y 100 15 RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 271F 0000 7D69 0000 0000 0000 0200 Reset the current position indication mode and execute the command MEMO Em KEN If any robot position cannot be judged due to the incomplete origin state cable break age etc the robot position is not determined 103 CHAPTER2 CC Link Unit 2 Current program number read rrnnnnvvnnnnnnnvvnnnnnnnvnnnnnnvnnnnnnnnnen Code 0202 The execution program number is read Command option RWwn 7 RWwn 6 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Program number Details Program number It is the inherent number of 0 to 99 assigned to each program Example Transmission example 1 The execution program is re
133. t specification command code 0117 Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Subtraction value Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Details Addition value A value of 1 to 65535 can be specified Example Transmission example 1 10 is subtracted from the counter arrangement variable C RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 000A 0000 O11A Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 95 CHAPTER2 CC Link Unit 27 Counter variable D definition anvvvvrerrnnnnnnnnnnnvnnennnennnnnnnner Code 011B The counter variable D is set Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Counter value Command response RWrn 7 RWrn 6 RWrn 4 RWrn 3 RWrn 2 Details Counter value A value of 0 to 65535 can be specified Example Transmission example 1 200 is set to the counter variable D 0000 0000 0000 0000 0000 00C8 0000 011B Response example 1 It is normally ended RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200 ME MO M ee The counter variable D is a variable which can be set as desired by the user a
134. tatus check rrrrrrnnnvvvvvvvrnnnnnnnnnnnnvenennnennnnnnner Code 020B The service mode status is read Command option RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Status Details Status 1 means that the servo mode is valid and 0 means that it is invalid Example Transmission example 1 The service mode status is read RWwn 7 RWwn 6 RWwn 5 RWwn 4 RWwn 3 RWwn 2 RWwn 1 RWwn 0000 0000 0000 0000 0000 0000 0000 0208 Response example 1 1 service mode status is established RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0001 0000 0200 113 CHAPTER2 CC Link Unit 12 Operation mode check s rvrerrnnnnnnnvnnnvnnnnnnnnnnnnnnnvevennnnnnnnnnner Code 020C The robot status is read Command option RWwn 7 RWwn 6 RWwn 4 RWwn 3 RWwn 2 Command response RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 Operation mode Details Operation mode 0 Stop status 1 The program is being executed with the commu nication of HPB personal computer etc 2 The program is being executed with I O command Example Transmission example 1 The robot status is read 0000 0000 0000 0000 0000 0000 0000 0206 Response example 1 0 stop status is established RWrn 7 RWrn 6 RWrn 5 RWrn 4 RWrn 3 RWrn 2 RWrn 1 RWrn 0000 0000 0000 0000 0000 0000 0000 0200
135. the controller starts up or when communication with the master station was disabled because an error occurs in the CC Link system the controller turns RX n 3 8 ON and turns RX n 3 B OFF 2 Check that RX n 3 8 is set to ON and then set RY n 3 8 to ON from the master station sequencer PLC 3 After checking that RX n 3 8 is set to ON the controller turns RX n 3 8 OFF and turns RX n 3 B ON 4 Check that RX n 3 8 is set to OFF and then set RY n 3 8 to OFF from the master station sequencer PLC The actual data can now be sent and received M The handshake operation is a process always necessary for normal communication between the controller and the master station sequencer PLC The remote READY output turns ON when the handshake is performed correctly The robot sets to emer gency stop if this handshake operation is not performed and then robot cannot oper ate E The robot always sets to servo off when the controller power is turned on To operate the robot first perform the handshake operation and then cancel emergency stop while referring to 2 8 2 Dedicated input command execution and then run the SERVO servo recovery command 29 CHAPTER2 CC Link Unit 2 8 2 Dedicated input command execution M The BUSY output turns ON when a dedicated command input is received Whether or not the received command ended normally is checked by the END output at the point when the BUSY output turns OFF In other words the
136. the input is ON and 0 means the input is OFF 0 to 7 8 points for the SRCP SRCD series controllers 61 CHAPTER2 CC Link Unit 2 11 Emulated Serialization on parallel DIO This is a function to directly send the input from the master sequencer PLC to the external parallel I O or to directly send an external parallel I O input to a master se quencer PLC An I O port set for this function can be controlled by the master se quencer PLC independently of the robot program so outputs can be handled as if from a separate remote I O station This function is selected on the HPB and can be set for any I O The SI200 SI212 inputs match the DOO DO12 outputs and the DIO DI15 inputs match the SO200 S0215 outputs Emulated serialization cannot be performed on SI213 SI231 Normal Controller Sequencer PLC SI200 231 DIO 15 3 Sensors etc Sequencer PLC S0200 231 DO0 12 Grippers etc CC Link External I O Emulated serialization Controller Sequencer PLC 1200 212 7 DIO 15 gt Sensors etc Sequencer PLC Grippers etc 50200 215 DO0 12 CC Link External I O More specifically when emulated serialization is only for DI1 the DI1 status is output to SO201 Output of SO201 with the DO statement is disabled at this time DIO DI2 DI15 and SO200 SO202 SO215 can be used as normal input outputs The DO statement is invalid on output ports that used emulated serialization on
137. the only data it handles is bit data The controllers equipped with the CC Link unit function as remote device stations Master Station This station controls the entire CC Link system This is equivalent to a master sequencer PLC unit Remote Device Remote I O Controllers Station Station This station is controlled This station is controlled CC Link unit in the CC Link system by in the CC Link system by THESE Tuco as renoied vice the master station the master station stations The controller on off information is sent to the master station via the information network CC Link system cable Moreover the response from the controller against the message remote command is also similarly sent to the master station via the network Master station sequencer PLC on off information is sent to the controller via the information network CC Link system cable Moreover the message remote com mand from the master station is also similarly sent to the master station via the network The controller monitors the on off information and message remote command at 10 millisecond intervals MEMO M ee Communication speed and station numbers are set from the HPB ON OFF information handled by the CC Link unit comes through 32 general purpose I O pins and 16 Dedicated I O pins for 2 stations ON OFF information in the robot program is handled by DO state
138. tinuously displayed from the upper row 00000000 00000000 Each row starts from the left in order from F to 0 DO 00000000 10100000 SI 10000000 10000000 SO 10100000 01000001 00000000 00000000 4 Press above in 3 and the display will be switched to the serial input output status display of RY n 2 RY n 3 00000000 00000000 Pr ORT SO 00001000 00000000 Each row starts from the left in order from F to 0 00000000 00000000 SI 00000000 00000000 134 5 6 7 8 9 Press pro above in 4 and the screen will be switched to the remote register mode Each remote register will be displayed in the hexadecimal mode Each register is indicated with 4 charac ters The top row displays the statuses of RWwn 3 RWwn 2 RWwn 1 and RWwn from the left The 2nd row indicates the statuses of RWwn 7 RWwn 6 RWwn 5 and RWwn 4 from the left The 3rd row indicates the statuses of RWrn 3 RWrn 2 RWrn 1 and RWrn from the left The bottom row indicates the statuses of RWrn 7 RWrn 6 RWrn 5 and RWrn 4 from the left Press above in 5 and the screen will be switched to the parallel input output status mode again Hereafter each push of will switch the screen To return to the original screen press ED Press F2 OPRT in the initial screen to display the serial input output statuses in the OPRT screen Press STEP or F3 AUTO The step operation screen is explained in the su
139. tion indication mode In the current position indication mode the following process is executed with the current position indicated at RWrn 4 to RWrn 7 2 When the controller receives the command it starts the axis movement to gether with 0100 return to RWrn When the status is changed into the execu tion status it does not matter that RWwn 2 to RWrn 7 command option is changed 3 When the movement is completed the result is set to RWrn If it is normally completed 0200 is set 4 When 0000 is set to RWwn the status is cleared This ends the cycle of the command execution Here after verifying that the status becomes 0000 issue the next command 133 CHAPTER2 CC Link Unit 2 13 Other operations SSTSTSSSSLSTSS SSS SSL SSL SLT SSS STL SL LS LSLL SSS LL SSL LL SSL LS SLT SSL LS SSL SSL SSL LL SSS LS SSL LL SSL SSS 2 13 1 Serial I O display Serial I O input output status can be displayed on the screen Both initial screen and OPRT screen are used for display 1 Press MON on the initial screen a MENU A select menu LEDIT2ZOPRT3SYS 4MON 2 Since the parallel input output state con a N i DI 10000000 00000000 tinues displayed press here 10000000 For the display meaning of the parallel input output status refer to How to see the screen in Instruction Manual for XO 1 YO 1 XS 1 YS 1 Controller 3 The serial input output statuses of RY n A RY n 1 RX n and RX n 1 are con
140. tware control process and is in no way a problem Therefore we strongly advise contriving a hardware interlock circuit connected to the emergency stop pin contacts in the parallel I O of the controller CAUTION Do not bundle control lines or communication cables together or in close contact with main circuit or motor actuator lines As a general rule maintain a gap of at least 100mm Noise in signal lines may cause faulty operation 1 3 CHAPTER1 Cautions To Ensure Safety Installation and wiring safety points CAUTION Always cut off all power to the controller and the overall system before attempting installation or wiring jobs This will prevent possible electrical shocks After the controller has been on for a while some points in the controller may be extremely hot or remain at high voltages After cutting off the power when install ing or removing the unit wait at least 5 minutes before starting work CAUTION Always uses the system specifications as listed in the controller instruction manual during installation or wiring work on the controller Attempting to use other than these system specifications might cause electrical shocks fire faulty operation product damage or deteriorated performance i CAUTION Securely install the connectors into the unit and when wiring the connectors make the crimp contact or solder connections correctly using the tool specified by the
141. used for jog movement However the Y axis can be specified with S1213 and SI214 by enabling PRM10 Control axis selection with I O command Turn on the CHG signal To specify the movement axis by a dual axis controller input the axis designa tion data to SI213 and SI214 The input status specified here must be kept unchanged until step 4 is complete If this input status is changed the controller might misrecognize the data Turn on the JOG or JOG input signal while the CHG signal is on The END signal turns off and the BUSY signal turns on indicating that the controller received the jog movement command The robot moves in jog mode as long as the JOG or JOG input signal is on Turn off the JOG or JOG input signal Wait until the BUSY signal turns off The BUSY signal turns off The END signal should be on at this point indicat ing that the jog movement is normally complete If the CHG signal is switched during execution of a jog movement command JOG JOG the robot comes to an error stop and the END signal remains off When specifying the axis the SI213 and SI214 status must be checked before hand Refer to PRM10 Control axis selection with I O command in the DRCX controller user s manual 48 CHAPTER2 CC Link Unit E Point data write PSET CHG Mode switch input PSET Point data write command N i 1 P1200 to 205 Se
142. utput range 54 CHAPTER2 CC Link Unit 2 Outputs the corresponding point number through PO200 to PO203 since the current robot position is within the point zone output range Pm OUT valid position range ZONE 0 and ZONE 1 output signals are still off since the robot does not yet enter the zone output range 3 As with 1 all the target position s point number outputs PO200 to PO203 ZONE 0 signal and ZONE 1 output signal are off 4 ZONE 0 output signal turns on since the current robot position is within the zone output range P900 to P901 ZONE 1 signal remains off since the robot is not within the zone output range of P902 to P903 At this point the target position s point number outputs PO200 to PO203 are still off since the robot is not within the point zone output range 5 Outputs the corresponding point number through PO200 to PO203 since the current robot position is within the zone output range P902 to P903 and also within the point output range Pn OUT valid position range At this point ZONE 1 output signal turns on ZONE 0 output signal turns off since the robot is not within the zone output range of P900 to P901 MEMO EZ DE DE EN GN GEN KEN KEN KEN ee e When using an option unit the corresponding point number for the point zone output function is output to both the corresponding parallel I O POO to POS and the serial I O PO200 to PO205 In the SRCP SRCD series
143. wait DO MO SO number RWwn 2 Oori DI MI SI number RWwn 3 RWwn 2 Oor1 RWwn 3 Specified time waiting Time RWwn 2 Matrix definition Line number RWwn 2 Array number RWwn 3 Pallet number RWwn 4 Movement matrix specification Pallet number RWwn 2 Point variable P definition Point number RWwn 2 Addition of specified value to point variable P Addition value RWwn 2 Subtraction of specified value from point variable P Subtraction value RWwn 2 Arrangement element specification of counter arrangement variable C Arrangement element No RWwn 2 Counter arrangement variable C definition Counter value RWwn 2 Addition of specified value to counter arrangement variable C Addition value RWwn 2 Subtraction of specified value from counter arrangement variable C Subtraction value RWwn 2 Counter variable D definition Addition of specified value to counter variable D Counter value Addition value RWwn 2 RWwn 2 Subtraction of specified value from counter variable D Subtraction value RWwn 2 Shift execution of position data Point number RWwn 2 Linear interpolation movement execution Axis RWwn 2 Point number RWwn 3 Speed RWwn 4 Circular interpolation movement execution 66 Point number RWwn 2 Speed RWwn 3 Locus specification RWwn 4
144. ystem Controller is defective Referring to 2 5 1 Validating the CC Link unit invalidate the CC Link unit and try operating the robot separately with the controller 140 If the program stops by itself even during independent controller operation then the controller is probably defective so replace the controller 2 16 Specifications CHAPTER2 CC Link Unit Controller models SRCP SRCD ERCX SRCX DRCX series controllers CC Link version Ver 1 10 Remote station type Remote device station Stations used 2 fixed stations Station No setting Communication speed setting 1 to 63 set from HPB 10M 5M 2 5 625K 156Kbps set from HPB CC Link I O points Parallel external I O General purpose inputs 32 points General purpose outputs 32 points Custom inputs 16 points Custom outputs 16 points Input register 8 words not currently used Output register 8 words not currently used All points usable as parallel external I O for controller Each point controllable from master station sequencer PLC by emulated serialization regardless of robot program 2 Minimum length between stations 0 2m or more Overall length 2 100m 10Mbps 160m 5Mbps 400m 2 5Mbps 900m 625Kbps 1200m 156Kbps Monitor LED 3 1 Controller I O rewrite period is every 10ms 2 When using cable for CC Link Ver 1 10 RUN ERR SD RD 3 The upper

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