Yamaha Robotics Robot Controller CC-Link Unit User Manual

OWNER'S MANUALYAMAHA Robot ControllerRCX SeriesUNIT

iiChapter 4 Troubleshooting1. Items to confirm before starting up CC-Link system ... 4-12. Meanings of LEDs on CC-Link compatible module ...

Chapter 1 OutlineContents1. Features ... 1-12. Mechanism ...

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1Outline1-11. FeaturesCC-Link is the abbreviation of Control & Communication Link.The CC-Link system connects the robot controller and dispersed i

Outline11-22. MechanismThe mechanism of communication is explained in this section to provide an understand-ing of how the robot controller and PLC op

1Outline1-33. Names of each part on the CC-Link compatible moduleThe part names of the CC-Link compatible module installed in the robot controller are

Outline11-44. Assignment of CC-Link compatible I/OThe I/O expressions used in the robot controller’s program language and the I/O expres-sions for the

1Outline1-55.Shift of CC-Link system connection status and robot controller statusAlways start the CC-Link system specification robot controller in th

1-6Outline15. Shift of CC-Link system connection status and robot controller statuse CC-Link system erroneous connection state due to following factor

1-71Outline5. Shift of CC-Link system connection status and robot controller statusr Transmission from CC-Link system erroneous connection state to CC

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Chapter 2 ConnectionContents1. Confirming the CC-Link compatible module settings ... 2-12. Setting to the CC-Link system specifica

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2-12Connection1. Confirming the CC-Link compatible module settingsWith the CC-Link system specification robot controller, the CC-Link compatible modul

2-2Connection22. Setting to the CC-Link system specification controllerWhen connecting the CC-Link compatible module to an existing robot controller,

2-32Connection3. Setting the CC-Link compatible moduleTo connect the CC-Link system specification controller to the CC-Link system, the station No. an

2-4Connection23. Setting the CC-Link compatible module3.2 Setting the communication speedUsing the rotary switch BPS in front of the CC-Link compatibl

2-52Connection4. Noise measuresTwo ferrite cores must be mounted on the input power cable when connecting to the CC-Link system.4.1 Mounting the ferri

2-6Connection25. Connecting to the CC-Link systemThe CC-Link system cable must be connected to the CC-Link compatible module inorder to connect to the

2-72ConnectionnNOTE• Set the Board status parameter to"INVALID" when not using serialI/O boards.• When the Board status parameteris set to &

12IntroductionThank you for purchasing the CC-Link compatible module. This CC-Link compatiblemodule is an option module that enables connection of the

2-8Connection26.1 Parameter setting for CC-Link serial I/O board1) Press the F 1 (PARAM) key in “SYSTEM” mode to enter “SYSTEM>PARAM”mode.2) Press

2-92Connection4) Select the parameter with the cursor (↑/↓) keys.Fig. 2-6-3SYSTEM>PARAM>OP.BRD>SELECT V8.18 1.board conditionVALID2.remot

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Chapter 3 CommunicationContents1. State when robot controller power is turned ON ... 3-12. Initial process for connecting to

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3-13Communication1. State when robot controller power is turned ONThe CC-Link system specification robot controller always starts operation in servo O

3-2Communication32. Initial process for connecting to CC-Link systemThe initial data process must be carried out to correctly connect to the CC-Link s

3-33Communication3. Communication with master station PLCThe method for communicating with the master station PLC by using the robot program when the

3-4Communication33.2 Transmitting dataData is transmitted by writing the robot controller output port data into the master stationPLC’s input device.T

3-53Communication4.Direct connection by emulated serialization on parallel DIOThe master station PLC can exchange bit information data with the parall

22Safety Precautions (Always read before starting use)Always read this manual, the robot controller instruction manual and programming manualbefore us

3-6Communication34. Direct connection by emulated serialization on parallel DIO1. Direct connection from SI n ( ) to DO n ( )Serial port input can be

3-73Communication4. Direct connection by emulated serialization on parallel D2. Direct connection from SO n ( ) to DI n ( )Parallel port input can be

3-8Communication35. Referring to communication dataThe ON/OFF information exchanged with the master station PLC can be referred to using the program-m

Chapter 4 TroubleshootingContents1. Items to confirm before starting up CC-Link system ... 4-12. Meanings of LEDs on CC-Link com

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4-14Troubleshooting1. Items to confirm before starting up CC-Link systemConfirm the following items before starting up the CC-Link system.12345678910C

4-2Troubleshooting42. Meanings of LEDs on CC-Link compatible moduleSDERRLRUNRD1 2 3 4 5 6 7 8 9 01 2 3 4 5 6 7 8 9 01 2 3 4 5 6 7 8 9 0Front of the un

4-34Troubleshooting3. TroubleshootingIf trouble occurs in the connection with the robot controller while starting up the CC-Linksystem or during opera

4-4Troubleshooting43. Troubleshooting3.2 Programming unit error display confirmation[Confirmation item 1]<Confirmation details>• “CC-Link Commun

4-54Troubleshooting3. Troubleshooting3.3 CC-Link compatible module LED confirmation[Confirmation item 1]<Confirmation details>• The LED display

32[Precautions for installation]wWARNING• Always crimp, press-fit or solder the connector wire connections with the maker-designated tool, and securel

4-6Troubleshooting43. Troubleshooting3.4 Confirmation from master station PLC[Confirmation item 1]<Confirmation details>• Using the master stati

4-74Troubleshooting4. Error messages relating to CC-LinkThis section describes error messages relating to CC-Link compatible units. For other messages

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Chapter 5 SpecificationsContents1. Profile... 5-12. Detail

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5-15Specifications1. ProfileYAMAHA robot controller (4-station occupying)Remote input/outputSO (00): Emergency stop input status outputSO (01): CPU_OK

5-2Specifications5SO(140) to SO(147): General-purpose outputSO(150) to SO(157): General-purpose outputReservedInitial data process request flagNot use

5-35Specifications2. Details of remote input/output signalsSO (00): Emergency stop input status outputSO (01): CPU_OK status outputSO (02): Servo ON s

5-4Specifications52. Details of remote input/output signalsSI (00): Emergency stop inputSI (01): Servo ON inputSI (02): Service mode inputSI (03): Ste

5-55Specifications2. Details of remote input/output signalsSI(20) to SI(27): General-purpose input to SI(150) to SI(157): General-purpose inputInitia

42[Precautions for starting and maintenance]wWARNING• Do not touch the terminals while the power is ON.Failure to observe this could lead to malfuncti

5-6Specifications53. Dedicated input/output signal timing chart3.1 Initial data process for CC-Link connectiona) b) c) d) e) ononoffonoffonoffonoffof

5-75Specifications3. Dedicated input/output signal timing chart3.2 Servo ON and emergency stopa) b) c) d) e) f) g) h) i) j) k) ononoffonoffonoffonon

5-8Specifications53. Dedicated input/output signal timing chart3.3AUTO mode changeover, program reset and program executiona) b) 100ms or more 100ms o

5-95Specifications3. Dedicated input/output signal timing chart3.4 Stopping with program interlocka) b) c) d) e) f) g) h) i) ononoffonoffonoffonoffoff

5-10Specifications54. Sample programAn example for the following type of hardware configuration has been prepared for thissection.P100MXYx2nd unit sup

5-115Specifications4. Sample program[Robot program data assignment]* Variables used1st unit : A : Point No. in pallet2nd unit : B : Point No. in pal

5-12Specifications54. Sample program[PLC data assignment]X0 (*1) : Unit errorX1 (*1) : Local station data link statusX6 (*1) : Data link start norm

5-135Specifications4. Sample program[Robot program]1st unit’s RCX40 ‘INIT ROUTINERESET SO2()RESET SO4()RESET DO4()A=101‘MAIN ROUTINEMOVE P,P100,Z=0GOS

5-14Specifications54. Sample program[PLC program]0574244464851639192103107P10X0M0M1M9038M0M2X6X7X0 X0F X1M4M4M8M8M9036X178X178X0F[PLS M0 ][SET M1 ][RS

5-155Specifications4. Sample program109137X17BX102X109X108X109X108 X10B X10CX108 X10C X10BX109M9036M9036X1F8X101 X100 X102(Y101 )(Y10E )(Y10F )(Y10B )

52WarrantyThe YAMAHA robot and/or related product you have purchased are warranted againstthe defects or malfunctions as described below.Warranty desc

5-16Specifications54. Sample program212214242X1F8X1FB X181 X180X182X182X189X188 X189X189X188 X18B X18CX188 X18C X18BM9036[RST Y1F8 ](Y181 )(Y18E )(Y18

5-175Specifications5. CC-Link compatible module specificationsThe CC-Link compatible module with the label is compatible with CC-Link Ver. 1.10.Limit

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Chapter 6 AppendixContents1. Term definition ... 6-1

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6-16Appendix1. Term definition1. CC-Link (Control & Communication Link)CC-Link is a registered trademark of CC-Link partner association.2. SAFE mo

OWNER'S MANUALOct. 2006Ver. 1.06 This manual is based on Ver. 1.06 of Japanese manual.© YAMAHA MOTOR CO., LTD. IM CompanyRobot ControllerAll righ

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iContentsChapter 1 Outline1. Features .................... 1-12. Mechanism .....