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3-2

Chapter

3

COMMUNICA

TION

Service mode input signal in the CC-Link system cannot be invalidated when SAFE
mode is enabled, so change the service mode setting in SYSTEM > PARAM mode.
In this case, take full precautions to prevent improper settings that might lead to a
hazardous situation.

*

For meanings of LED display, see Chapter 4 in this manual.

1. State when robot controller power is turned ON

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Summary of Contents for RCX series

Page 1: ...User s Manual ENGLISH E E78 Ver 1 08 CC Link YAMAHA NETWORK BOARD RCX series ...

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Page 3: ... CC Link label are compatible with Ver 1 00 The robot controller explained in this manual refers to the RCX series This manual describes the flow of operations from wiring the CC Link compatible module to programming and includes setting examples For details on other devices such as connecting the master station PLC and PLC programming refer to the manual for the respective product Refer to the co...

Page 4: ...W WARNING INSTRUCTIONS COULD RESULT IN SERIOUS INJURY OR DEATH TO THE OPERATOR OR PERSON SERVICING THE PRODUCT cCAUTION Failure to follow CAUTION instructions may result in injury to the operator or person servicing product or damage to the product or peripheral equipment nNOTE Explains the key point in the operation in a simple and clear manner Note that some items described as CAUTION may lead t...

Page 5: ...ol of system parameters is set invalid the interlock signal DI 11 will also be disabled On the RCX221 222 the dedicated input of STD DIO connector will be disabled but the interlock signal DI 11 in SAFETY connector enabled Precautions for installation wWARNING ALWAYS CRIMP PRESS FIT OR SOLDER THE CONNECTOR WIRE CONNECTIONS WITH THE MAKER DESIGNATED TOOL AND SECURELY CONNECT THE CONNECTOR TO THE MO...

Page 6: ...screw is too tight short circuiting or malfunctioning could occur due to screw damage Make sure that foreign matter such as cutting chips or wire scraps do not enter the robot controller The communication cables connected to the CC Link compatible module must be placed in a conduit or fixed with a clamp If the cable is not placed in a conduit or fixed with a clamp the module or cable could be dama...

Page 7: ... OR REMOVING THE CC LINK COMPATIBLE MODULE FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ROBOT CONTROLLER TROUBLE OR MALFUNCTIONING WHEN USING THE ROBOT CONTROLLER WITH THE CC LINK COMPATIBLE MODULE MOUNTED ALWAYS MOUNT THE ENCLOSED FERRITE CORE FOR NOISE MEASURES ON THE POWER CABLE AS CLOSE TO THE ROBOT CONTROLLER AS POSSIBLE FAILURE TO MOUNT THIS FERRITE CORE COULD LEAD TO MALFUNCTIONING CAUSED B...

Page 8: ...ther internal data that were changed or created by the user Failures resulting from the following causes are not covered by warranty repair 1 Damage due to earthquakes storms floods thunderbolt fire or any other natural or man made disasters 2 Troubles caused by procedures prohibited in this manual 3 Modifications to the robot and or related product not approved by YAMAHA or YAMAHA sales represent...

Page 9: ...ting the robot controller 2 2 3 Setting the CC Link compatible module 2 3 3 1 Setting the station No 2 3 3 2 Setting the communication speed 2 4 4 Noise measures 2 6 4 1 Mounting the ferrite core 2 6 5 Connecting to the CC Link system 2 7 5 1 Connecting to the cable terminal to the controller 2 7 5 2 Testing the line from the master station PLC 2 8 6 Parameter setting for CC Link serial I O board ...

Page 10: ...mation 4 3 3 2 Programming unit error display confirmation 4 4 3 3 CC Link compatible module LED confirmation 4 5 3 4 Confirmation from master station PLC 4 6 4 Error messages relating to CC Link 4 7 Chapter 5 SPECIFICATIONS 1 Profile 5 1 2 Details of remote input output signals 5 4 3 Dedicated input output signal timing chart 5 8 3 1 Initial data process for CC Link connection 5 8 3 2 Servo ON an...

Page 11: ...E Contents 1 Features 1 1 2 Mechanism 1 2 3 Names of each part on the CC Link compatible module 1 3 4 Assignment of CC Link compatible I O 1 4 5 Shift of CC Link system connection status and robot controller status 1 6 ...

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Page 13: ...on external 24V monitor control of system parameters is set invalid the interlock signal DI 11 will also be disabled On the RCX221 222 the dedicated input of STD DIO connector will be disabled but the interlock signal DI 11 in SAFETY connector enabled Wiring saving One dedicated cable 4 wire is used to connect the robot controller and PLC This allows the entire system wiring to be reduced Emulated...

Page 14: ...on and two words each of dedicated I O words 14 words each of general purpose I O words as word information If the following is executed with the robot program in the robot controller the bit information will be sent to the master station PLC via the CC Link system by q SO 20 1 Conversely if the following is executed with the robot program the bit information received from the master station PLC v...

Page 15: ... and SLD from the top w Transmission monitor LED The status in the CC Link system is indicated with ON OFF and flickering status of four LEDs These terminals are RUN ERRL SD and RD from the top e Station No setting switch LSB 1st digit This is the rotary switch for setting the robot controller station No in the CC Link system The 1st digit of the station No is set with this switch r Station No set...

Page 16: ... n 1 7 RY n 1 0 SO3 7 0 RX n 1 F RX n 1 8 SI3 7 0 RY n 1 F RY n 1 8 SO4 7 0 RX n 2 7 RX n 2 0 SI4 7 0 RY n 2 7 RY n 2 0 SO5 7 0 RX n 2 F RX n 2 8 SI5 7 0 RY n 2 F RY n 2 8 SO6 7 0 RX n 3 7 RX n 3 0 SI6 7 0 RY n 3 7 RY n 3 0 SO7 7 0 RX n 3 F RX n 3 8 SI7 7 0 RY n 3 F RY n 3 8 SO10 7 0 RX n 4 7 RX n 4 0 SI10 7 0 RY n 4 7 RY n 4 0 SO11 7 0 RX n 4 F RX n 4 8 SI11 7 0 RY n 4 F RY n 4 8 SO12 7 0 RX n 5 ...

Page 17: ...put of STD DIO connector will be disabled but the interlock signal DI 11 in SAFETY connector enabled An example of the flow of the I O information in the robot controller remote device station is shown below The buffer memory in the master station used to store the I O information differs according to the PLC type and station No etc Refer to the PLC manual for details X17F to X100 D115 to D100 E7h...

Page 18: ...f system parameters is left valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX40 141 142 When SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX221 222 The signals in the CC Link system are sent and received Always initialize with the master station PLC when connecting to the CC Link system w Shif...

Page 19: ...controller Master station PLC Robot controller Master station PLC Emergency stop interlock signals in CC Link system are invalid When SAFE mode is enabled service mode input signal is made valid with SI 02 in the CC Link system Emergency stop terminal in SAFETY connector is valid Interlock signal in STD DIO connector is valid unless the Board condition external 24V monitor control of system parame...

Page 20: ...STD DIO connector is valid unless the Board condition external 24V monitor control of system parameters is set invalid RCX40 141 142 Interlock signal in SAFETY connector is valid RCX221 222 When the Board condition external 24V monitor control of system parameters is left valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX40 141 142 When SAFE...

Page 21: ...rting the robot controller 2 2 3 Setting the CC Link compatible module 2 3 3 1 Setting the station No 2 3 3 2 Setting the communication speed 2 4 4 Noise measures 2 6 4 1 Mounting the ferrite core 2 6 5 Connecting to the CC Link system 2 7 5 1 Connecting to the cable terminal to the controller 2 7 5 2 Testing the line from the master station PLC 2 8 6 Parameter setting for CC Link serial I O board...

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Page 23: ...eed ＳＹＳＴＥＭＶ８２９ＲｏｂｏｔＹＫ２５０ＸＡｘｉｓＸＹＺＲＳｔａｎｄａｒｄＳＲＡＭ３６４ｋＢＤＩＯＮＯｐｔｉｆｏＣＣＬｎｋＳ１１０ＭＰＡＲＡＭＣＭＵＯＰＴＩＯＮＩＮＩＴＤＩＡＧＮＯＳ Confirmation position Operation 1 Press the MODE key on the MPB RPB 2 Press the F 4 SYSTEM key on the MPB RPB 3 The display above will appear The station No and communication speed set for the CC Link system will appear in the parentheses following CCLnk on the screen The meaning of...

Page 24: ...e in chapter 2 2 3 Response when starting the robot controller The robot controller will always start up with an option board setting error after the CC Link compatible module has been installed Make the following settings as explained below Procedure 1 Make connections to all input connectors on the front panel of the robot controller 2 The following type of question will appear on the MPB RPB sc...

Page 25: ...t controller in the CC Link system nNOTE Up to 64 stations can be set in the CC Link system but the CC Link system itself occupies 4 stations specified No 3 so set the station No between 1 and 61 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 MSB LSB Front of the unit wWARNING WHEN SETTING THE STATION NO COMPLETELY SHUT OFF THE POWER SUPPLIED TO THE ROBOT CONTROLLER Procedures 1 Check the s...

Page 26: ...ible module Accurately set the station No When setting the BPS make sure not to set the rotary switches MSB and LSB by mistake 3 2 Setting the communication speed Using the rotary switch BPS in front of the CC Link compatible module set the communication speed for the robot controller in the CC Link system nNOTE The communication speed must match the CC Link system s master station setting 1 2 3 4...

Page 27: ... bps 156K 625K 2 5M 5M 10M Error 2 Using a flat blade precision screwdriver set the switch No corresponding to the communication speed with rotary switch BPS cCAUTION Never directly touch the conductive sections or electronic parts other than the rotary switch on the CC Link compatible module Do not apply impact on the CC Link compatible module Do not place water or conductive matters etc which co...

Page 28: ... the robot controller wWARNING COMPLETELY SHUT OFF THE POWER SUPPLY TO THE INPUT POWER CABLE BEFORE STARTING THIS WORK Procedures 1 Mount the two ferrite cores supplied onto the input power cable The ferrite core should be placed as close to the robot controller body as possible 2 Fix the mounted ferrite core with an Insulock tie etc cCAUTION Securely fix the ferrite core If the ferrite core is no...

Page 29: ... terminal on the CC Link compatible module Procedure 1 Using a phillips head screwdriver completely loosen the two screws on both sides of the CC Link system cable terminal and remove the terminal block section from the CC Link compatible module cCAUTION Always remove the terminal block section when installing the CC Link system cable 2 Using a phillips head screwdriver securely fix the CC Link sy...

Page 30: ...t controller and completely fix with the two screws on both sides using a Phillips head screwdriver cCAUTION Refer to the master station PLC instruction manual for details on the CC Link system cable connection 5 2 Testing the line from the master station PLC The master station PLC in the CC Link system has a function to test the line to the remote station Using this function confirm that the robo...

Page 31: ...message number to be displayed on the MPB RPB will be output When set to INVALID the message number to be displayed on the MPB RPB will not be output This parameter cannot be set to VALID simultaneously with parameter 2 nNOTE When not using the serial I O board set the board condition serial I O for RCX221 222 parameter to INVALID When the board condition serial I O for RCX221 222 parameter is set...

Page 32: ...rd of PNP specifications is installed The number in parentheses is an ID number Serial I O CCLnk n m A CC Link unit is installed Letters in parentheses indicate a station number n and a communication speed m D_Net n m A DeviceNet unit is installed Letters in parentheses indicate a MAC ID number n and communication speed m Profi n m A Profibus unit is installed Letters in parentheses indicate a sta...

Page 33: ...ＡＬＩＤＥＤＩＴＪＵＭＰ 5 Press the F 1 EDIT key ＳＹＳＴＥＭＰＡＲＡＭＯＰＢＲＤＳＥＬＥＣＴＶ８１８１ｂｏａｒｄｃｏｎｄｉｔｉｏｎＶＡＬＩＤ２ｒｅｍｏｔｅｃｍｄＩＯｃｍｄＳＩ０５ＶＡＬＩＤ３ＯｕｔｐｕｔＭＳＧｔｏＳＯＷ１ＩＮＶＡＬＩＤＩＮＶＡＬＩＤＶＡＬＩＤ 6 Press the F 1 INVALID or F 2 VALID key 7 Press the ESC key to quit the edit mode To continue setting another parameter use the cursor keys to select the parameter 6 Parameter setting for CC Link serial I O board ...

Page 34: ...2 12 MEMO ...

Page 35: ...3 2 1 Initial data process 3 3 3 Communication with master station PLC 3 4 3 1 Receiving data 3 4 3 2 Transmitting data 3 6 4 Direct connection by emulated serialization on parallel DIO 3 8 4 1 Emulated serialization setting on parallel DIO 3 8 5 Referring to communication data 3 11 5 1 Referring to the data from the programming unit 3 11 ...

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Page 37: ...connector unless the Board condition external 24V monitor control of system parameters is set invalid w When connection to CC Link system is incorrectly established The following causes can be considered a correct connection with the CC Link system cannot be established The CC Link system cable is not physically connected The station No or communication speed is set incorrectly The master station ...

Page 38: ...ted when SAFE mode is enabled so change the service mode setting in SYSTEM PARAM mode In this case take full precautions to prevent improper settings that might lead to a hazardous situation For meanings of LED display see Chapter 4 in this manual 1 State when robot controller power is turned ON ...

Page 39: ...n 7 8 initial data process completion flag ON r Confirm that RX n 7 8 initial data process request flag is OFF t Confirm that RX n 7 B remote Ready is ON RX n 7 8 on off on off on off on off on off RYn0 RYn9 RY n 7 8 RX n 7 B The robot controller internal process will automatically start when the power is turned ON and the system is returned from an error state cCAUTION RX n 7 B remote Ready must ...

Page 40: ... n 2 SID 2 SIW 2 RY n 1 F RY n 1 8 SI 37 SI 30 RWw n 3 SIW 3 RY n 2 7 RY n 2 0 SI 47 SI 40 RWw n 4 SID 4 SIW 4 RY n 2 F RY n 2 8 SI 57 SI 50 RWw n 5 SIW 5 RY n 3 7 RY n 3 0 SI 67 SI 60 RWw n 6 SID 6 SIW 6 RY n 3 F RY n 3 8 SI 77 SI 70 RWw n 7 SIW 7 RY n 4 7 RY n 4 0 SI 107 SI 100 RWw n 8 SID 8 SIW 8 RY n 4 F RY n 4 8 SI 117 SI 110 RWw n 9 SIW 9 RY n 5 7 RY n 5 0 SI 127 SI 120 RWw n 10 SID 10 SIW 1...

Page 41: ... to SI27 but the CC Link compatible module accepts from SI0 to SI15 When reading the word information from the master station PLC s output device No with the robot controller write the following command in the robot program Assignment statement Example To read the RWw n 2 word data in variable B B SIW 2 The SIW 2 data will be assigned to variable B as a decimal If SIW 2 is 01FFh variable B will be...

Page 42: ... 110 RWr n 9 SOW 9 RX n 5 7 RX n 5 0 SO 127 SO 120 RWr n 10 SOD 10 SOW 10 RX n 5 F RX n 5 8 SO 137 SO 130 RWr n 11 SOW 11 RX n 6 7 RX n 6 0 SO 147 SO 140 RWr n 12 SOD 12 SOW 12 RX n 6 F RX n 6 8 SO 157 SO 150 RWr n 13 SOW 13 RWr n 14 SOD 14 SOW 14 RWr n 15 SOW 15 n Address assigned to master module with station No setting cCAUTION SIW 0 and SIW 1 are viewed as dedicated input ports To write the ro...

Page 43: ...o RWr n 2 as word data SOW 2 512 512 is assigned to SOW 2 and SOW 2 becomes 0200h Example To write 69905 as the double word data for RWr n 2 and RWr n 3 SOD 2 69905 69905 is assigned to SOD 2 SOW 2 becomes 1111h and SOW 3 becomes 0001h nNOTE Word data written with SOW n is a little endian format with no sign Double word data written with SOD n is a little endian format with a sign 3 Communication ...

Page 44: ...ection Parallel I O connection nNOTE When the directly connected and set output port is used with the program the bit information may not become the intended value Do not use the directly connected and set output port with the program 4 1 Emulated serialization setting on parallel DIO The relation of the parallel port and serial port that can be connected is shown below Input device such as sensor...

Page 45: ...connected is as follows Output device such as valve DO port SI port DO2 SI2 DO3 SI3 DO4 SI4 DO5 SI5 nNOTE When the port specified by SIO is identical with the port used by the program the output results might be inaccurate Operation 1 Select an SI port from items 1 to 4 in the SYSTEM OPTION SIO mode 2 Press the F 1 EDIT key ＳＹＳＴＥＭＯＰＴＩＯＮＳＩＯＶ８０１１ＤｉｒｅｃｔＳＩ２ＤＯ２ＮＯ２ＤｉｒｅｃｔＳＩ３ＤＯ３ＮＯ３ＤｉｒｅｃｔＳ...

Page 46: ...dentical with the port used by the program the output results might be inaccurate Operation 1 Select a DI port from items 5 to 8 in the SYSTEM OPTION SIO mode 2 Press the F 1 EDIT key ＳＹＳＴＥＭＯＰＴＩＯＮＳＩＯＶ８０１４ＤｉｒｅｃｔＳＩ５ＤＯ５ＮＯ５ＤｉｒｅｃｔＳＩ５ＤＩ２ＮＯ６ＤｉｒｅｃｔＳＯ３ＤＩ３ＮＯ７ＤｉｒｅｃｔＳＯ４ＤＩ４ＮＯ８ＤｉｒｅｃｔＳＯ５ＤＩ５ＮＯＳＥＴＮＯ 3 Press the F 1 SET key to enable the connection or the F 2 NO key to cancel the sett...

Page 47: ...rt No ＳＹＳＴＥＭＶ８０１ＳＩｍｏｎｉｔｏｒＳＩ０Ｂ０００００１１１ＳＩ４Ｂ１１００００００ＳＩ１Ｂ００００１１１１ＳＩ５Ｂ００１０１０００ＳＩ２Ｂ０００１０００１ＳＩ６Ｂ０００００１１１ＳＩ３Ｂ０００００１００ＳＩ７Ｂ００００００００ＰＡＲＡＭＣＭＵＯＰＴＩＯＮＩＮＩＴＤＩＡＧＮＯＳ Bxxxxxxx corresponds to the 0th bit to 7th bit from right to left ＳＹＳＴＥＭＶ８０１ＳＩＷｍｏｎｉｔｏｒＳＩＷ０Ｈ０１３２ＳＩＷ４Ｈ００００ＳＩＷ１Ｈ０００１ＳＩＷ５Ｈ００００ＳＩＷ２Ｈ８０００ＳＩＷ６ＨＦＦＦＦＳＩＷ３Ｈ００００ＳＩＷ７Ｈ００００ＰＡＲＡＭＣＭＵＯＰＴＩＯＮＩＮＩＴＤＩＡＧＮＯＳ Hxxxx expre...

Page 48: ...put ports 10 to 15 6 Press the DISPLAY key on the MPB RPB twice more to check the status of SIW input ports 0 to 7 7 Press the DISPLAY key on the MPB RPB once more to check the status of SIW input ports 8 to 15 8 Press the DISPLAY key on the MPB RPB once more to check the status of SOW output ports 0 to 7 9 Press the DISPLAY key on the MPB RPB once more to check the status of SOW output ports 8 to...

Page 49: ...of LEDs on CC Link compatible module 4 2 3 Troubleshooting 4 3 3 1 Robot controller front panel LED confirmation 4 3 3 2 Programming unit error display confirmation 4 4 3 3 CC Link compatible module LED confirmation 4 5 3 4 Confirmation from master station PLC 4 6 4 Error messages relating to CC Link 4 7 ...

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Page 51: ... to the master station PLC instruction manual 7 Is the master station PLC set for the 4 station occupying remote device Refer to the master station PLC instruction manual 8 Is the master station PLC exchanging the data for four stations The data for four stations must always be exchanged 9 Has the initial data process been carried out between the master station and robot controller Refer the initi...

Page 52: ...n sp ee d is not within the setting ra nge Polling resp on se is being ca rried out but aC RCerror o ccurred in the refresh recep tion A C RCerror occ urred in the da taa ddressed to the loca l sta tion There is ap roblem with the ma ster sta tion Exa mp le 1 C C Link communica tion is not controlled by the ma ster sta tion 2 The loca l sta tion RC X controller is not set to aremote device sta tio...

Page 53: ...FF RCX221 222 Cause Power is not being supplied to the robot controller Countermeasures Measure the voltage at the AC power input terminal of the power connector with a multimeter and check that the rated voltage is being supplied Refer to the robot controller user s manual for the rated voltage for the robot controller Confirmation item 2 Confirmation details The ERR LED is ON Cause The robot con...

Page 54: ...rror other than CC Link Communication Error is displayed on the programming unit In this case this problem is not related to the CC Link system connection Note however the message CC Link Communication Error may not appear on the programming unit if multiple errors have occurred simultaneously Cause An error has occurred in the robot controller Countermeasures Check the error message displayed on ...

Page 55: ...er cable or whether it is bundled with these Check that the ferrite core is connected to the robot controller s power supply cable Check the station No and communication speed settings for the CC Link compatible module Check that the master station PLC is operating correctly Check that the robot controller on the master station PLC is set to the remote device station Confirmation item 2 Confirmati...

Page 56: ... on the line test Confirmation item 2 Confirmation details Using the master station PLC s line test function check whether an error has occurred in the robot controller s CC Link connection Cause The ferrite core for noise measures is not connected The CC Link cable is laid near sources of noise such as the power cable Countermeasures Connect the ferrite core for noise measures onto the input powe...

Page 57: ...Y connector 3 Connect MPB or terminator to MPB connector 4 Attach the SAFETY connector 5 Set SI 00 to ON 6 Correct the connection to CC Link system 7 Release the RPB emergency stop button 8 Connect RPB or terminator to PB connector 12 2 Interlock on Code H0C02 Meaning Cause a Program was executed or moving of axis attempted with interlock signal still input b Interlock signal turned ON during exec...

Page 58: ...ation error in CC Link system due noise etc b Master station sequencer power is turned off or the operation has stopped Action 1 Take measures to suppress noise on the CC Link system cable and controller 2 Check if the master station sequencer is operating correctly 12 70 Incorrect option setting Code H0C46 Meaning Cause a Error in DIP switch setting on option unit b Mismatched option units have b...

Page 59: ...ed input output signal timing chart 5 8 3 1 Initial data process for CC Link connection 5 8 3 2 Servo ON and emergency stop 5 9 3 3 AUTO mode changeover program reset and program execution 5 10 3 4 Stopping with program interlock 5 11 4 Sample program 5 13 5 CC Link compatible module specifications 5 20 ...

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Page 61: ...O 13 Robot program execution status output RYnB SI 13 AUTO mode input RXnC SO 14 Program reset status output RYnC SI 14 Absolute reset input RCX141 221 2 SI 14 Return to origin input RCX142 222 3 RXnD SO 15 battery alarm output 1 RYnD SI 15 Program reset input RXnE SO 16 IO command execution judgment output RYnE SI 16 MANUAL mode input RXnF SO 17 Output during IO command execution RYnF SI 17 Retur...

Page 62: ...input to to RX n 6 7 RY n 6 7 RX n 6 8 SO 150 to SO 157 General purpose output RY n 6 8 SI 150 to SI 157 General purpose input to to RX n 6 F RY n 6 F RX n 7 0 Reserved RY n 7 0 Reserved RX n 7 1 RY n 7 1 RX n 7 2 RY n 7 2 RX n 7 3 RY n 7 3 RX n 7 4 RY n 7 4 RX n 7 5 RY n 7 5 RX n 7 6 RY n 7 6 RX n 7 7 RY n 7 7 RX n 7 8 Initial data process request flag RY n 7 8 Initial data process complete flag ...

Page 63: ...SIW 6 RWr n 7 General purpose SOW 7 RWw n 7 General purpose SIW 7 RWr n 8 General purpose SOD 8 General purpose SOW 8 RWw n 8 General purpose SID 8 General purpose SIW 8 RWr n 9 General purpose SOW 9 RWw n 9 General purpose SIW 9 RWr n 10 General purpose SOD 10 General purpose SOW 10 RWw n 10 General purpose SID 10 General purpose SIW 10 RWr n 11 General purpose SOW 11 RWw n 11 General purpose SIW...

Page 64: ...CX221 222 or absolute battery RCX222 is low RXnE SO 16 IO command execution judgment output Turns OFF while executing the IO command After executing the IO command turns ON if normal and stays OFF if abnormal RXnF SO 17 Output during IO command execution Turns ON while the IO command is being executed RX n 1 0 SO 20 to SO 27 General purpose output General purpose output turns ON OFF when value is ...

Page 65: ...xecution RYnA SI 12 Robot program start input Turn ON to execute robot program Robot program is executed when this input is switched from OFF to ON Robot controller must be in AUTO mode RYnB SI 13 AUTO mode input Turn ON to select AUTO mode Robot program enters AUTO mode when this input is switched from OFF to ON RYnC RCX141 221 SI 14 Absolute reset input For YC Link where RCX141 221 is used with ...

Page 66: ...cy stop input RYn0 and interlock input RYn9 are turned ON when data is initialized n Address assigned to master module with station No setting cCAUTION Step execution input SI 03 is only supported by the RCX221 222 series nNOTE Return to origin input and absolute reset input can also be executed in AUTO mode by changing the execution level Refer to the controller user s manual for more details Rem...

Page 67: ...ral purpose SOD 4 General purpose SOW 4 RWr n 5 General purpose SOW 5 RWr n 6 General purpose SOD 6 General purpose SOW 6 RWr n 7 General purpose SOW 7 RWr n 8 General purpose SOD 8 General purpose SOW 8 RWr n 9 General purpose SOW 9 RWr n 10 General purpose SOD 10 General purpose SOW 10 RWr n 11 General purpose SOW 11 RWr n 12 General purpose SOD 12 General purpose SOW 12 RWr n 13 General purpose...

Page 68: ...dicated input and differing dedicated input intervals If dedicated outputs are provided for the dedicated inputs from the master station PLC to controller use them Confirmation of connection with master station PLC at power ON a Initial data process request flag ON is output b Emergency stop and interlock input ON is input c Initial data process complete flag ON is input d Initial data process req...

Page 69: ...edicated inputs from the master station PLC to controller use them Initial servo ON process after power ON a Servo ON input ON is input b If not in the emergency stop state output servo ON status ON is output c After confirming that servo ON status output is ON servo ON input OFF is input Shift to emergency stop d Emergency stop input OFF is input e Emergency stop input status and alarm status out...

Page 70: ... input RYnA SI 12 Robot program start input RYnB SI 13 AUTO mode input RYnD SI 15 Program reset input cCAUTION The dedicated input ON OFF process from the master station PLC to the controller must be carried out at an interval of 100ms or more If the interval is too short the dedicated input may not be recognized This also applies to the same dedicated input and differing dedicated input intervals...

Page 71: ...ts other than SI 00 and SI 11 might be disabled depending on service mode parameter setting unless service mode input signal is set to ON with SI 02 in the CC Link system 3 4 Stopping with program interlock a b c d e f g h i on on off on off on off on off off RXn8 SO 10 AUTO mode status output RXn9 SO 11 Return to origin complete status output RXnB SO 13 Robot program execution status output RYn9 ...

Page 72: ...input ON is input h Robot program execution status output ON is output i After confirming that the robot program execution status output is ON the start input OFF is input The program will also stop when the emergency stop input OFF is input In this case the emergency stop input status and alarm status output ON will be output and the servo ON status output OFF will be output The servo ON process ...

Page 73: ...08 P205 P206 P207 P208 P200 Details of sample Pick place work is carried out using the PLC and RCX40 SXYx 3 axes RCX142 MXYx 3 axes The workpieces supplied to each robot are arranged on one pallet The workpiece is supplied at a rate faster than the robot operation The two robots will interfere above the pallet so data is exchanged to prevent interference When handling the workpiece the robot moves...

Page 74: ...0 Point No reception complete input SI 41 Movement complete response standby input SI 42 Movement complete standby input SO 23 to SO 20 Point No setting output group SO 40 Point No setting complete output SO 41 Movement complete output SO 42 Movement complete response output DI 47 Pallet change complete input DO 40 Chuck hand open close 0 Close 1 Open DO 47 Pallet exchange command output 2nd unit ...

Page 75: ... stop input Y101 1st unit s SI 01 Servo ON input Y17F 1st unit reservation Y180 2nd unit s SI 00 Emergency stop input Y181 2nd unit s SI 01 Servo ON input Y1FF 2nd unit reservation M0 Unit preparation complete flag M1 Parameter setting flag M2 Data link start flag M4 1st station data link status M8 5th station data link status D0 No of connection units storage device D1 1st unit local station info...

Page 76: ...K PICK DO 40 1 DRIVE 3 P121 S 20 WAIT ARM 3 DO 40 0 DELAY 500 RETURN SUB ROUTINE FOR PLACE PLACE DRIVE 3 P122 S 20 WAIT ARM 3 DO 40 1 DELAY 500 RETURN 2nd unit s RCX142 INIT ROUTINE RESET SO2 RESET SO4 RESET DO4 B 201 MAIN ROUTINE MOVE P P200 Z 0 GOSUB PICK ST2 WAIT SI 41 1 SO 41 1 WAIT SI 41 0 SO 41 0 WAIT SI 40 1 B SI 23 22 21 20 SO 40 1 WAIT SI 40 0 SO 40 0 B B 200 MOVE P P B Z 0 GOSUB PLACE MO...

Page 77: ...D2 TO H0 H1 D0 K1 T0 H0 H20 D1 K2 FROM H0 H668 D10 K1 FROM H0 H680 K4M4 K16 FROM H0 H0E0 K4X100 K8 No of connected modules Station information Refresh instruction Data link start normal completion Data link start error completion Read each data link status SW0080 Station No 1 normal Station No 1 error Station No 2 normal Station No 2 error Read station No 1 remote input Set emergency stop input ON...

Page 78: ...Y131 Y132 Y133 Y140 Y141 Y142 Y143 RET SET Y180 SET Y189 T0 H0 H160 K4Y100 K8 FROM H0 H0E8 K4X180 K8 SET Y1F8 X17B X190 X191 X192 X193 X1A0 X1A1 X1A2 X1A3 X1B0 X1B1 X1B2 X1B3 X1C0 X1C1 X1C2 X1C3 186 196 197 208 P20 User application Write to station No 1 remote output Read station No 2 remote input Set emergency stop input ON Set interlock input ON Set initial data process compete flag ON 4 Sample ...

Page 79: ...Y18E Y18F Y18B Y18D Y18A Y190 Y191 Y192 Y193 Y1A0 Y1A1 Y1A2 Y1A3 Y1B0 Y1B1 Y1B2 Y1B3 Y1C0 Y1C1 Y1C2 Y1C3 RET END T0 H0 H168 K4Y180 K8 X110 X1FB X111 X112 X113 X120 X121 X122 X123 X130 X131 X132 X133 X140 X141 X142 X143 291 301 302 Set initial data process complete flag OFF User application Write to station No 2 remote output 4 Sample program ...

Page 80: ...ut 16 points 13 points are currently used for RCX221 222 12 points are currently used for RCX40 141 142 General purpose input 96 points Dedicated output 16 points 12 points are currently used for RCX221 222 11 points are currently used for RCX40 141 142 General purpose output 96 points Remote register Dedicated input 2 words General purpose input 14 words Dedicated output 2 words General purpose o...

Page 81: ...Chapter 6 APPENDIX Contents 1 Term definition 6 1 ...

Page 82: ......

Page 83: ...ls 4 SAFETY connector This connector is used to connect emergency stop input and service mode input Located on the front panel of the robot controller 5 STD DIO connector This connector is used to receive or output dedicated I O signals and general purpose I O signals Located on the front panel of the robot controller 6 bit information Bit data transmitted and received between master station PLC a...

Page 84: ...r omissions If you find any part unclear in this manual please contact YAMAHA or YAMAHA sales representatives CC Link RCX series network board 1st Edition 2nd Edition 3rd Edition 4th Edition Ver 1 05 Ver 1 06 Ver 1 07 Ver 1 08 English manual Ver 1 05 is based on Japanese manual Ver 1 06 English manual Ver 1 06 is based on Japanese manual Ver 1 06 English manual Ver 1 07 is based on Japanese manual...

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