Yamaha RCX series, Руководство пользователя

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3-1
Chapter
3
COMMUNICA
TION
1. State when robot controller power is turned ON
1. State when robot controller power is turned ON
The CC-Link system specification robot controller always starts operation in servo OFF
state when the power turned ON.
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When connection to CC-Link system is correctly established.
The following conditions must be satisfied to correctly connect to the CC-Link
system:
• The CC-Link system cable must be physically connected
• The station No. and communication speed must be correctly set
• The master station PLC must be operating correctly
When the robot controller is correctly connected to the CC-Link system, the normal
state will be indicated with the LEDs on the CC-Link compatible module.
At this time,
the emergency stop signal and interlock signal in the CC-Link system
will be valid, so these signals must be turned ON with the initial data process.
The emergency stop terminal in SAFETY connector is always kept valid. On the
RCX221/222, the interlock signal in SAFETY connector is also valid. On the
RCX40/141/142, the interlock signal in STD. DIO connector is valid unless the Board
condition (external 24V monitor control) of system parameters is set invalid.
When SAFE mode is enabled, service mode input signal is made valid with SI (02)
in the CC-Link system. Service mode input signal to the RCX221/222 is also made
valid with DI (02) in SAFETY connector. On the RCX40/141/142, service mode input
signal is made valid with DI (02) in SAFETY connector unless the Board condition
(external 24V monitor control) of system parameters is set invalid.
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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 PLC is not operating correctly
When the robot controller is incorrectly connected to the CC-Link system, the error
state will be indicated with the LEDs on the CC-Link compatible module. Note that if
the master station PLC is not operating correctly, nothing will appear on the LEDs.
The emergency stop signal and interlock signal in the CC-Link system are invalid in
this case, so the robot controller can be operated independently. However, if the
correct state has been established even once after the robot controller power was
turned ON, the robot controller’s emergency stop state cannot be canceled without
correctly connecting to the CC-Link system.
The emergency stop terminal in SAFETY connector is always kept valid. On the
RCX221/222, the interlock signal in SAFETY connector is also valid. On the
RCX40/141/142, the interlock signal in STD. DIO connector is valid unless the Board
condition (external 24V monitor control) of system parameters is set invalid.
When SAFE mode is enabled, service mode input signal to the RCX221/222 is made
valid with DI (02) in SAFETY connector. On the RCX40/141/142, service mode input
signal is made valid with DI (02) in SAFETY connector unless the Board condition
(external 24V monitor control) of system parameters is set invalid.