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YAMAHA Robot Controller
RCX Series
UNIT
OWNER'S MANUAL
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Introduction Thank you for purchasing the CC-Link compatible module. This CC-Link compatible module is an option module that enables connection of the YAMAHA robot controller RCX Series as a CC-Link system remote device station. 2 The CC-Link compatible module with label is compatible with CC-Link Ver. 1.10. CC-Link compatible modules without the CC-Link label are compatible with Ver. 1.00. The robot controller explained in this manual refers to the RCX Series. This manual describes the flow of
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Safety Precautions (Always read before starting use) Always read this manual, the robot controller instruction manual and programming manual before using this product. Take special care to safety, and correctly handle the product. The cautions given in this manual are related to this product. Refer to the robot controller instruction manual for details on the cautions to be taken with the robot controller system 2 using this product. * The safety precautions are ranked as “WARNING” and “CAUTION”
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[Precautions for installation] WARNING w • Always crimp, press-fit or solder the connector wire connections with the maker- designated tool, and securely connect the connector to the module. • Always shut off all phases of the power supply externally before starting installa- tion or wiring work. Failure to shut off all phases could lead to electric shocks or product damage. 2 CAUTION c • Use the robot controller within the environment specifications given in the manual. Use in an environment ou
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[Precautions for starting and maintenance] WARNING w • Do not touch the terminals while the power is ON. Failure to observe this could lead to malfunctioning. • Always shut off all phases of the power supply externally before cleaning or tightening the terminal screws. Failure to shut off all phases could lead to electric shocks, product damage or 2 malfunctioning. A loose screw could lead to dropping, short-circuiting or malfunctioning. If the screw is too tight, short-circuiting or malfunction
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Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. 2 Warranty description: If a failure or breakdown occurs due to defects in materials or workmanship in the genu- ine parts constituting this YAMAHA robot and/or related product within the warranty period, then YAMAHA will repair or replace those parts free of charge (hereafter called "warranty repair"). Warranty Period: The warranty period ends when any of the
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MEMO 2 6
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Contents Chapter 1 Outline 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 ......................................................... 1-5 Chapter
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Chapter 4 Troubleshooting 1. Items to confirm before starting up CC-Link system ............ 4-1 2. Meanings of LEDs on CC-Link compatible module ............... 4-2 3. Troubleshooting ................................................................... 4-3 3.1 Robot controller front panel LED confirmation ............. 4-3 3.2 Programming unit error display confirmation ............... 4-4 3.3 CC-Link compatible module LED confirmation ............ 4-5 3.4 Confirmation from master station PLC ..
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Chapter 1 Outline 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 ....................
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MEMO
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Outline 1. Features CC-Link is the abbreviation of Control & Communication Link. The CC-Link system connects the robot controller and dispersed input/output modules 1 with dedicated cables, and controls these modules from the master station PLC. The CC-Link system allows wiring to be reduced. Master station Station that controls entire CC- Link system. The PLC master module corresponds to this. NOTE n The dedicated input of the STD.DIO connector provided on the controller will be disabled excep
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2. Mechanism The mechanism of communication is explained in this section to provide an understand- 1 ing of how the robot controller and PLC operate via the CC-Link system. ON/OFF information Master station Robot PLC controller q w q The robot controller’s ON/OFF information is sent to the master station PLC via the network (CC-Link system cable). w The master station PLC’s ON/OFF information is set to the robot controller via the network (CC-Link system cable). * The robot controller monitor
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7 7 7 6 6 6 Outline 5 5 5 4 4 4 3 3 3 3. Names of each part on the CC-Link compatible module The part names of the CC-Link compatible module installed in the robot controller are described in this section. The CC-Link compatible module is installed into an optional 1 slot in the robot controller. t w r e q Front of the unit q CC-Link system cable terminals These terminals are used to connect the CC-Link system cable. Each of the four terminals has a meaning, so do not
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4. Assignment of CC-Link compatible I/O The I/O expressions used in the robot controller’s program language and the I/O expres- 1 sions for the remote device stations differ. The correspondence is shown below. Output from robot controller Input to robot controller NOTE n SIW(n) and SOW(n) are handled as Program language Remote device station Program language Remote device station numerical data of word with no sign. *3 *3 SOW(0) RWr0 SIW(0) RWw0 SID(n) and SOD(n) are handled as *3 *3 SO
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Outline 5. Shift of CC-Link system connection status and robot controller status Always start the CC-Link system specification robot controller in the servo OFF state after the power is turned ON. 1 q Normal state of CC-Link system connection when robot controller power is turned ON Robot Master station controller PLC • Emergency stop/interlock signal in CC-Link system are valid • When SAFE mode is enabled, service mode input signal is made valid with SI (02) in the CC-Link system. • Eme
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5. Shift of CC-Link system connection status and robot controller status e CC-Link system erroneous connection state due to following factors 1 when robot controller power is turned ON • Connection to CC-Link system not possible • Error in master station PLC Robot Master station Robot Master station controller PLC controller 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-Lin
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Outline 5. Shift of CC-Link system connection status and robot controller status r Transmission from CC-Link system erroneous connection state to CC- 1 Link correct connection state when robot controller power is turned ON Robot Master station Robot Master station controller PLC controller PLC Robot Master station controller PLC • CC-Link system emergency stop/interlock signals change to valid state • Emergency stop terminal in SAFETY connector is valid. • Interlock signal in STD. DIO co
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MEMO 1-8
