YAMAHA Robot Controller RCX Series UNIT OWNER'S MANUAL
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. 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.
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 using this product.
[Precautions for installation] w WARNING • Always crimp, press-fit or solder the connector wire connections with the makerdesignated tool, and securely connect the connector to the module. • Always shut off all phases of the power supply externally before starting installation or wiring work. Failure to shut off all phases could lead to electric shocks or product damage. c CAUTION • Use the robot controller within the environment specifications given in the manual.
[Precautions for starting and maintenance] w WARNING • 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 malfunctioning. A loose screw could lead to dropping, short-circuiting or malfunctioning.
Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description: If a failure or breakdown occurs due to defects in materials or workmanship in the genuine 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").
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Contents Chapter 1 Outline 1. 2. 3. 4. 5. Features ............................................................................... Mechanism ........................................................................... Names of each part on the CC-Link compatible module ...... Assignment of CC-Link compatible I/O ................................ Shift of CC-Link system connection status and robot controller status .........................................................
Chapter 4 Troubleshooting 1. Items to confirm before starting up CC-Link system ............ 2. Meanings of LEDs on CC-Link compatible module ............... 3. Troubleshooting ................................................................... 3.1 Robot controller front panel LED confirmation ............. 3.2 Programming unit error display confirmation ............... 3.3 CC-Link compatible module LED confirmation ............ 3.4 Confirmation from master station PLC .......................... 4.
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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1. Features Master station Station that controls entire CCLink 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 except for an interlock signal (DI 11). When the external 24V monitor control of system parameters is disabled, the interlock signal (DI 11) will also be disabled. Remote device station Station controlled by master station in CC-Link system. The robot controller corresponds to this.
2. Mechanism The mechanism of communication is explained in this section to provide an understanding of how the robot controller and PLC operate via the CC-Link system. 1 Outline ON/OFF information Master station PLC Robot 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).
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 slot in the robot controller. Outline t 0 1 4 9 5 6 w 2 3 r 7 8 4 0 1 2 3 9 5 6 e 7 8 4 0 1 2 3 5 6 9 1 7 8 q Front of the unit q CC-Link system cable terminals These terminals are used to connect the CC-Link system cable.
4. Assignment of CC-Link compatible I/O The I/O expressions used in the robot controller’s program language and the I/O expressions for the remote device stations differ. The correspondence is shown below. Outline 1 NOTE n SIW(n) and SOW(n) are handled as numerical data of word with no sign. SID(n) and SOD(n) are handled as numerical data of double words with a sign. Output from robot controller Program language Remote device station SOD(2) SOD(4) NOTE n The dedicated input of the STD.
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 Outline Robot controller Master station 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.
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5. Shift of CC-Link system connection status and robot controller status r Transmission from CC-Link system erroneous connection state to CCLink correct connection state when robot controller power is turned ON Master station PLC Robot controller Master station PLC Robot controller Master station PLC • CC-Link system emergency stop/interlock signals change to valid state • Emergency stop terminal in SAFETY connector is valid. • Interlock signal in STD.
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Chapter 2 Connection Contents 1. Confirming the CC-Link compatible module settings ....................... 2-1 2. Setting to the CC-Link system specification controller ..................... 2-2 2.1 Saving the robot controller data .............................................................. 2-2 2.2 Installing the CC-Link compatible module ............................................... 2-2 2.3 Response when starting the robot controller ............................................ 2-2 3.
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1. Confirming the CC-Link compatible module settings With the CC-Link system specification robot controller, the CC-Link compatible module station No. and communication speed settings can be confirmed with the programming unit (hereinafter, MPB). Confirmation position SYSTEM V8.29 Robot = YK250X Axis = XYZR Standard = SRAM/364kB, DIO_N Opt-ifo PARAM = CCLnk(S1/10M) CMU OPTION INIT DIAGNOS [Operation] 1. Press the MODE 2.
2. Setting to the CC-Link system specification controller When connecting the CC-Link compatible module to an existing robot controller, the CC-Link compatible module must be installed in the robot controller. Check the CC-Link system specifications with the procedure given in section 1. 2.
3. Setting the CC-Link compatible module To connect the CC-Link system specification controller to the CC-Link system, the station No. and communication speed must be set with the rotary switch on the CC-Link compatible module. Confirm the current station No. and communication speed with the procedures given in section 1. 3.1 Setting the station No. Using the rotary switches MSB and LSB in front of the CC-Link compatible module, set the station No. of the robot controller in the CC-Link system.
3. Setting the CC-Link compatible module 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. 2 BPS 4 9 0 1 2 3 5 6 7 8 5 6 Connection 4 9 0 1 2 3 7 8 4 9 0 1 2 3 5 6 7 8 NOTE n The communication speed must match the CC-Link system’s master station setting.
4. Noise measures Two ferrite cores must be mounted on the input power cable when connecting to the CC-Link system. 4.1 Mounting the ferrite core Mount two ferrite cores onto the input power cable connected to the input power connector on the front panel of the robot controller. WARNING w Completely shut off the power 2. Fix the mounted ferrite core with an Insulock tie, etc. supply to the input power cable before starting this work. CAUTION c Securely fix the ferrite core.
5. Connecting to the CC-Link system The CC-Link system cable must be connected to the CC-Link compatible module in order to connect to the CC-Link system. 5 6 2 4 9 0 1 2 3 7 8 4 9 0 1 2 3 5 6 7 8 4 9 0 1 2 3 5 6 Connection 7 8 Cable terminal DA DB DG SLD Front of the unit WARNING w When setting the station No., completely shut off the power supplied to the robot controller. c CAUTION • Always remove the terminal block • • • • • section when installing the CCLink system cable.
6. Parameter setting for CC-Link serial I/O board n NOTE • Set the Board status parameter to Parameter Meaning 1. Board condition Enables or disables the serial I/O board. When set to "VALID" the serial I/O can be used. When set to "INVALID" the serial I/O cannot be used. 2 2. Remote cmd / IO cmd (SI05) Enables or disables the functions of remote commands and I/O commands using word information and bit information. When set to "VALID" the remote commands and I/O commands can be used.
6. Parameter setting for CC-Link serial I/O board 6.1 Parameter setting for CC-Link serial I/O board 1) Press the mode. 2 F 1 (PARAM) key in “SYSTEM” mode to enter “SYSTEM>PARAM” Connection 2) Press the F 5 (OP. BRD) key in “SYSTEM>PARAM” mode to enter the option board parameter setting mode. The option boards installed in the controller are displayed in order on the MPB screen. Fig. 2-6-1 SYSTEM>PARAM>OP.BRD V8.18 1.DIO_N(1) VALID 2. --3.CCLnk(S1/10M) VALID 4.
6. Parameter setting for CC-Link serial I/O board 4) Select the parameter with the cursor (↑/↓) keys. Fig. 2-6-3 SYSTEM>PARAM>OP.BRD>SELECT VALID 2.remote cmd / IO cmd(SI05) VALID 3.Output MSG to SOW(1) INVALID F 1 2 Connection 1.board condition EDIT 5) Press the V8.18 JUMP (EDIT) key. Fig. 2-6-4 SYSTEM>PARAM>OP.BRD>SELECT 1.board condition VALID 2.remote cmd / IO cmd(SI05) VALID 3.Output MSG to SOW(1) INVALID INVALID 6) Press the V8.18 F 1 VALID (INVALID) or F 2 (VALID) key.
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Chapter 3 Communication Contents 1. State when robot controller power is turned ON ............................. 3-1 2. Initial process for connecting to CC-Link system .............................. 3-2 2.1 Initial data process .................................................................................. 3-2 3. Communication with master station PLC ......................................... 3-3 3.1 Receiving data ........................................................................................
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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. q 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.
2. Initial process for connecting to CC-Link system The initial data process must be carried out to correctly connect to the CC-Link system. 2.1 Initial data process The initial data process is carried out to confirm that the robot controller is correctly connected to the CC-Link system. Prepare the process on the master station PLC side so that the following type of process is always carried out before data is exchanged.
3. Communication with master station PLC The method for communicating with the master station PLC by using the robot program when the CCLink system is correctly connected is explained in this section. 3.1 Receiving data Data is received by reading the master station PLC output device data with the robot controller’s input port. The correspondence of the master station PLC’s output device numbers and robot controller’s input port numbers is shown below. dedicated input ports.
3. Communication with master station PLC 3.2 Transmitting data Data is transmitted by writing the robot controller output port data into the master station PLC’s input device. The correspondence of the master station PLC’s input device numbers and robot controller’s output port numbers is shown below. Master station input device No. 3 c SIW(0) and SIW(1) are viewed as CAUTION Communication dedicated input ports.
4. Direct connection by emulated serialization on parallel DIO The master station PLC can exchange bit information data with the parallel port on the robot controller’s parallel I/O unit regardless of the robot program. By using this function, I/O devices such as a sensor or relay can be used like a device connected to CC-Link. Master station PLC NOTE n When the directly connected and set CC-Link connection Remote device station robot controller 4.
4. Direct connection by emulated serialization on parallel DIO 1. Direct connection from SI n ( ) to DO n ( ) Serial port input can be directly connected to parallel port output. The relation of the parallel port and serial port that can be connected is as follows. NOTE n When the port specified by SIO is Output device such as sensor DO port ← SI port DO2() SI2() DO3() SI3() DO4() SI4() DO5() SI5() identical with the port used by the program, the output results might be inaccurate.
4. Direct connection by emulated serialization on parallel D 2. Direct connection from SO n ( ) to DI n ( ) Parallel port input can be directly connected to serial port output. The relation of the parallel port and serial port that can be connected is as follows. NOTE n When the port specified by SIO is Input device such as valve → SO port DI port DI2() SO2() DI3() SO3() DI4() SO4() DI5() SO5() identical with the port used by the program, the output results might be inaccurate. [Operation] 1.
5. Referring to communication data The ON/OFF information exchanged with the master station PLC can be referred to using the programming unit (hereinafter, MPB). Note that the MPB display update interval is longer than the CC-Link data update interval, so if the ON/ OFF interval is short, accurate information may not be displayed. 5.1 Referring to the data from the programming unit The data exchanged with the master station PLC can be referred to with the MPB.
Chapter 4 Troubleshooting Contents 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.
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1. Items to confirm before starting up CC-Link system Confirm the following items before starting up the CC-Link system. Confirmation details 1 Check Is the CC-Link compatible module accurately connected? (Refer to Chapter 2 section 2 or 3.) 2 Is the robot controller set to the CC-Link system specifications? (Refer to Chapter 2 section 1.) 3 Are the CC-Link compatible module station No. and communication speed correctly set? NOTE n The dedicated input of the STD.
2. Meanings of LEDs on CC-Link compatible module 4 9 01 2 3 5 6 7 8 5 6 RUN ERRL SD 4 9 01 2 3 7 8 4 9 01 2 3 5 6 7 8 RD Front of the unit Troubleshooting 4 The LEDs on the CC-Link compatible module express the following statuses. Use these for confirmation when an error occurs. RUN ERRL SD RD Meaning Normal communication is taking place, but the CRC error occurs sometimes because of noise. The settings have varied from the baud rate and station No.
3. Troubleshooting If trouble occurs in the connection with the robot controller while starting up the CC-Link system or during operation, check the following items in listed order. 3.
3. Troubleshooting 3.2 Programming unit error display confirmation [Confirmation item 1] • “CC-Link Communication Error” is displayed on the programming unit. • An error has occurred in the CC-Link system connection. • Check whether the CC-Link system cable is disconnected or incorrectly connected. • Check the station No. and communication speed settings for the CC-Link compatible module. • Confirm that the master station PLC is operating.
3. Troubleshooting 3.3 CC-Link compatible module LED confirmation [Confirmation item 2] • The LED display on the CC-Link compatible module is “RUN, ERR, SD, RD” = ”.( :ON, :OFF) “ • The initial data process has not been executed when the CC-Link system was connected. Refer to Chapter 3. • The RX(n+7)B (remote station Ready) signal is not ON. • Carry out the initial data process when connecting to the CC-Link system.
3. Troubleshooting 3.4 Confirmation from master station PLC [Confirmation item 1] • Using the master station PLC’s line test function, confirm robot controller is correctly connected to the CC-Link system. * Refer to the master station PLC instruction manual for details on the line test. [Confirmation item 2] • Using the master station PLC’s line test function, check whether an error has occurred in the robot controller’s CC-Link connection.
4. Error messages relating to CC-Link This section describes error messages relating to CC-Link compatible units. For other messages, refer to robot controller owner's manuals. When an error occurs, an error message appears on the message line (2nd line) of the MPB screen. 12.1 : Emg.stop on 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 execution of program or axis movement.. c.
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Chapter 5 Specifications Contents 1. Profile ............................................................................................... 5-1 2. Details of remote input/output signals ............................................. 5-3 3. Dedicated input/output signal timing chart ..................................... 5-6 3.1 Initial data process for CC-Link connection ............................................. 5-6 3.2 Servo ON and emergency stop ........................................................
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1. Profile YAMAHA robot controller (4-station occupying) Remote input/output Remote → Master Signal name Device No.
1. Profile Device No. RX(n+6)0 to RX(n+6)7 RX(n+6)8 to RX(n+6)F RX(n+7)0 RX(n+7)1 RX(n+7)2 RX(n+7)3 RX(n+7)4 RX(n+7)5 RX(n+7)6 RX(n+7)7 RX(n+7)8 RX(n+7)9 RX(n+7)A RX(n+7)B RX(n+7)C RX(n+7)D RX(n+7)E RX(n+7)F 5 Remote → Master Signal name Device No.
2. Details of remote input/output signals 5-3 5 Specifications Device No. Signal name Details RXn0 SO (00): Emergency stop input status output Turns ON when robot controller is in emergency stop state. Turns ON when robot controller is in normal state. SO (01): CPU_OK status output RXn1 Turns ON when robot controller motor power is ON. SO (02): Servo ON status output RXn2 Turns ON when robot controller is in following state: • Serious error occurred in robot controller.
2. Details of remote input/output signals Device No. RYn0 RYn1 RYn2 RYn3 RYn5 5 Specifications RYn8 RYn9 RYnA RYnB RYnC RYnD RYnE RYnF 5-4 Signal name Details Turn OFF to trigger emergency stop on controller. SI (00): Emergency stop input Keep turned ON during normal operation. Turn ON to cancel emergency stop and turn ON the robot servo motor. Servo-ON is executed when this input is switched from OFF to ON.
2. Details of remote input/output signals Device No. Signal name RY(n+1)0 SI(20) to SI(27): General-purpose input to RY(n+1)7 to Details Set these inputs to ON or OFF to refer to SI port values or execute WAIT command. to RY(n+6)8 SI(150) to SI(157): General-purpose input to RY(n+6)F Turns ON when power is turned ON, communication error is reset, or data initialization is requested or completed.
3. Dedicated input/output signal timing chart 3.1 c CAUTION • 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.) • If dedicated outputs are provided for the dedicated inputs from the master station PLC to controller, use them.
3. Dedicated input/output signal timing chart 3.2 c CAUTION • 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.) • If dedicated outputs are provided for the dedicated inputs from the master station PLC to controller, use them.
3. Dedicated input/output signal timing chart 3.3 c CAUTION • 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.) • If dedicated outputs are provided for the dedicated inputs from the master station PLC to controller, use them.
3. Dedicated input/output signal timing chart 3.4 c CAUTION • 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.) • If dedicated outputs are provided for the dedicated inputs from the master station PLC to controller, use them.
4. Sample program An example for the following type of hardware configuration has been prepared for this section. MXYx Pallet SXYx 2nd unit supply position 1st unit supply position P100 P101 P102 P103 P104 5 Specifications Master station A1SHCPU +A1SJ61BT11 P201 P202 P203 P204 P105 P106 P107 P108 Remote device station RCX40 (1st unit) + SXYx (3 axes) (Station No. 1, 4 stations occupied) P205 P200 P206 P207 P208 Remote device station RCX142 (2nd unit) + MXYx (3 axes) (Station No.
4. Sample program [Robot program data assignment] : Point No. in pallet : Point No.
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4. Sample program [PLC program] X0 X0F [PLS M0 ] [SET M1 ] D0 ] K1 ] [MOV H1401 D1 ] [MOV H1405 D2 ] D1 K2 ] [RST M1 ] [SET Y0 ] [SET M2 ] [SET Y6 ] [RST Y6 ] [RST M2 ] K1 ] [RST Y6 ] [RST M2 ] K16 ] Read each data link status (SW0080) P10 ] Station No. 1 normal (Y20 ) Station No. 1 error P20 ] Station No. 2 normal (Y21 ) Station No. 2 error [FEND ] K8 ] Read station No.
4. Sample program 109 X17B X101 X100 X102 X102 (Y101 ) (Y10E ) (Y10F ) (Y10B ) (Y10D ) (Y10A ) (Y110 ) (Y111 ) (Y112 ) (Y113 ) (Y120 ) (Y121 ) (Y122 ) (Y123 ) (Y130 ) (Y131 ) (Y132 ) (Y133 ) (Y140 ) (Y141 ) (Y142 ) (Y143 ) K8 ] [RET ] K8 ] Read station No.
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5. CC-Link compatible module specifications The CC-Link compatible module with the label is compatible with CC-Link Ver. 1.10. Limits on the station-to-station cable length, etc., can be eased by using the Ver. 1.10 compatible CC-Link cable. Refer to the master station PLC instruction manual compatible with Ver. 1.10. CC-Link compatible module Specification item CAUTION c For the names and description of remote input/output signals and remote registers, refer to the tables shown in "1. Profile" and "2.
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Chapter 6 Appendix Contents 1. Term definition .................................................................................
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1. Term definition 1. CC-Link (Control & Communication Link) CC-Link is a registered trademark of CC-Link partner association. 2. SAFE mode setting When the SAFE mode setting is enabled, service mode input is made valid so that safety functions such as operating speed limits in MANUAL mode can be used. The SAFE mode setting is determined at the time of shipping. The SAFE mode setting is always enabled for controllers compatible with CE marking. 3.
Revision record Manual version Issue date Description 1st Edition 2nd Edition 3rd Edition 4th Edition Ver. 1.05 Ver. 1.06 Jan. 2002 May 2002 Nov. 2002 Jan. 2003 Aug. 2006 Oct. 2006 – – – – 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. OWNER'S MANUAL RCX Series Robot Controller UNIT Oct. 2006 Ver. 1.06 This manual is based on Ver. 1.06 of Japanese manual. © YAMAHA MOTOR CO., LTD. IM Company All rights reserved.
