YAMAHA CONTROLLER NETWORK YC-Link/E User s Manual RCX340 EUS814A100 Ver. 1.
CONTENTS YC-Link/E User’s Manual 1. Overview of YC-Link/E 1 1.1 Overview 1 1.2 Part names of YC-Link/E compatible units 2 2. Installation and settings 3 2.1 Connecting the LAN cables 3 2.2 LAN cable type 4 2.2.1 Noise prevention 4 2.3 YC-Link/E board settings 5 2.3.1 Master board settings 5 2.3.2 Slave board settings 5 2.4 PB connector of YC-Link/E slave controller 5 2.5 CE compliance 6 2.6 Circuit examples 6 2.6.1 Category 3 7 2.6.2 Overview of circuit operation 9 3.
CONTENTS 5. Troubleshooting 13 5.1 Check items at YC-Link/E start-up 13 5.2 Meanings of LEDs on the YC-Link/E board 14 5.2.1 Master board 14 5.2.2 Slave board 15 5.
111 Over view of YC-Link/E 1111 1 Over view ■ ■ About YC-Link/E ■ ■ Control method The YC-Link/E adopts an EtherCAT Note 1 base communication method for the communication among the controllers. Therefore, there are one master and one or more slaves, and the master controls the slaves. The slave is identified from the master using the station number that is set with the rotary switches on the YC-Link/E slave board. The master sends various data or commands to the slaves.
1111 Part names of YC-Link/E compatible units ■ ■ YC-Link/E master board 1 ■ YC-Link/E slave board 7 Overview of YC-Link/E 1 9 5 6 3 8 4 5 6 7 7 2 9 7 1 9 111 OUT connector A RJ-45 modular connector necessary to connect the next slave. 222 IN connector A RJ-45 modular connector necessary to connect the previous slave. 333 Station number setting switch (tens digit) A rotary switch to set the station number of the YC-Link/E slave.
222 Installation and settings This section describes how to install the YC-Link/E system. For other items, see the controller manuals. 2222 Connecting the LAN cables w c WARNING Perform the cable connection work after the power to the robot controller has been shut down completely. CAUTION • The YC-Link/E cannot use an Ethernet hub. • The maximum cable length between the master and slave is 3m.
2222 LAN cable type Use a LAN cable that prevents the noise from entering the inside of the cable. Conditions: CAT5E or higher Twist pair Dual-shield (Shielded type RJ45 modular plug) Recommended cable: NWSMC5E-SON-S2SB-SB-*** (Straight cable) (Manufacturer: MISUMI) (* shows the cable length. Cable length can be specified in 0.1m-steps in a range of 0.5 to 100m.) 2 222222 Noise prevention Installation and settings Shielded LAN cables are used for the YC-Link/E system.
2222 222222 YC-Link/E board settings Master board settings When using the RCX series controller with the YC-Link/E master board installed as YC-Link/E master, select the RCX series controller parameter [Option]-[Option board enable] to set the YC-Link/E master board (option board) enabled. After setting, this setting is reflected when the control power to the RCX series controller is turned on again.
2222 CE compliance When controlling multiple robots using the YC-Link/E function, relevant items stated in "Control of multiple robots" of the EN ISO 10218-1 standard shall be satisfied. Additionally, the requirements shown below shall also be satisfied in the same manner as one robot.
222222 Categor y 3 Category 3 safety circuit examples are shown below. ■ ■ Over view diagram of system (Multiple robots are used) Programming box 2 PLC Indicator Power supply wiring Safety circuit Controller (master) OPTION 3 4 1 3 2 4 Installation and settings 1 2 PWR Robot 1 PB COM ROB I/O 1-2 ROB I/O 3-4 SAFETY AC IN (PE) M1 BAT1 M1 BAT2 M2 BAT3 M3 M4 BAT4 EN USB SAFETY connector PB connector: Not used.
■ ■ Categor y 3 safety circuit example (Multiple robots are used.
222222 Over view of circuit operation The following describes the overview of the circuit operation of each safety circuit configuration example shown in the previous section. Programs are made so that the safety controller operates as shown in the table below. Additionally, programs are also made so that the standard requirements other than operations are also satisfied.
333 Basic specifications 3333 3 Basic specifications Communication cycle 1ms Control cycle Min. 1ms/Max. 8ms These values may depend on the robot configuration and controller configuration. Max. number of robots 4 robots Max. number of controllable 16 axes in total (including 4 axes of the master controller) axes Max. 12 axes only when using the slave Option boards that can be used for the YC-Link/E and their operating conditions Max.
444 Operation The YC-Link/E system is controlled with the master RCX series controller. In the YC-Link/E system, when the master and slaves are turned on, the communication establishment process is performed automatically. After the communication has been established, the robot can be operated. For details about basic operating procedures, see the RCX series controller (RCX340) manual. The following describes the YC-Link/E system specific operating procedures and cautions.
4444 Checking the communication establishment between the master and slave Use the procedures below to check the communication status among the controllers in the YC-Link/E system. 1. LED lighting pattern of the YC-Link/E boards (both the slave and master boards) 2. 7-segment LED display on the controller 3. Judgment by the dedicated output signal (MPREADY) The following describes how to make the judgment by each procedure.
555 Troubleshooting 5555 Check items at YC-Link/E start-up If the communication is not established or the robot cannot be controlled even after the YC-Link/E has been started up while referring to the operating procedures stated in this manual, check the following items in addition to the RCX series controller status. 1. How are the LEDs on the YC-Link/E board lighting? 2. Does any alarm occur? 3. Does the master communicate with all slaves? The following shows each check item in detail.
5555 Meanings of LEDs on the YC-Link/E board The following describes the LEDs on the YC-Link/E compatible unit. These LEDs are used to check the communication status or take troubleshooting actions in case of an error. 555555 Master board RUN ERR LINK 5 LED type Troubleshooting RUN ERR Color Green Lighting Meaning and corrective action Lit. Meaning: Communicating with all slaves. Corrective action: Operate as it is.
555555 Slave board RUN ERR SYS LED type Color Green Green and red Lighting Meaning and corrective action Always lit. Meaning: Normal status Corrective action: Operate as it is. Lit alternately. Meaning: Failed to start up correctly. Corrective action: 1. Turn off the controller, and turn it on again. 2. The controller may malfunction. SYS Meaning: Green and red Always lit Off Failed to start up correctly. Corrective action: 1. Turn off the controller, and turn it on again. 2.
5555 YC-Link/E related alarms This section describes the error massages related to the YC-Link/E system. 19.400 : YC/E SLAVE CONNECTING RETRY Code: &H0013 &H0190 Meaning/Cause Corrective action The YC-Link/E slave is retrying the connection establishment with the master. Retrying the connection. Please wait. 19.500 : YC/E MASTER PORT OPEN FAIL Code: &H0013 &H01F4 Meaning/Cause The communication port of the YC-Link/E master board does not open within a certain period of time (about 20sec.).
19.900 : YC/E MASTER BOARD WATCHDOG ERROR Code: &H0013 &H0384 Meaning/Cause Corrective action The data was not sent from the master board of the YC-Link/E for a certain period of time. Check the LAN cable for disconnection. Take noise preventive measures. Replace the master board. 19.902 : YC/E MASTER DATA SEND FAIL Code: &H0013 &H0386 Meaning/Cause Corrective action The master board of the YC-Link/E could not send the data for a certain period of time. Check the LAN cable for disconnection.
19.993 : YC/E MASTER UNKNOWN ERROR Code: &H0013 &H03E1 Meaning/Cause Corrective action 5 Troubleshooting 18 An unknown error occurred in the YC-Link/E. Inform your distributor of the situation.
Revision record Manual version Issue date Ver. 1.00 Oct. 2014 Description First edition User’s Manual YAMAHA CONTROLLER NETWORK YC-Link/E Oct. 2014 Ver. 1.00 This manual is based on Ver. 1.00 of Japanese manual. YAMAHA MOTOR CO., LTD. IM Operations All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable.
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