Yamaha CC-Link Uni, RCX User Manual
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.
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 manual enclosed with the YAMAHA controller for details on operating the
robot controller and on the robot program.
2
1
2
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.
* The safety precautions are ranked as “WARNING” and “CAUTION” in this manual.
WARNING
w
Failure to follow WARNING instructions could result in serious injury or death to the
operator or person servicing the product.
CAUTION
c
Failure to follow CAUTION instructions may result in injury to the operator or person servicing
product, or damage to the product or peripheral equipment.
NOTE
n
Explains the key point in the operation in a simple and clear manner.
Note that some items described as “CAUTION” may lead to serious results depending on
the situation. In any case, important information that must be observed is explained.
Store this manual where it can be easily referred to, and make sure that it is delivered to
the end user.
CC-Link is a registered trademark of CC-Link partner association.
The CC-Link compatible module provided with a label is compatible with
CC-Link Ver 1.10.
[Precautions for design]
WARNING
w
• Refer to the CC-Link system Master Module User’s Manual and this manual for
details on the state of the CC-Link system and robot controller when a communication error occurs with the CC-Link system, etc.
Configure an interlock circuit in the sequence program so that the system, including the robot controller will work safely using the communication status information.
• The SAFETY connector of the robot controller has an emergency stop terminal to
trigger emergency stop. Using this terminal, prepare a physical interlock circuit so
that the system including the robot controller will work safety.
CAUTION
c
• The control line and communication cable must not be bound with or placed near the main
circuit or power line. Separate these by at least 100mm.
Failure to observe this could lead to malfunctions caused by noise.
• 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.
2
[Precautions for installation]
WARNING
w
• 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.
CAUTION
c
• Use the robot controller within the environment specifications given in the manual.
Use in an environment outside the environment specification range could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
• Install the CC-Link compatible module into the robot controller, and securely fix with screws.
• Never directly touch the conductive sections or electronic parts other than the rotary switch on
the CC-Link compatible module.
• Never directly touch the conductive sections or electric parts inside the controller.
• Accurately connect each connection cable connector to the mounting section.
Failure to observe this could lead to malfunctions caused by a connection fault.
[Precautions for wiring]
WARNING
w
• 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.
• Always install the terminal covers enclosed with the product before turning ON the
power or operating the product after installation or wiring work.
Failure to install the terminal cover could lead to malfunctions.
2
CAUTION
c
• Tighten the terminal screws within the specified torque range.
A loose terminal screw could lead to short-circuiting or malfunctioning.
If the terminal 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
damaged by the cable shifting, movement or unintentional pulling leading to malfunctioning
caused by an improper cable connection.
• Do not disconnect the communication cable connected to the CC-Link compatible module by
pulling on the cable section.
Loosen the screws on the connector, and then disconnect the cable.
Pulling on the cable fixed with screws could lead to module or cable damage, or malfunctioning caused by an improper cable connection.
3
2
[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
malfunctioning.
A loose screw could lead to dropping, short-circuiting or malfunctioning.
If the screw is too tight, short-circuiting or malfunctioning could occur due to
screw damage.
• Never disassemble or modify any of the robot controller modules.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
• Always shut off all phases of the power supply externally before installing 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 by noise.
CAUTION
c
• If the master station PLC and robot controller are simultaneously turned on, the CC-Link
system may not operate correctly. Always first turn on the master PLC before turning on the
robot controller.
[Precautions for disposal]
CAUTION
c
• Dispose of this product as industrial waste.
This manual does not guarantee the implementation of industrial rights or
other rights, and does not authorize the implementation rights. YAMAHA
shall not be held liable for any problems regarding industrial rights that
occur through the use of the contents given in this manual.
2006 YAMAHA MOTOR CO., LTD.
4
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").
Warranty Period:
The warranty period ends when any of the following applies:
(1) After 18 months (one and a half year) have elapsed from the date of shipment
(2) After one year has elapsed from the date of installation
(3) After 2,400 hours of operation
Exceptions to the Warranty:
This warranty will not apply in the following cases:
(1) Fatigue arising due to the passage of time, natural wear and tear occurring during
operation (natural fading of painted or plated surfaces, deterioration of parts subject to wear, etc.)
(2) Minor natural phenomena that do not affect the capabilities of the robot and/or
related product (noise from computers, motors, etc.).
(3) Programs, point data and other internal data that were changed or created by the
user.
2
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 representatives.
4) Use of any other than genuine parts and specified grease and lubricants.
5) Incorrect or inadequate maintenance and inspection.
6) Repairs by other than authorized dealers.
YAMAHA MOTOR CO., LTD. MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR
FITNESS FOR ANY PARTICULAR PURPOSE. THE WARRANTY SET FORTH
ABOVE IS EXCLUSIVE AND IS IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES, INCLUDING WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
PARTICULAR PURPOSE, OR WARRANTIES ARISING FROM A COURSE OF DEALING OR USAGE OF TRADE.
YAMAHA MOTOR CO., LTD. SOLE LIABILITY SHALL BE FOR THE DELIVERY
OF THE EQUIPMENT AND YAMAHA MOTOR CO., LTD. SHALL NOT BE LIABLE
FOR ANY CONSEQUENTIAL DAMAGES (WHETHER ARISING FROM CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY). YAMAHA MOTOR
CO., LTD. MAKES NO WARRANTY WHATSOEVER WITH REGARD TO ACCESSORIES OR PARTS NOT SUPPLIED BY YAMAHA MOTOR CO., LTD.
5
2
MEMO
6
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 2 Connection
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. 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 .................................................................... 2-5
4.1 Mounting the ferrite core .............................................. 2-5
5. Connecting to the CC-Link system ....................................... 2-6
5.1 Connecting to the cable terminal to the controller ........ 2-6
5.2 Testing the line from the master station PLC.................. 2-6
6. Parameter setting for CC-Link serial I/O board .................... 2-7
6.1 Parameter setting for CC-Link serial I/O board .............. 2-8
Contents
Chapter 3 Communication
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 .............................................................. 3-3
3.2 Transmitting data .......................................................... 3-4
4.
Direct connection by emulated serialization on parallel DIO ...
4.1 Emulated serialization setting on parallel DIO .............. 3-5
5. Referring to communication data ........................................ 3-8
5.1 Referring to the data from the programming unit .......... 3-8
3-5
i
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 .......................... 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 ................................. 5-3
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 ..................................... 5-7
3.3 AUTO mode changeover, program reset and
program execution ....................................................... 5-8
3.4 Stopping with program interlock .................................. 5-9
4. Sample program ................................................................. 5-10
5. CC-Link compatible module specifications ........................ 5-17
Chapter 6 Appendix
1. Term definition..................................................................... 6-1
ii
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 ...................................................................... 1-5
MEMO
1. Features
Master station
Station that controls entire CCLink system.
The PLC master module
corresponds to this.
Remote device station
Station controlled by master station
in CC-Link system.
The robot controller corresponds to
this.
Remote I/O station
Station controlled by master
station in CC-Link system.
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.
CC-Link is the abbreviation of Control & Communication Link.
The CC-Link system connects the robot controller and dispersed input/output modules
with dedicated cables, and controls these modules from the master station PLC.
The CC-Link system allows wiring to be reduced.
1
Outline
CAUTION
c
An emergency stop terminal for
hardwire is provided in the SAFETY
connector on the robot controller.
When the CC-Link system is used
while STD. DIO is not used (external
DC 24V power supply is not used),
invalidate the external DC 24V
monitor control setting in SYSTEM >
PARAM mode. If it is left valid, the
STD. DIO interlock signal is made
valid causing an error in the robot
operation commands.
CC-Link is a registered trademark of CC-Link partner association.
The CC-Link compatible module provided with a label is compatible with
CC-Link Ver 1.10.
[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 serialization on parallel DIO]
By making the robot controller’s internal settings without using a robot program, the
various I/O devices, such as the sensors and relays mounted on the robot controller’s
parallel I/O can be controlled from the PLC as if they were CC-Link system I/O devices.
1-1
1
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.
ON/OFF information
Outline
Master station
PLC
q
Robot
controller
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 monitors the ON/OFF information at a 10ms cycle.
* The ON/OFF information consists of 16 points each of dedicated I/O points, 96 points
each of general-purpose I/O points as bit information, 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 via the CC-Link system will be monitored by w, and
will wait for the ON information.
WAIT SI (20) = 1
If the following is executed with the robot program in the robot controller, the word
information will be sent to the master station PLC via the CC-Link system by q.
SOW (2) = 256
Conversely, if the following is executed with the robot program, the word information
received from the master station PLC via the CC-Link system will be substituted in integer variable A% by w.
A% = SIW (3)
1-2
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.
t
3
2
4
1
5
w
0
6
9
7
8
3
2
4
1
5
0
6
9
7
8
3
2
4
1
5
0
6
9
7
8
r
e
q
1
Outline
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 make miswiring. These terminals are “DA”,
“DB”, “DG” 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. setting switch (MSB: 2nd digit)
This is the rotary switch for setting the robot controller station No. in the CC-Link
system. The 2nd digit of the station No. is set with this switch.
t Communication speed switch (BPS)
This is the rotary switch for setting the CC-Link system’s communication speed.
1-3
1
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.
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
Outline
sign.
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.
Output from robot controller Input to robot controller
Program language
SOW(0)*3 RWr0 SIW(0)*3 RWw0
SOW(1)
SOD(2) SOW(2) RWr2 SID(2) SIW(2) RWw2
SOW(3) RWr3 SIW(3) RWw3
SOD(4) SOW(4) RWr4 SID(4) SIW(4) RWw4
SOW(5) RWr5 SIW(5) RWw5
SOD(6) SOW(6) RWr6 SID(6) SIW(6) RWw6
SOW(7) RWr7 SIW(7) RWw7
SOD(8) SOW(8) RWr8 SID(8) SIW(8) RWw8
SOW(9) RWr9 SIW(9) RWw9
SOD(10) SOW(10) RWrA SID(10) SIW(10) RWwA
SOW(11) RWrB SIW(11) RWwB
SOD(12) SOW(12) RWrC SID(12) SIW(12) RWwC
SOW(13) RWrD SIW(13) RWwD
SOD(14) SOW(14) RWrE SID(14) SIW(14) RWwE
SOW(15) RWrF SIW(15) RWwF
SO0(7~0)
SO1(7~0)
SO2(7~0) RX(n+1)7~RX(n+1)0 SI2(7~0) RY(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)7~RX(n+5)0 SI12(7~0) RY(n+5)7~RY(n+5)0
SO13(7~0) RX(n+5)F~RX(n+5)8 SI13(7~0) RY(n+5)F~RY(n+5)8
SO14(7~0) RX(n+6)7~RX(n+6)0 SI14(7~0) RY(n+6)7~RY(n+6)0
SO15(7~0) RX(n+6)F~RX(n+6)8 SI15(7~0) RY(n+6)F~RY(n+6)8
------------ RX(n+7)F~RX(n+7)0
*1
RXn7~RXn0 SI0(7~0)*1 RYn7~RYn0
*1
RXnF~RXn8 SI1(7~0)*1 RYnF~RYn8
Caution)
*1: Has a meaning in the robot controller’s internal process as a dedicated input/output. This
cannot be used as a general-purpose input/output in the robot program.
*2: This area is reserved for the CC-Link system.
*3: Has a meaning in the robot controller’s internal process as a dedicated command region. This
cannot be used as a general-purpose input/output in the robot program.
Remote device station
*3
RWr1 SIW(1)*3 RWw1
*2
------------ RY(n+7)F~RY(n+7)0
n: Address assigned to master module with station No. setting
n= (station No. - 1) ✕ 2
Program language
Remote device station
*2
1-4
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 information, etc., differs according to the PLC type and station No., etc. Refer to the PLC
Manual for details.
PLC CPU
(A1SHCPU)
X17F to X100
D115 to D100
Y17F to Y100
D135 to D120
FROM
TO
Master station
Robot controller
(A1SJ61BT11)
Remote input Remote input
E7h to E0h
2EFh to 2E0h
167h to 160h
1EFh to 1E0h
RX(n+7)F to RXn0
RWrF to RWr0
RY(n+7)F to RYn0
RWwF to RWw0
Automatic update
5.
Robot
controller
Master station
PLC
Robot
controller
Master station
PLC
Robot
controller
Master station
PLC
or
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
controller
• 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.
• Emergency stop terminal in SAFETY connector is valid.
• Interlock signal in STD. DIO connector is valid when the external 24V monitor control setting in SYSTEM > PARAM mode is left valid.
• When the external 24V monitor control setting in SYSTEM > PARAM mode is left
valid while SAFE mode is enabled, service mode input signal is made valid with DI
(02) in SAFETY connector.
* The signals in the CC-Link system are sent and received.
* Always initialize with the master station PLC when connecting to the CC-Link sys-
tem.
Master station
PLC
Outline
w Shift from CC-Link system normal connection state to CC-Link sys-
tem erroneous connection state
• Emergency stop input turns off with SI (00) in the robot controller.
• Service mode input turns off with SI (02) in the robot controller.
• Emergency stop terminal in SAFETY connector is valid.
• Interlock signal in STD. DIO connector is valid when the external 24V monitor control setting in SYSTEM > PARAM mode is left valid.
• When the external 24V monitor control setting in SYSTEM > PARAM mode is left
valid while SAFE mode is enabled, service mode input signal is made valid with DI
(02) in SAFETY connector.
* The signals in the CC-Link system are not sent or received.
* The “CC-Link Communication Error” is added to the error history in the robot con-
troller.
* If the connection to the CC-Link system shifts from the normal state to the erroneous
state, the CC-Link system connection must be returned to the normal state.
* The CC-Link system will return when the CC-Link system connection is recovered to
the normal state.
1-5
5. Shift of CC-Link system connection status and robot controller status
Robot
controller
Master station
PLC
Robot
controller
Master station
PLC
1
Outline
e CC-Link system erroneous connection state due to following factors
when robot controller power is turned ON
• Connection to CC-Link system not possible
• Error in 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 when the external 24V monitor control setting in SYSTEM > PARAM mode is left valid.
• When the external 24V monitor control setting in SYSTEM > PARAM mode is left
valid while SAFE mode is enabled, service mode input signal is made valid with DI
(02) in SAFETY connector.
* The signals on the CC-Link system cannot be exchanged.
* As opposed to the state given in w, in this state, the emergency stop state by SI (00) is
not attained in the controller, so the robot can be operated from the programming unit.
(The robot controller can be started independently when setting up the system, etc.)
* Service mode input signal cannot be invalidated with SI (02) when SAFE mode is
enabled, so change the service mode parameter setting in SYSTEM > PARAM mode.
In this case, take full precautions to prevent improper settings that might lead to a
hazardous situation.
* When the connection to the CC-Link system is correctly recovered, the system will
automatically return to the CC-Link system.
* The “CC-Link Communication Error” has been added to the error history in the robot
controller.
(A standby state for up to 2.5 seconds will occur to check the communication.)
1-6
5. Shift of CC-Link system connection status and robot controller status
r Transmission from CC-Link system erroneous connection state to CC-
Link correct connection state when robot controller power is turned
ON
Robot
controller
Robot
controller
• CC-Link system emergency stop/interlock signals change to valid state
• Emergency stop terminal in SAFETY connector is valid.
• Interlock signal in STD. DIO connector is valid when the external 24V monitor control setting in SYSTEM > PARAM mode is left valid.
• When the external 24V monitor control setting in SYSTEM > PARAM mode is left
valid while SAFE mode is enabled, service mode input signal is made valid with DI
(02) in SAFETY connector.
Master station
PLC
Master station
PLC
Robot
controller
Master station
PLC
1
Outline
* The signals in the CC-Link system can be sent and received.
* When the connection to the CC-Link system shifts to the normal state, the initializa-
tion process must be carried out with the master station PLC when connecting to the
CC-Link system.
* When service mode parameter setting in SYSTEM > PARAM mode has been changed
while SAFE mode is enabled, make the service mode parameter setting again. In this
case, take full precautions to prevent improper settings that might lead to a hazardous
situation.
* The CC-Link system will return when the CC-Link system connection is recovered to
the normal state.
1-7
MEMO
1-8
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. 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 ................................................................................ 2-5
4.1 Mounting the ferrite core .........................................................................2-5
5. Connecting to the CC-Link system ................................................... 2-6
5.1 Connecting to the cable terminal to the controller ...................................2-6
5.2 Testing the line from the master station PLC ............................................ 2-6
6. Parameter setting for CC-Link serial I/O board ................................ 2-7
6.1 Parameter setting for CC-Link serial I/O board .........................................2-8
MEMO
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).
• When connecting CC-Link compatible module to existing robot controller
→ Follow the procedures given in section 2., and change the settings for the CC-Link
system specifications.
• For CC-Link system specification robot controller
(When robot controller is purchased with CC-Link compatible module mounted)
→ Follow the procedures given in section 3., and set the station No. and communica-
tion speed.
Confirmation position
SYSTEM V8.29
Robot = YK250X
Axis = XYZR
Standard = SRAM/364kB, DIO_N
Opt-ifo = CCLnk(S1/10M)
2
Connection
CAUTION
c
If the robot controller is not connected to the CC-Link system or if
there is an error in the CC-Link
system, the error “CC-Link Communication Error” will appear on the
MPB when the robot controller power
is turned ON. The above settings can
be confirmed even in this state.
PARAM CMU OPTION INIT DIAGNOS
[Operation]
1. Press the
2. Press the
key.
MODE
(SYSTEM) key.
F 4
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 the above example is shown below.
S1 :Station No. 1
(Setting range: 1 to 61)
* Four stations are occupied. Thus, this means that (station No. +3)
is occupied.
10M :10Mbps
(Setting communication speed [unit: bps]: 156K, 625K, 2.5M, 5M,
10M)
* The communication speed must match the master station setting.
2-1
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