Home
CC-Link Unit User`s Manual
Contents
1. 5 11 Sample anisqa ben Doro to oec ke 5 12 CC Link compatible module specifications 5 19 CHAPTER V Outline D lel 1 3 152 ce 1 4 1 3 Names of each on the CC Link compatible module 1 5 1 4 Assignment of CC Link compatible 1 6 1 5 Shift of CC Link system connection status and robot controller status 1 7 1 1 CHAPTER1 Outline Features CC Link is the abbreviation of Control amp 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 Master station Station that controls entire CC Link system The PLC master module corresponds to this Remote I O station Station controlled by master station Remote device station in CC Link system Station controlled by master station in CC Link system The robot controller corresponds to this CC Link is a registered trademark of Mitsubishi Electric Corporation Co Ltd The CC Link compatible module provided with a label is compatible with CC Link Ver 1 10 Wiring saving
2. 2 8 2 3 1 Removing the standard module 2 8 2 3 2 Installing the CC Link compatible module 2 9 2 3 3 Changing the robot controller DIP switch 2 10 Noise measures OREL DU e Rem LEER EROS 2 12 2 4 1 Mounting the ferrite 2 12 Connecting to the CC Link 2 13 2 5 1 Connecting to the cable terminal to the controller 2 13 2 5 2 Testing the line from the master station PLC 2 14 Connecting the emergency stop terminal 2 15 Communication 3 1 State when robot controller power is turned ON 3 3 Initial process for connecting to CC Link system 3 4 3 2 1 Initial data process paa Need ttn s 3 4 Communication with master station PLO 3 5 3 3 1 Receiving data i eee eR RET a ua 3 5 3 2 be dudas 3 6 Direct connection by emulated serialization on parallel DIO 3 7 3 4 1 Setting from teaching 3 7 Referring to com
3. Driver module 2 Cooling fan MOTOR connector PI connector Example of back view when CC Link compatible module is mounted on QRCH The emergency stop terminal may be a screw terminal block type or spring terminal block type For screw terminal block type Single wire twisted wire 0 2 to 1 5mm AWG24 to 16 Treat the ends of the wires with a round terminal or Y terminal so that they do not dislocate Carefully connect to prevent incorrect wiring For spring terminal block type Single wire twisted wire 0 2 to 1 5mm AWG24 to 16 Peeled wire length 10mm Use of a bar terminal is possible When connecting press the yellow button on the top of the terminal block with a preci sion screwdriver etc and push in the wire material Treat the end of the wires with solder or completely twist so that they do not dislocate Carefully connect to prevent incorrect wiring 2 15 CHAPTER Communication WEE P 3 1 3 2 3 3 3 4 3 5 State when robot controller power is turned ON 3 3 Initial process for connecting to CC Link system 3 4 3 2 1 Initial data process Ee 3 4 Communication with master station PLO 3 5 Scc MEME Lie roger 3 5 3 3 2 Transmiliing dala 3 6 Direct c
4. Cooling fan MOTOR connector PI connector Example of back view when CC Link compatible module is mounted on QRCH Procedures 1 Completely shut off the power input to the robot controller Disconnect the I O cable if it is connected 2 Move the robot controller to a position where work can be carried out on the back side Using a Phillips head screwdriver remove the two screws on both sides of the CC Link compatible module connected at the top back of the robot controller Pull out the CC Link compatible module in the direction parallel with the robot con troller grounding surface Completely shut off the power supplied to the robot controller Completely shut off the power supplied to the robot controller Always disconnect the cables connected to the CC Link compatible module Carefully remove the CC Link compatible module while taking care not to ap ply excessive force Never directly touch the conductive sections or electronic parts other than the rotary switch on the CC Link compatible module Do not apply impact on the CC Link compatible module Do not place water or conductive matters etc which could cause damage near the CC Link compatible module A 2 4 2 2 2 CHAPTER2 Connection Setting the station No Using the rotary switches MSB and LSB on the top of the CC Link compatible module set the station No of
5. One dedicated cable 4 wire is used to connect the robot controller and PLC This al lows the entire system wiring to be reduced Note that the emergency stop terminal is provided separately 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 3 CHAPTER1 Outline 1 2 Mechanism The mechanism of communication is explained in this section to provide an understand ing of how the robot controller and PLC operate via the CC Link system D ON OFF information Master station Robot PLC controller 1 The robot controller s ON OFF information is sent to the master station PLC via the network CC Link system cable 2 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 and 96 points each of general purpose I O points If the following is executed with the robot program in the robot controller the ON infor mation will be sent to the master station PLC via the CC Link system by SO 20 21 Conversely if the following is executed with the robot progr
6. Procedure 1 Completely shut off all power input to the robot controller 2 Move the robot controller to a position where work can be carried out on the back side 3 If a CC Link compatible module is connected remove it with the procedure given in section 1 4 Setthe CC Link compatible module at the back top position of the robot controller so that it is parallel with the robot controller s grounding surface and insert it along rails 5 Using a Phillips head screwdriver accurately fix the two screws on both sides of the inserted CC Link compatible module 6 Connect the CC Link communication cable and emergency stop cable Completely shut off the power supplied to the robot controller Always install the CC Link compatible module with the connection cables dis connected Carefully remove the CC Link compatible module while taking care not to ap ply excessive force Never directly touch the conductive sections or electronic parts other than the rotary switch on the CC Link compatible module Do not apply impact on the CC Link compatible module Do not place water or conductive matters etc which could cause damage near the CC Link compatible module 2 7 CHAPTER2 Connection 2 3 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 and the DIP switches in the robot co
7. 10M The communication baud rate must match the master station setting f 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 2 3 CHAPTER2 Connection 2 2 Setting the CC Link compatible module To connect the CC Link system specification controller to the CC Link system the sta tion No and communication baud rate must be set with the rotary switch on the CC Link compatible module Confirm the current station No and communication baud rate with the procedures given in section 2 1 The operations given in section 2 3 are not required when this section is set prr t e e a s s s a a aa a a e a 2 2 1 Removing the CC Link compatible module Remove the CC Link compatible module connected at the top back of the robot controller Expansion output connector Controller serial No Expansion input connector CC Link compatible module Power AC paucis Expansion module Driver module 1 Driver module 2
8. Using this function confirm that the robot controller is accurately recog nized as a remote station in the CC Link system Refer to the master station PLC instruction manual for details f the line test results indicate a correct connection place the CC Link system cable into a conduit or fix it with a clamp 2 14 2 6 CHAPTER2 Connection Connecting the emergency stop terminal The CC Link compatible module has a physical emergency stop terminal in addition to the emergency stop signal in the CC Link system Prepare a physical interlock circuit so that the system including the robot controller will work safely using this terminal The specifications of this emergency stop terminal are the same as the emergency stop input DIOO for using the internal power supply in the input output interface listed in the robot controller instruction manual Refer to the robot controller instruction manual for details When operating the robot controller before preparing the interlock circuit such as when setting up the system this emergency stop terminal must be short circuited CC Link system cable Emergency stop terminal Expansion input Expansion output Controller serial No P P CC Link compatible module Power AC connector NI 3 Expansion module Driver module 1
9. YAMAHA YAMAHA MOTOR LTD YAMAHA Robot Controller MRCH QRCH QRCX Series CC Link UNIT OWNER S MANUAL 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 sys tem using this product The safety precautions are ranked as WARNING and CAUTION in this manual Failure to follow WARNING instructions could result in serious injury or death to the operator or person servicing the product CAUTION 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 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 Mitsubishi Electric Corporation Co Ltd The CC Link compatible module provided with a label is compatible with CC Link Ver 1 10 Precautions for design Refer to
10. the robot controller Confirmation item 2 Confirmation details The OK LED is OFF Cause major error has occurred in the robot controller lt Countermeasures gt Confirm the error message displayed on the teaching box Take measures by following the troubleshooting section in the robot controller instruction manual Refer to the robot controller instruction manual for details on the errors 4 5 CHAPTER4 Troubleshooting 4 3 2 Teaching box error display confirmation Confirmation item 1 lt Confirmation details gt e CC Link Communication Error is displayed on the teaching box lt Cause gt An error has occurred the CC Link system connection lt Countermeasures gt Check whether the CC Link system cable is disconnected or incorrectly con nected Check the station No and communication baud rate settings for the CC Link compatible module Confirm that the master station PLC is operating Confirmation item 2 Confirmation details Anerror other than CC Link Communication Error is displayed on the teach ing box In this case this problem is not related to the CC Link system connec tion Cause An error has occurred in the robot controller lt Countermeasures gt Check the error message displayed on the teaching box Check the error history using the teaching box Check the error history in the System gt Diagnosis gt Error History
11. 4 0 810 7 to 0 RY n 4 7 to RY n 4 0 5011 7 to 0 RX n44 F to RX n 4 8 5111 7 to 0 RY n 4 F to RY n 4 8 5012 7 to 0 RX n 5 7 to RX n 5 0 5112 7 to 0 RY n 5 7 to RY n 5 0 RX n 5 E to RX n 5 8 RY n45 F to RY n 5 8 5014 7 to 0 RX n46 7 to RX n 6 0 5114 7 to 0 RY n 6 7 to RY n 6 0 5013 7 to 0 5113 7 to 0 5015 7 to 0 5115 7 to 0 RX n 6 F to RX n 6 8 RX n 7 F to RX n 7 0 2 RWr0 to RWr31 3 RY n 6 F to RY n 6 8 RY n 7 F to RY n 7 0 2 RWw0 to RWw31 3 n Address assigned to master module with station No setting 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 output in the robot program 2 This area is reserved for the CC Link system 3 The remote registers are not currently supported 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 infor mation etc differs according to the PLC type and station No etc Refer to the PLC Manual for details PLC CPU A1SHCPU RXnF to RXnO x 2 lt O X17F to X170 E8h RX n 7 F to RX n 7 0 Remote output RYnF to RYnO a i Y17F to Y170 168h Automatic update Master station Robot controller A1SJ61BT11 Rem
12. 7 4 RY n 7 5 RY n 7 6 RY n 7 7 Reserved Initial data process request flag RY n 7 8 Initial data process complete flag RX n 7 B Not used Remote READY RY n 7 9 RY n 7 A RY n 7 B RX n 7 C RX n 7 D Reserved RY n 7 C RY n 7 D Not used Reserved RX n 7 E RX n 7 F Reserved QnA RY n 7 E RY n 7 F Reserved QnA n Address assigned to master module with station No setting Remote registers Remote Master Master Remote Address Details Default Address Details Default RWrm RWrm 1 RWrm 3 RWrm 4 RWrm 5 RWrm 6 RWrm 7 Not used RWwn RWwn 1 RWwn 3 RWwn 4 RWwn 5 RWwn 6 RWwn 7 Not used m n Address assigned to master module with station No setting CHAPTERS Appendix 5 2 Details of remote input output signals Device No Signal name Details RXnO SO 00 Emergency stop input status output Turns ON when robot controller is in emergency stop state RXn1 SO 01 CPU OK status output Turns ON when robot controller is in normal state RXn2 SO 02 Servo ON status output Turns ON when robot s servomotor is ON RXn3 SO 03 Alarm status output Turns ON when robot controller is in following state Error state Emergency stop input OFF SO 10 Automatic mode status output Turns ON when selected mode is automatic mode Turns OFF when other mode is selected SO 11 Origin return complet
13. D040 A 101 B 201 ROUTINE MAIN ROUTINE MOVE P P100 Z 0 GOSUB PICK STI MOVE P P A Z 0 GOSUB PLACE MOVE P P100 Z 0 50 41 1 WAIT SI 41 21 SO 41 20 WAIT SI 41 20 50 23 22 21 20 100 50 40 1 WAIT SI 40 1 50 40 0 WAIT SI 40 0 50 23 22 21 20 0 GOSUB PICK WAIT SI 42 21 50 42 1 WAIT SI 42 0 50 42 0 1 A gt 108 THEN A 101 DO 47 1 WAIT DI 47 1 DO 47 0 ENDIF GOTO ST1 HALT SUB ROUTINE FOR PICK PICK DO 40 1 DRIVE Q P121 S220 WAIT ARM 3 DO 40 0 DELAY 500 RETURN SUB ROUTINE FOR PLACE PLACE DRIVE P122 S 20 WAIT ARM 3 DO 40 1 DELAY 500 RETURN 5 15 MOVE P P200 Z 0 GOSUB PICK ST2 WAIT SI 41 1 50 41 1 WAIT SI 41 0 50 41 0 WAIT SI 40 1 5 23 22 21 20 50 40 1 WAIT SI 40 0 50 40 0 B B 200 MOVE P P B Z 0 GOSUB PLACE MOVE P P200 Z 0 50 42 1 WAIT SI 42 1 50 42 0 WAIT SI 42 0 GOSUB PICK GOTO ST2 HALT SUB ROUTINE FOR PICK PICK DO 40 1 DRIVE 3 P221 S 20 WAIT ARM 3 DO 40 0 DELAY 500 RETURN SUB ROUTINE FOR PLACE PLACE DRIVE 3 P222 S 20 WAIT ARM 3 DO 40 1 DELAY 500 RETURN CHAPTERS Appendix 42 44 46 48 51 63 91 P10 92 103 107 PLC program 5 16 XOF 1 PLS I SET 1 M1 I MOV K2 00 TO H0 H1 00 Ki MOV H1401 01 MOV H1405 D2 TO HO DI K2 itt M90
14. ON lt Countermeasures gt Carry out the initial data process when connecting to the CC Link system PPS 4 3 4 Confirmation from master station PLC Confirmation item 1 Confirmation details 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 Confirmation details Using the master station PLC s line test function check whether an error has occurred in the robot controller s CC Link connection Cause The ferrite core for noise measures is not connected The CC Link cable is laid near sources of noise such as the power cable lt Countermeasures gt Connect the ferrite core for noise measures onto the input power cable Wire the CC Link cable away from noise sources such as the power cable 4 7 CHAPTER 2222222222 Appendix WEE FEPP P SPINE et REESE 5 3 5 2 Details of remote input output signals 5 5 5 3 Dedicated input output signal timing chart 5 7 5 3 1 Initial data process for CC Link connection 5 7 5 3 2 Servo ON and emergency 5 8 5 3 3 Origin return Valid when incremental motor is connected 5 9 5 3 4 Automatic mode cha
15. PLC data assignment 1 Unit error 1 Local station data link status X6 1 Data link start normal completion X7 1 Data link start error completion XOF 1 Unit ready X100 Ist unit s SO 00 Emergency stop input status X101 Ist unit s SO 01 CPU OK 17 Ist unit reservation X180 2nd unit s SO 00 Emergency stop input status X181 2nd unit s SO 01 CPU 2nd unit reservation YO 1 Refresh instruction Y6 1 Data link start request Y100 Ist unit s SI 00 Emergency stop input Y101 Ist unit s SI 01 Servo ON input Ist unit reservation 180 2nd SI 00 Emergency stop input Y181 2nd unit s SI 01 Servo ON input YIFF 2nd unit reservation MO Unit preparation complete flag MI Parameter setting flag M2 Data link start flag M4 Ist station data link status M8 5th station data link status DO No of connection units storage device D1 Ist unit local station information setting storage device D2 2nd unit local station information setting storage device D10 Parameter setting status storage device 1 This number is determined by the master module mounting position and the number of occupied input output points mounted before the module 5 14 CHAPTERS Appendix Robot program 1st unit s QRCH 2nd units QRCH INIT ROUTINE INIT ROUTINE RESET 502 RESET 502 RESET 504 RESET 504 RESET D040 RESET
16. RYn7 Robot controller input port No 51 00 to SI 07 RYn8 to RYnF SI 10 to SI 17 RY n 1 0 to RY n 1 7 SI 20 to SI 27 RY n 1 8 to RY n 1 F SI 30 to SI 37 RY n42 0 to RY n 2 7 SI 40 to SI 47 RY n42 8 to RY n42 F SI 50 to SI 57 RY n43 0 to RY n 3 7 SI 60 to SI 67 RY n43 8 to RY n43 F SI 70 to SI 77 RY n44 0 to RY n44 7 RY n44 8 to 1 4 SI 100 to SI 107 SI 110 to SI 117 RY n 5 0 to RY n 5 7 SI 120 to SI 127 RY n45 8 to 1 5 S1 130 to SI 137 RY n 6 0 to RY n 6 7 SI 140 to SI 147 RY n 6 8 to 1 6 51 150 to SI 157 n Address assigned to master module with station No setting When reading the bit data from the master station PLC s output device No with the robot controller write the following commands in the robot program in the same manner as the DI input port WAIT command Substitute statement Example To wait for RY n 1 0 to turn ON WAIT 5 20 1 The robot program will wait for SI 20 to turn ON Example To read the RY n 1 0 to RY n 1 7 data in variable A SI2 The 512 data will be converted into a decimal and substituted into variable A If SI20 is 7Fh variable A will be 127 CAUTION The SI statement in the robot language uses the same syntax as a DI statement If the SI statement is not described in the programming manual refer
17. 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 lead ing to malfunctioning caused by an improper cable connection Do not disconnect the communication cable connected to the CC Link compat ible 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 5 3 Precautions for starting and maintenance 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 clean ing or tightening the terminal screws Failure to shut off all phases could lead to electric shocks product dam age or malfunctioning A loose screw could lead to dropping short circuiting or malfunction ing 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 install ing or removing the CC Link compatible module Failure to shut off all phases could lead to robot controller trouble or malfunctioning Wh
18. output and the servo ON status output OFF will be output The servo ON process is required to start the program again 5 11 CHAPTERS Appendix 5 4 Sample program An example for the following type of hardware configuration has been prepared for this section Pallet MXYt SXYt 2nd unit supply position 1st unit supply position C103 C10 P104 Loo P108 Remote device station Remote device station QRCH 1st unit QRCH 2nd unit Master station SXYt 3 axes MXYt 3 axes A1SHCPU Station No 1 4 Station No 5 4 A1SJ61BT11 stations occupied stations occupied pom c Ou Details of sample Pick amp place work is carried out using PLC and QRCH SXYt 3 axes 3 axes The workpieces supplied to each robot are arranged on one pallet The workpiece is supplied at a rate faster than the robot operation The two robots will interfere above the pallet so data is exchanged to prevent inter ference When handling the workpiece the robot moves at a low speed The robot controller directly exchanges the pallet Refer to the robot programming manual for details on the robot program language The PLC circuit is a simple circuit that executes the selected robot program when emergency st
19. the CC Link system Master Module User s Manual and this manual for details on the state of the CC Link system and robot control ler when a communication error occurs with the CC Link system etc Configure an interlock circuit in the sequence program so that the sys tem including the robot controller will work safely using the communi cation status information This CC Link compatible module has an emergency stop terminal to set the robot controller in the emergency stop state Prepare a physical interlock circuit so that the system including the robot controller will work safety using this terminal A CAUTION 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 5 1 Precautions for installation 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 start ing installation or wiring work Failure to shut off all phases could lead to electric shocks or product damage CAUTION Usethe 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 produ
20. the robot controller in the CC Link system Panel surface Top view of CC Link compatible module Procedures 1 Confirm the station No of the robot controller in the CC Link system The station No must be set between 1 and 61 Up to 64 stations can be set as the CC Link system but as the CC Link compatible module occupies four stations it will occupy station No 3 Thus the above setting range applies 2 Using a precision Phillips head screwdriver set the 1Oth place digit of the station No with rotary switch MSB 3 In the same manner set the 1st place digit with rotary switch LSB Never directly touch the conductive sections or electronic parts other than the rotary switch on the CC Link compatible module Do not apply impact on the CC Link compatible module Do not place water or conductive matters etc which could cause damage near the CC Link compatible module Accurately set the station No Make sure not to set the rotary switch BPS by mistake 2 5 CHAPTER2 Connection 2 2 3 Setting the communication baud rate Using the rotary switch BPS on the CC Link compatible module set the communication baud rate for the robot controller in the CC Link system Panel surface Top view of CC Link compatible module Procedures 1 Confirm the communication baud rate for the robot controller in the CC Link system The communication baud rate must be set between 156K and 10Mbps The corre
21. to the section for the DI statement Communication 3 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 control ler s output port numbers is shown below Robot controller output port No SO 00 to SO 07 SO 10 to SO 17 SO 20 to SO 27 SO 30 to SO 37 SO 40 to SO 47 SO 50 to SO 57 SO 60 to SO 67 SO 70 to SO 77 SO 100 to SO 107 SO 110 to SO 117 SO 120 to SO 127 SO 130 to SO 137 Master station input device No RXn0 to RXn7 RXn8 to RXnF RX n 1 0 to RX n 1 7 RX n 1 8 to RX n 1 F RX n 2 0 to RX n 2 7 RX n 2 8 to RX n 2 F RX n 3 0 to RX n 3 7 RX n 3 8 to RX n 3 F RX n 4 0 to RX n 4 7 RX n 4 8 to RX n 4 F RX n 5 0 to RX n 5 7 RX n 5 8 to RX n 5 F RX n 6 0 to RX n 6 7 SO 140 to SO 147 RX n 6 8 to RX n 6 F SO 150 to SO 157 n Address assigned to master module with station No setting To write the robot controller s bit data into the master station PLC s input device No write the following commands in the robot program in the same manner as the DO out put port SET RESET command Substitute statement Example To turn RX n 1 0 ON SET SO 20 or SO 20 21 SO 20 will turn ON Example To write variable A data into RX n 1 0 to RX n 1 7 5020 A The variable A d
22. 2 Testing the line from the master station PLC 2 14 Connecting the emergency stop terminal 2 15 2 2 2 1 CHAPTER2 Connection Confirming the CC Link compatible module settings With the CC Link system specification robot controller the CC Link compatible mod ule station No and communication speed settings can be confirmed with the teaching box hereinafter MPB For CC Link system specification robot controller When robot controller is purchased with CC Link compatible module mounted Follow the procedures given in section 2 2 and set the station No and communi cation speed When connecting CC Link compatible module to existing robot controller Follow the procedures given in section 2 3 and change the settings for the CC Link system specifications Confirmation position Robot SXYt Axis XYZ Memory SRAM 256k Others CCLINK S1 10M Operation Press the MPB key 2 Press the MPB system key 3 The display above will appear The station No and communication baud rate set for the CC Link system will appear in the parentheses following CCLINK on the screen The meaning of the above example is shown below SI Station No 1 Setting range 1 to 61 Four stations are occupied Thus this means that station No 3 is occupied 10M 10Mbps Setting baud rate unit bps 156K 625K 2 5M 5M
23. 38 4 ISET YV MO SET 2 M2 I SET Y6 X6 I RST Y6 RST 2 X7 I FROM HO H668 D10 Ki RST Y6 RST 2 XOF M E 1 FROM HO H680 6 M4 ME CALL P10 M4 H Y20 M8 gt CALL P20 M8 Y21 FEND M9036 1 FROM HO HOEO K4X100 K8 X178 poy pe set Y100 SET Y109 SET Y178 RST Y178 No of connected modules Station information Refresh instruction Data link start normal completion Data link start error completion Read each data link status SW0080 Station No 1 normal Station No 1 error Station No 2 normal Station No 2 error Read station No 1 remote input Set emergency stop input ON Set interlock input ON Set initial data process compete flag ON Set initial data process complete flag OFF CHAPTERS Appendix gt 17 101 100 102 109 1 101 X102 109 1 gt 10 108 109 At gt 10 109 Y10B X108 X10B X10C gt gt 100 108 10 10 H A Y10A X17B X190 137 I Y110 X191 Y111 X192 H Y112 X193 Y113 X1A0 Y120 X1A1 Y121 User application X1A2 Y122 X1A3 Y123 X1B 0 X1B1 Y181 X1B2 Y132 X1B3 Y133 X1C0 Y140 X1C1 Y141 X1C2 142 X1C3 M9036 1864 TO HO He K4Y100 K8 Write to station No 1 remote output 196 RET P20 M9036 197 4 FRO
24. CHAPTER1 Outline 3 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 Robot Master station controller PLC Emergency stop interlock signals in CC Link system are invalid CC Link Communication Error is displayed on the teaching box when the power is turned ON A maximum 2 5 second wait will occur to confirm the communication at this time Physical emergency stop signal terminal is valid Robot controller The signals on the CC Link system cannot be exchanged As opposed to the state given in 2 in this state the emergency stop state by SI OD is not attained in the controller so the robot can be operated from the teaching box The robot controller can be started independently when setting up the system etc When the connection to the CC Link system is correctly recovered the system will automatically return to the CC Link system 4 Transmission from CC Link system erroneous connection state to CC Link correct connection state when robot controller power is turned ON Robot Master station controller PLC Robot Master station controller PLC Robot controller CC Link system emergency stop interlock signals change to valid state Physical emergency stop signal terminal is valid The signals in the CC Link system can be sent and received When the connec
25. M HOE8 K4X180 K8 Read station No 2 remote input X1F8 208 1 SET Y180 Set emergency stop input ON SET Y189 Set interlock input ON SET Y1F8 Set initial data process compete flag ON 5 17 CHAPTERS Appendix X1F8 12 RST Y1F8 Set initial data process 1 X181 X180 X182 complete flag OFF 214 4 I 11 AM 181 189 Ar Y18E 189 gt 18 Y18B X18B X18C gt f Y18D X18C X18B 4 1 X110 242 Y190 X111 Y191 X112 192 X113 Y193 X120 Y1A0 X121 User application Y1A1 X122 Y1A2 X123 Y1A3 X130 1 0 X131 Y1B1 X132 Y1B2 X133 Y1B3 X140 E MM T1n00 X141 Y1C1 142 Y1C2 X143 Y1C3 M9036 291 0 168 K4Y180 K8 Write to station No 2 remote output 301 RET 302 END 5 18 CHAPTERS Appendix 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 Specification item CC Link compatible module Target controller QRCH MRCH QRCX Series controller Remote station type Remote device station Numb
26. am the ON OFF informa tion received from the master station via the CC Link system will be monitored by 2 and the robot controller will wait for the ON information WAIT SI 20 21 1 4 CHAPTER1 Outline 1 3 Names of each part on the CC Link compatible module The names of each part on the CC Link compatible module mounted on the robot con troller are described in this section This module is mounted on the top back of the robot controller The standard I O module cannot be mounted in this case CC LINK RUN ERRL SD RD DA DB DG SLD 0000 1965 D 9 3 Panel front Panel front CC Link compatible board Top view of CC Link module D Emergency stop terminal This emergency stop terminal requires physical wiring separate from the emergency stop input on the CC Link system This must be short circuited for the robot control ler to operate correctly Sequence this terminal with the safety fence etc used to protect the worker entering the robot s movement range and ensure safety for the robot 2 Transmission monitor LED The status in the CC Link system is indicated with ON OFF and flickering status of four LEDs 3 CC Link system cable terminal This terminal is used to connect the CC Link system cable Each of the four terminals has a meaning Make sure not to incorrect wire these 4 Station No setting switch MSB 10th place This is the rotary switch for setting the robot controller station No in t
27. ata will be converted into a binary and substituted into 502 If variable is 127 7Fh will be set in SO2 The SO statement in the robot language uses the same syntax as a DO statement If the SO statement is not described in the programming manual refer to the section for the DO statement 3 6 Communication Direct connection by emulated serialization on parallel DIO The master station PLC can exchange ON OFF information data with the parallel port on the robot controller s expansion I O module 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 device Sensor relay etc e d CC Link p connection 7 lt 7 7 Remote device station robot controller Parallel connection When the directly connected and set output port is used with the program the ON OFF information may not become the intended value Do not use the directly connected and set output port with the program PS 3 4 1 Setting from teaching box The relation of the parallel port and serial port that can be connected is shown below Input device such as sensor Output device such as valve Dl port SOport DO pot lt Slport 040 50120 0040 5120 50130 51130 50140 51140 50150 5115 Operation 1 Press the UTILITY LOWER ESC key on the tea
28. ate was set The master station setting does not match the remote device station setting Communication with the master station was not possible when the power was turned ON This also occurs if the controller is not set for CC Link Others An improbable state Q ON OFF Flicker ACAUTION Even if the LED displays indicate the normal communication state there may be cases when communication with the master station PLC is not possible unless the initial data process is carried out Always carry out the initial data process Refer to Chapter 3 4 4 CHAPTER4 Troubleshooting 4 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 4 3 1 Robot controller front panel LED confirmation 4 3 2 Teaching box error display confirmation 4 3 3 CC Link compatible module LED confirmation 4 3 4 Confirmation from master station PLC EP 4 3 1 Robot controller front panel LED confirmation Confirmation item 1 Confirmation details The POWER LED is OFF Cause Power is not being supplied to the robot controller lt Countermeasures gt Measure the power input terminal on the power connector with a tester and confirm that the rated power is being supplied Refer to the robot controller instruction manual for the rated current values for
29. ching box hereinafter MPB twice to display the following screen Date Time 99 05 20 19 02 03 Execut level LEVEL1 EIU 3 7 Communication 2 Next press the MPB F 6 F 1 DIO amp SIO key The following screen will appear and settings can be made The highlight indicates the currently selected port Select the port using the 1 and keys UTILITY gt DIO amp SIO Direct conection DIO lt gt SIO 014 gt 15012 004 15112 DI5 L 15013 DO5CO 15113 16 gt 15014 0060 lt 15114 17 15015 007 151150 EIN u ss 3 Tosetthe selected port as a direct connection press the set key To cancel the setting press the reset key gt 47 lt will appear in the brackets for the set port 3 8 Communication Referring to communication data The ON OFF information exchanged with the master station PLC can be referred to using the teaching box hereinafter MPB Note that the MPB display update interval is longer than the CC Link data update inter val so if the ON OFF interval is short accurate information may not be displayed a PP 3 5 1 Referring to the data from the teaching box The data exchanged with the master station PLC can be referred to with the MPB The reference unit is the robot contr
30. ct damage or deterioration Mount the CC Link compatible module on the back of 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 other than the DIP switch on the CPU board Accurately connect each connection cable connector to the mounting section Failure to observe this could lead to malfunctions caused by a connection fault S 2 Precautions for wiring Always shut off all phases of the power supply externally before start ing 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 turn ing ON the power or operating the product after installation or wiring work Failure to install the terminal cover could lead to malfunctions A CAUTION 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
31. cy stop state Must maintain ON state during normal operation RYn1 SI 01 Servo ON input Turns ON when emergency stop state is canceled and robot s servomotor turns ON Servo ON is executed at the change in status from OFF to ON Note that the following conditions must be satisfied RYn0 is ON Emergency stop switch on front of robot controller is canceled Emergency stop switch on teaching box is canceled Emergency stop terminal on CC Link compatible module is closed SI 10 Sequence control input Turns ON when the sequence program in the robot controller is being executed Program is executed when this is ON and stops when this is OFF SI 11 Interlock input SI 12 Start input SI 13 Automatic mode input Turns OFF when running robot program stops or manual movement is stopped Must maintain ON state during normal operation Turns ON when selected robot program is being executed The robot program is executed at the change in status from OFF to ON Turns ON when the automatic mode is selected Shifts to the automatic mode at the change in status from OFF to ON SI 14 Origin return input Turns ON when robot origin return is executed Origin return is executed at the change in status from OFF to ON Valid only for the incremental motor SI 15 Program reset input SI 16 Manual mode input Turns ON when selected robot program is reset Program is reset at the chan
32. e 2 Fix the mounted ferrite core with an Insulock tie etc Completely shut off the power supply to the input power cable before starting this work Securely fix the ferrite core If the ferrite core is not mounted trouble could occur with the CC Link system operations 2 12 CHAPTER2 Connection 2 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 EE 2 5 1 Connecting to the cable terminal to the controller Connect the CC Link system cable to the C Link system cable terminal on the right of the CC Link compatible module CC Link system cable terminal Emergency stop terminal Expansion input Expansion output Controller serial No MEE P nee CC Link compatible module Power AC 0000 Expansion module Driver module 1 Driver module 2 Cooling fan MOTOR connector PI connector Example of back view when CC Link compatible module is mounted on QRCH Procedure 1 Using a Phillips head screwdriver completely loosen the two screws on both sides of the CC Link system cable terminal and remove the terminal block section from the CC Link compatible module 2 Using a Phillips head screwdriver securely fix the CC Link syste
33. e status output Turns ON when robot has complete origin return Remains valid until origin return is started again or power is turned OFF SO 12 Sequence program execution status output Turns ON while sequence program is executed SO 13 Robot program execution status output Turns ON while robot program is executed SO 14 Program reset status output Turns ON when robot program has been reset Turns OFF when robot program starts SO 20 to SO 27 General purpose output General purpose output turns ON OFF when value is substituted to SO port or SET RESET command is executed SO 150 to SO 157 General purpose output Initial data process request flag The initial data process request flag turns ON to request the initial data setting when the power is turned ON or when returning from a communication error Turns OFF when initial data process is completed initial data process complete flag RY n 7 8 turns ON Remote READY Turns ON when initial data setting is completed and READY state is entered when power is turned ON or when returning from communication error n Address assigned to master module with station No setting SO 01 to SO 14 are equivalent to DO 01 to DO 14 explained in the controller instruction manual 5 5 CHAPTERS Appendix Device No Signal name Details RYnO SI 00 Emergency stop input Turns OFF when controller enters emergen
34. emergency stop state output servo ON status ON is output c After confirming that servo ON status output is ON servo ON input OFF is input Shift to emergency stop d Emergency stop input OFF is input e Emergency stop status and alarm output ON is output Servo ON status output OFF is output Servo ON process from emergency stop status f Emergency stop input ON is input g Emergency stop status output OFF is output h Servo ON input ON is input 1 Alarm status output OFF is output 1 Servo ON status output ON is output k After confirming that servo ON status output is ON servo ON input OFF is input The servo is OFF when the controller power is turned ON 5 3 3 CHAPTERS Appendix Origin return Valid when incremental motor is connected on RXn0 S0 00 Emergency stop status output off on RXn1 S0 01 CPU OK output off on RXn2 S0 02 Servo ON status output off on RXnB S0 11 Origin return complete f status output RYnE SI 14 Origin return input on off Movement status Alarm status Stop status a b c d e When origin return complete status output is OFF a Origin return input ON is input b c Robot arm moves d Origin return complete status output ON is output e Origin return input OFF is input When the origin return complete status output is ON origin return does not need to be carried out Origin return can be executed only in the servo ON status The origin
35. en 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 Precautions for disposal A CAUTION Dispose of this product as industrial waste Revision history Date of revision Details of revisions June 1999 First edition March 2001 Second edition for compliance to V1 10 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 2001 YAMAHA MOTOR CO LTD 5 4 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 QRCX QRCH and MRCH 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 and MRCH Series This manual describes the flow of operations from wiring the CC Link compatible mod ule to programming a
36. er of occupied stations Fixed to four stations Station No setting 1 to 61 rotary switch Communication speed setting 10M 5M 2 5M 625K 156Kbps rotary switch Number of CC Link input output points 1 Dedicated input 10 points Dedicated output 9 points General purpose input 96 points General purpose output 96 points Input register 16 words currently not used Output register 16 words currently not used Monitor LED RUN ERRL SD RD 1 The controller s I O update interval is 10ms Note The specifications and appearance are subject to change without prior notice 5 19 5 20
37. et input RX n 1 0 SO 20 to SO 27 General purpose output RY n 1 0 SI 20 to SI 27 General purpose input SO 30 to SO 37 General purpose output SI 30 to SI 37 General purpose input 2 7 SO 40 to SO 47 General purpose output SI 40 to SI 47 General purpose input RX n 2 8 SO 50 to SO 57 General purpose output SI 50 to SI 57 General purpose input RX n 3 7 SO 60 to SO 67 General purpose output SI 60 to SI 67 General purpose input RX n 3 8 SO 70 to SO 77 General purpose output SI 70 to SI 77 General purpose input SO 100 to SO 107 General purpose outpu RY n 4 7 SI 100 to SI 107 General purpose input SO 110 to SO 117 General purpose outpui RY n 4 8 SI 110 to SI 117 General purpose input SO 120 to SO 127 General purpose outpui 51 120 to SI 127 General purpose input SO 130 to SO 137 General purpose outpui 5 3 S1 130 to SI 137 General purpose input CHAPTERS Appendix Remote Master Master Remote Device No Signal name Device No Signal name RX n 6 0 RX n 6 7 SO 140 to SO 147 General purpose output RY n 6 0 RY n 6 7 SI 140 to SI 147 General purpose input RX n 6 8 50 150 to SO 157 General purpose output RY n 6 8 RY n 6 F 51 150 to SI 157 General purpose input Reserved RY n 7 0 RY n 7 1 RY n 7 2 RY n 7 3 RY n
38. ge in status from OFF to ON Turns ON when the manual mode is selected Shifts to the manual mode at the change in status from OFF to ON SI 17 Absolute reset input Turns ON when absolute reset of the robot is executed Absolute reset is executed at the change in status from OFF to ON Valid only for the absolute motor SI 20 to SI 27 General purpose input 51 150 to SI 157 General purpose input The general purpose input is turned ON OFF to refer to the SI port value and to execute the WAIT command Initial data process complete flag Turns ON after completing the initial data process requested when the power is turned ON or when returning from a communication error or when the initial data process request With the initial data process the emergency stop input RYn0 and interlock input RYn9 turn ON n Address assigned to master module with station No setting SI 00 to SI 17 are equivalent to DI 00 to DI 17 explained in the controller instruction manual 5 6 CHAPTERS Appendix 5 3 Dedicated input output signal timing chart ACAUTION The dedicated input ON OFF process from master station PLC to the con troller 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 prov
39. he CC Link system The 10th place of the station No is set with this switch 5 Station No setting switch LSB Ist place This is the rotary switch for setting the robot controller station No in the CC Link system The 1st place of the station No is set with this switch 6 Baud rate switch BPS This is the rotary switch for setting the CC Link system s communication baud rate 1 5 CHAPTER1 Outline 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 expres sions for the remote device stations differ The correspondence is shown below Output from robot controller Program language Input to robot controller Program language Remote device station Remote device station 500 7 to 0 SO1 7100 RXn7 to RXnO RXnF to RXn8 SIO 7 to 0 1 SH 7 to 0 RYn7 to RYnO RYnF to RYn8 502 7 to 0 RX n 1 7 to RX n 1 0 512 7 to 0 RY n 1 7 to RY n 1 0 RX n LE to RX n 1 8 513 7 to 0 RY n DE to RY n 1 8 504 7 to 0 505 7 to 0 RX n 2 7 to RX n 2 0 RX n42 F to RX n 2 8 515 7 to 0 RY n42 7 to RY n 2 0 RY n42 F to RY n 2 8 SO6 7 to 0 RX n43 7 to RX n43 0 516 7 to 0 RY n43 7 to RY n 3 0 jos 503 7 to 0 507 7 to 0 RX n43 F to RX n 3 8 SI4 7 to 0 517 7 to 0 RY n43 F to RY n 3 8 SO10 7 to 0 RX n 4 7 to RX n
40. ided for the dedicated inputs from the master sta tion PLC to controller use them rrr Ps 5 3 1 Initial data process for CC Link connection RX n 7 8 Initial data process request flag 7 B on Remote station Ready off on RYnO SI 00 Emergency stop input off 1 1 51 11 on Interlock input off RY n 7 8 on Initial data process complete flag off Confirmation of connection with master station PLC at power ON a Initial data process request flag ON is output b Emergency stop and interlock input ON is input c Initial data process complete flag ON is input d Initial data process request flag OFF is output Remote station Ready ON is output Connection with the CC Link system is completed with this process This process is always required to correctly connect to the CC Link system To enter the emergency stop state turn RYnO SI 00 OFF after the above process is established The servo is OFF when the controller power is turned ON 5 7 CHAPTERS Appendix 5 3 2 Servo ON and emergency stop RXn0 S0 00 Emergency stop status output RXn1 S0 01 CPU_OK output off RXn2 S0 02 Servo ON status output RXn3 S0 03 Alarm status output RYn0 SI 00 Emergency stop input RYn1 SI 01 Servo ON input off 8 b c d e f g mi j k Initial servo ON process after power ON a Servo ON input ON is input b If not in the
41. k 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 cor rect 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 physical emergency stop signal terminal is always valid Refer to Chapter 4 for details on the LED displays 3 3 Communication 3 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 PPS 3 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 Initial data process master station PLC side D Confirm that RX n 7 8 initial da
42. m cable to the ter minal block removed in step 1 The names of each terminal on the cable terminal block are shown below DA DB DG SLD 512112 When connecting a terminator connect it across DA DB A slit to prevent incorrect inverted insertion is provided on the cable terminal block 3 Connect the cable terminal into which the CC Link system cable has been installed to the CC Link compatible module terminal block section on the robot controller and completely fix with the two screws on both sides using a Phillips head screw driver Completely shut off the power supplied to the robot controller 2 13 CHAPTER2 Connection ACAUTION Always remove the terminal block section when installing CC Link system cable Securely fix the CC Link system cable Carefully carry out the work to valid applying excessive force on the CC Link cable Treat each end of the C Link system cable wire with a round terminal or Y terminal so that it will not dislocate Carefully carry out the work so that the CC Link system cable is not incorrectly wired Refer to the master station PLC instruction manual for details on the CC Link system cable connection prar t d t t tert d dd d d d dd d a utu ut ud uda ud dd a t 2 5 2 Testing the line from the master station PLC The master station PLC in the CC Link system has a function to test the line to the remote station
43. mode using the teaching box Take measures by following the troubleshooting section in the robot controller instruction manual Refer to the robot controller instruction manual for details on the errors 4 6 CHAPTER4 Troubleshooting 4 33 CC Link compatible module LED confirmation Confirmation item 1 lt Confirmation details gt The LED display on the CC Link compatible module is not RUN ERR SD RD O ON OFF Flicker lt Cause gt An error has occurred in the CC Link system connection Refer to table in sec tion 4 1 for the meanings of the LED displays lt Countermeasures gt Check whether the CC Link system cable is disconnected or incorrectly con nected and whether the terminator is connected Check whether the CC Link system cable is laid near the main circuit or power cable or whether it 15 bundled with these Check that the ferrite core is connected to the robot controller s power supply cable Check the station No and communication baud rate settings for the CC Link compatible module Confirm that the master station PLC is operating Confirmation item 2 Confirmation details The LED display on the CC Link compatible module is RUN ERR SD RD O OO O ON OFF Flicker Cause 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
44. munication data 3 9 3 5 1 Referring to the data from the teaching box 3 9 Troubleshooting 4 1 Items to confirm before starting up CC Link system 4 3 Meanings of LEDs on CC Link compatible module 4 4 Troubleshooting 4 5 4 3 1 Robot controller front panel confirmation 4 5 4 3 2 Teaching box error display confirmation 4 6 4 3 3 CC Link compatible module LED confirmation 4 7 4 3 4 Confirmation from master station PLC 4 7 Chapter 5 5 1 5 2 5 3 5 4 5 1 au nunana Ya amia 5 3 Details of remote input output signals 5 5 Dedicated input output signal timing chart 5 7 5 3 1 Initial data process for CC Link CONNECTION 5 7 5 3 2 Servo ON and emergency Stop 5 8 5 3 3 Origin return Valid when incremental motor is connected 5 3 4 Automatic mode changeover program reset and program execution 5 10 5 3 5 Stopping with program interlock
45. n and reset 8 If the controller does not operate properly because of a memory error etc load the data saved in step 1 into the controller Refer to the controller instruction manual for details on loading the data If the robot controller is not correctly connected with the CC Link system the mes sage CC Link Communication Error will appear on the MPB Never directly touch the conductive sections or electric parts other than the DIP switch on the CPU board Do not apply impact on the CPU board Do not place water or conductive matters etc which could cause damage near the CPU board f 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 Always save the data such as the programs and points saved in the controller into an external memory such as an FDD or by using RS 232 C 2 11 CHAPTER2 Connection 2 4 Noise measures A ferrite core must be mounted on the input power cable when connecting to the CC Link system E 2 4 1 Mounting the ferrite core Mount the ferrite core onto the input power cable connected to the input power connec tor on the upper left back of the robot controller Procedures 1 Mount the enclosed ferrite core onto the input power cable The ferrite core should be placed as close to the robot controller body as possibl
46. nd includes setting examples For details on other devices such as connecting the master station PLC and PLC pro gramming 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 5 5 Chapter Chapter Chapter Chapter w 2 3 2 4 2 5 2 6 3 3 1 3 2 3 3 3 4 3 5 4 4 1 4 2 4 3 Com vens eng 1 1 FealUIGS pana saus q a 1 3 rk pr 1 4 Names of each on the CC Link compatible module 1 5 Assignment of CC Link compatible 1 6 Shift of CC Link system connection status and robot controller status 1 7 COMME CUON u 2 1 Confirming the CC Link compatible module settings 2 3 Setting the CC Link compatible module 2 4 2 2 1 Removing the CC Link compatible module 2 4 2 2 2 Setting the station NO iere rr ett ee e i e 2 5 2 2 3 Setting the communication baud rate 2 6 2 2 4 Installing the CC Link compatible module 2 7 Setting to the CC Link system specification controller
47. ngeover program reset and program execution 5 10 5 3 5 Stopping with program interlock 5 11 5 4 Sample u ette 5 12 5 5 CC Link compatible module specifications 5 19 5 1 Profile YAMAHA robot controller 4 station occupying Remote input output Remote Master CHAPTERS Appendix Master Remote Device No Signal name Device No Signal name RXn0 SO 00 Emergency stop input status output RYn0 SI 00 Emergency stop input RXn1 SO 01 CPU_OK status output RYn1 SI 01 Servo ON input RXn2 SO 02 Servo ON status output SO 03 Alarm status output RYn2 System area for future expansion RYn7 System area for future expansion SO 10 Automatic mode status output RYn8 SI 10 Sequence control input SO 11 Origin return complete status output RYn9 SI 11 Interlock input SO 12 Sequence program execution status output RYnA SI 12 Start input SO 13 Robot program execution status output RYnB SI 13 Automatic mode input SO 14 Program reset status output RYnC SI 14 Origin return input RXnF System area for future expansion RYnD SI 15 Program reset input RYnE SI 16 Manual mode input RYnF SI 17 Absolute res
48. ntrol ler must be changed Confirm the CC Link system specifications with the procedure given in section 2 1 This section is not required if section 2 2 has been carried out PEE PS 2 3 1 Removing the standard module Remove the standard I O module connected at the back top of the robot controller Standard input output connector Expansion input output connector Expansion input Expansion output Controller serial No connector connector CC Link compatible module Power AC connector EM Expansion module Driver module 1 Driver module 2 Cooling fan MOTOR connector PI connector Example of back view when standard module is mounted on QRCH Procedures 1 Completely shut off the power input to the robot controller Disconnect the I O cable if it is connected 2 Move the robot controller to a position where work can be carried out on the back side 3 Using a Phillips head screwdriver remove the two screws on both sides of the stand ard I O module connected at the top back of the robot controller 4 Pull out the standard I O module in the direction parallel with the robot controller grounding surface Completely shut off the power supplied to the robot controller ACAUTION Always disconnect cables connected to the s
49. oller input output port No SI monitor SIO amp B00000111 SI4 amp B11000000 SI1 amp B00001111 SI5 amp B00101000 SI2 amp B00010001 SI6 amp B00000111 SI3 amp B00000100 SI7Z7 amp B00000000 amp Bxxxxxxx corresponds to the Oth bit to 7th bit from right to left Operation 1 When the key is pressed the following type of screen will appear DI monitor 0 2 4 00000111 DI4 amp B11000000 DI1 amp B00001111 DI5 amp B00101000 DI2 amp B00010001 6 8 00000111 DI3C amp B00000100 DIZ7 amp B00000000 2 When the MPB key is pressed several times in the same manner as step 1 the statuses of the SI input ports 0 to 7 can be confirmed 3 If the MPB key is pressed more the statuses of the SI input ports 10 to 15 can be confirmed 4 If the MPB key is pressed more the statuses of the SO input ports 0 to 7 can be confirmed 5 If the MPB key is pressed more the statuses of the SO input ports 10 to 15 can be confirmed 6 To stop confirmation of the input output ports press the key 3 9 3 10 CHAPTER Troubleshooting WEE P 4 1 Items to confirm before starting up CC Link system 4 3 4 2 Meanings of LEDs on CC Link compatible module 4 4 S SCNEMTIelel isejpm et 4 5 4 3 1 Robot controller front panel LED confirmation 4 5 4 3 2 Teaching box error display confirma
50. onnection by emulated serialization on parallel DIO 3 7 3 4 1 Setting from teaching 3 7 Referring to communication data 3 9 3 5 1 Referring to the data from the teaching box 3 9 Communication 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 CD When connection to CC Link system is correctly established The following conditions must be satisfied to correctly connect to the CC Link sys tem 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 physical emergency stop signal terminal is always valid 2 When connection to CC Link system is incorrectly established The following causes can be considered a correct connection with the CC Link sys tem cannot be established The CC Lin
51. ontroller so that it is parallel with the robot controller s grounding surface and insert it along the rails Using a Phillips head screwdriver accurately fix the two screws on both sides of the inserted CC Link compatible module 7 Connect the CC Link communication cable and emergency stop cable Completely shut off the power supplied to the robot controller Always install the CC Link compatible module with the connection cables dis connected Carefully remove the CC Link compatible module while taking care not to ap ply excessive force Never directly touch the conductive sections or electronic parts other than rotary switch on the CC Link compatible module Do not apply impact on the CC Link compatible module Do not place water or conductive matters etc which could cause damage near the CC Link compatible module ON 2 9 CHAPTER2 Connection 2 3 3 Changing the robot controller DIP switch Change the setting of the DIP switch in the robot controller Note that the data such as the programs and points saved in the controller could be damaged at this time so always save the data into an external memory such as an FDD or by using RS 232 C Refer to the controller instruction manual for details on saving the data Completely shut off the power supplied to the robot controller A CAUTION Always save the data such as the programs and points saved in the controller into an e
52. op is canceled 5 12 CHAPTERS Appendix Robot program data assignment Variables used Istunit Point No in pallet 2nd Point No in pallet Points used lstunit P100 Point above workpiece supply P101 Ist point above pallet P108 8th point above pallet P121 Z axis position point for workpiece supply P122 Z axis position point on pallet 2nd P200 Point above workpiece supply P201 Ist point above pallet P208 8th point above pallet 221 Z axis position point for workpiece supply P222 Z axis position point on pallet Bit data used lstunit 51 40 Point No reception complete input SI 41 Movement complete response standby input SI 42 Movement complete standby input SO 23 to SO 20 Point No setting output group SO 40 Point No setting complete output SO 41 Movement complete output SO 42 Movement complete response output DI 47 Pallet change complete input DO 40 Chuck hand open close 0 Close 1 Open DO 47 Pallet exchange command output 2ndunit 51 23 to SI 20 Point No setting input group SI 40 Point No transmission complete input SI 41 Movement complete standby input SI 42 Movement complete response standby input SO 40 Point No setting reception complete output SO 41 Movement complete response output SO 42 Movement complete output DO 40 Chuck hand open close 0 Close 1 Open 5 13 CHAPTERS Appendix
53. ot program execution status output is ON the start input OFF is input The program cannot be executed if the emergency stop input and interlock input are OFF If the origin return complete status output is not ON execution of the program may not be possible depending on the execution level setting value 5 10 5 3 5 CHAPTERS Appendix Stopping with program interlock on RXn8 SO 10 Automatic mode off status output on RXn9 SO 11 Origin return complete off status output RXnB SO 13 Robot program execution off status output d RYn9 SI 11 Interlock input off on RYnA SI 12 Start input off a b c d e 0 100ms or more Program execution process a Start input ON is input b Robot program execution status output ON is output c After confirming that the robot program execution status output is ON the start input OFF is input Program stop process using interlock input d Interlock input OFF is input e Robot program execution status output OFF is output Program execution after stopping program with interlock input f Interlock input ON is input g Start input ON is input h Robot program execution status output ON is output i After confirming that the robot program execution status output is ON the start input OFF is input The program will also stop when the emergency stop input OFF is input In this case the emergency stop status output and alarm output ON will be
54. ote input Remote input Remote output RY n 7 F to RY n 7 0 1 5 CHAPTER1 Outline 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 D 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 Physical emergency stop signal terminal is valid Master station PLC 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 2 Shift from CC Link system normal connection state to CC Link system erro neous connection state Robot Master station Robot Master station controller PLC controller PLC or Robot controller Shift to the emergency stop state with SI OO in the robot controller Physical emergency stop signal terminal is valid 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 f 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 7
55. return complete status output stays ON until origin return is required With the absolute motor specifications if there is no error in the origin position infor mation when the controller power is turned ON the origin return complete status out put will automatically turn ON 5 9 CHAPTERS Appendix 5 3 4 Automatic mode changeover program reset and program execution on RXn8 S0 10 Automatic mode status off output RXn9 S0 11 Origin return complete off status output 50 13 Robot program execution off status output on on on RXnC S0 14 Program reset status output on RYn9 SI 11 Interlock input off on RYnA SI 12 Start input off on RYnB SI 13 Automatic mode input off on RYnD SI 15 Program reset input off 100ms or more 100ms or more Automatic mode changeover process a Automatic mode input ON is input b Automatic mode status output ON is output c After confirming that the automatic mode status output is ON the automatic mode input OFF is input Program reset process d Program reset input ON is input e Program reset status output ON is output f After confirming that the program reset status output is ON the program reset input OFF is input Program execution process g Start input ON is input h Program reset status output OFF is output Robot program execution status output ON is output 1 After confirming that the rob
56. spondence of the communication baud rate and switch is shown below Switch No 0 1 2 3 4 Other than left setting Baudrate bps 156 625K 2 5M 5M 10M Error 2 Using a precision Phillips head screwdriver set the switch No corresponding to the communication baud rate with rotary switch BPS The communication baud rate must match the CC Link system s master station setting Never directly touch the conductive sections or electronic parts other than the rotary switch on the CC Link compatible module Do not apply impact on the CC Link compatible module Do not place water or conductive matters etc which could cause damage near the CC Link compatible module Accurately set the communication baud rate Make sure not to set the rotary switches MSB and LSB by mistake 2 6 2 2 4 CHAPTER2 Connection Installing the CC Link compatible module Install the CC Link compatible module at the back top position of the robot controller Expansion output connector Controller serial No Expansion input connector CC Link Power AC lt compatible e module Expansion O module Driver module 1 Driver module 2 Cooling fan MOTOR connector PI connector Example of back view when CC Link compatible module is mounted on QRCH
57. ta process request flag is ON 2 Turn RYnO emergency stop input and RY n 1 1 interlock input ON 3 Turn RY n 7 8 initial data process completion flag ON 4 Confirm that RX n 7 8 initial data process request flag is OFF 5 Confirm that RX n 7 B remote station Ready is ON The robot controller internal process will automatically start when the power is turned ON and the system is returned from an error state ACAUTION RX n 7 B remote station Ready must always be used on the master station PLC side as the flag to indicate whether the robot controller is operating cor rectly When starting up the system in the emergency stop state using RYn0 emer gency stop input carry out the initial data process first and then turn RYn0 emergency stop input OFF The robot controller will start up in the servo OFF state when the power is turned ON 3 4 Communication 3 3 Communication with master station PLC The method for communicating with the master station PLC by using the robot program when the CC Link system is correctly connected is explained in this section EP 3 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 con troller s input port numbers is shown below Master station output device No RYn0 to
58. tandard I O module Carefully remove the standard I O module while taking care not to apply exces sive force Do not apply impact the standard I O module Do not place water or conductive matters etc which could cause damage near the standard I O module 2 8 2 3 2 CHAPTER2 Connection Installing the CC Link compatible module Install the CC Link compatible module at the back top position of the robot controller Expansion output connector Controller serial No Expansion input connector CC Link Power AC lt compatible e module Expansion O module Driver module 1 Driver module 2 Cooling fan MOTOR connector PI connector Example of back view when CC Link compatible module is mounted on QRCH Procedure 1 Completely shut off all power input to the robot controller 2 Move the robot controller to a position where work can be carried out on the back side 3 If a standard I O module is connected remove it with the procedure given in section 4 Confirm that the CC Link compatible module station No and communication baud rate are correctly set If not set follow section 2 2 2 and 2 2 3 and set the pertinent information Setthe CC Link compatible module at the back top position of the robot c
59. tion 4 6 4 3 3 CC Link compatible module LED confirmation 4 7 4 3 4 Confirmation from master station PLC 4 7 4 2 CHAPTER4 Troubleshooting 4 1 Items to confirm before starting up CC Link system Confirm the following items before starting up the CC Link system Confirmation details Check Is the CC Link compatible module accurately connected Refer to Chapter 2 section 2 2 or 2 3 Is the robot controller set to the CC Link system specifications Refer to Chapter 2 section 2 1 Are the CC Link compatible module station No and communication baud rate correctly set Refer to Chapter 2 section 2 1 Is the ferrite core connected to the power input cable to the robot controller Refer to Chapter 2 section 2 4 Is the CC Link system cable accurately connected to the CC Link compatible module Refer to Chapter 2 section 2 5 Was the line test from the master station PLC correct Refer to the master station PLC instruction manual Is the master station PLC set for the 4 station occupying remote device Refer to the master station PLC instruction manual Is the master station PLC exchanging the data for four stations The data for four stations must always be exchanged Has the initial data process been carried out between the master station and robot con
60. tion 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 The CC Link system will return when the CC Link system connection is recovered to the normal state 1 8 CHAPTER ec Connection D 2 1 2 3 2 4 2 5 2 6 Confirming the CC Link compatible module settings 2 3 Setting the CC Link compatible module 2 4 2 2 1 Removing the CC Link compatible module 2 4 2 2 2 Setting the station meten 2 5 2 2 3 Setting the communication baud rate 2 6 2 2 4 Installing the CC Link compatible module 2 7 Setting to the CC Link system specification controller 2 8 2 3 1 Removing the standard I O module 2 8 2 3 2 Installing the CC Link compatible module 2 9 2 3 3 Changing the robot controller DIP switch 2 10 Noise measUfels uos nero RES dp elena mda Rin dido eame 2 12 2 4 1 Mounting the ferrite 2 12 Connecting to the CC Link 2 13 2 5 1 Connecting to the cable terminal to the controller 2 13 2 5
61. troller Refer the initialization process in Chapter 3 section 3 2 Is the master station PLC judging that the robot controller is correctly functioning using RX n 7 8 remote station Ready Refer the samples in Chapter 5 section 5 4 4 3 CHAPTER4 Troubleshooting 4 2 Meanings of LEDs CC Link compatible module The LEDs on the CC Link compatible module express the following statuses Use these for confirmation when an error occurs 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 setting made when connected to the CC Link system CRC error occurred in the received data and a response cannot be made Normal communication There is no data addressed to the local station Polling response is being carried out but a CRC error occurred in the refresh reception A CRC error occurred in the data addressed to the local station There is no data addressed to the local station or the data addressed to the local station cannot be received because of noise Data cannot be received because of a line disconnection The power for communication has been cut off An illegal baud rate was set It can be spefified but differs from the master station Station No setting illegal An illegal station No was set Baud rate setting illegal An illegal baud r
62. xternal memory such as an FDD or by using RS 232 C Procedures 1 Save the robot controller data into an external memory 2 Completely shut off the power input to the robot controller Always disconnect the input power connector on the back of the robot controller 3 Move the robot controller to a position where work can be carried out on the back side Using a Phillips head screwdriver remove the 22 screws fixing the top and side pan els of the robot controller Before completely removing the front panel remove the power switch fixed with two screws from the front panel and disconnect the connec tor connecting the emergency stop button and CPU board The power switch and emergency stop switch are connected to the controller with a cable so do not apply excessive force on the cable CHAPTER2 Connection 4 Set switch 6 of the DIP switch 2 on the CPU board to ON CPU board Set to ON 8008800 switch 2 ibj 5 Fix the power switch with two screws and connect the connector for the emergency stop button Install the top and front panels to the controller and securely fix with the 22 screws 6 Connect the input power connector on the back of the controller and turn the power ON 7 The following type of question will appear on the MPB screen so answer as YES POWER Warning Dipswitch is changed OLD status is XXxxxH If not wanted power dow
Download Pdf Manuals
Related Search
Related Contents
Emerson L2 Data Sheet Foster Veronika soft.5F.FT Anleitung 取扱説明書を必ずご参照ください - フクダ エム・イー工業株式会社 2 En la pantalla de MusicCast CONTROLLER HP QQ972AT mounting kit ISTRUZIONI D`USO Copyright © All rights reserved.
Failed to retrieve file