Manuel d'utilisation / d'entretien du produit RCX Series du fabricant Yamaha
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OWNER'S MANUAL YAMAHA Robot Controller RCX Series UNIT.
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1 2 Introduction Thank you for purchasing the CC-Link compatible module. This CC-Link compatible module is an option module that enables connection of the Y AMAHA robot controller RCX Series as a CC-Link system remote device sta tion. The CC-Link compatible module with label is compatible with CC-Link V er .
2 2 Safety Precautions (Always read before starting use) Always read this manual, the robot controller instruction manual and programming manual before using this product. T ake special care to safety , and correctly handle the product. The cautions gi ven in this manual are related to this product.
3 2 [Precautions for installation] w W ARNING • Always crimp, press-fit or solder the connector wire connections with the maker- designated tool, and securely connect the connector to the module. • Always shut off all phases of the power supply externally before starting installa- tion or wiring work.
4 2 [Precautions for starting and maintenance] w W ARNING • 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.
5 2 W arranty The Y AMAHA robot and/or related product you hav e purchased are warranted against the defects or malfunctions as described belo w . W arranty description: If a failure or breakdo wn occ.
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i Contents Chapter 1 Outline 1. Features ............................................................................... 1-1 2. Mechanism ........................................................................... 1-2 3. Names of each part on the CC-Link compatible module .
ii Chapter 4 T roubleshooting 1. Items to confirm before starting up CC-Link system ............ 4-1 2. Meanings of LEDs on CC-Link compatible module ............... 4-2 3. T roubleshooting .............................................................
Chapter 1 Outline Contents 1. Features ............................................................................................ 1-1 2. Mechanism ....................................................................................... 1-2 3. Names of each part on the CC-Link compatible module .
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1 Outline 1- 1 1. Features CC-Link is the abbrevia tion 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.
Outline 1 1- 2 2. Mechanism The mechanism of communication is explained in this section to pro vide an understand- ing of how the robot controller and PLC oper ate via the CC-Link system.
1 Outline 1- 3 3. Names of each part on the CC-Link compatible module The part names of the CC-Link compatible module installed in the robot controller are described in this section. The CC-Link compatible module is installed into an optional slot in the robot controller .
Outline 1 1- 4 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 dif fer . The correspondence is shown belo w . n: Address assigned to master module with station No.
1 Outline 1- 5 5. Shift of CC-Link system connection status and robot controller status Al wa ys start the CC-Link system specif ica tion robot controller in the ser v o OFF state after the po w er is turned ON .
1- 6 Outline 1 5. Shift of CC-Link system connection status and robot controller status e CC-Link system erroneous connection state due to following factors when robot controller power is turned ON .
1- 7 1 Outline 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 co.
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Chapter 2 Connection Contents 1. Confirming the CC-Link compatible module settings ....................... 2-1 2. Setting to the CC-Link system specification controller ..................... 2-2 2.1 Saving the robot controller data ...................
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2- 1 2 Connection 1. Confirming the CC-Link compatible module settings W ith the CC-Link system specification robot controller , the CC-Link compatible module station No. and communication speed settings can be confir med with the programming unit (hereinafter , MPB).
2- 2 Connection 2 2. Setting to the CC-Link system specification controller Whe n c onn ec tin g t he CC -L in k c ompati ble mo dule to an ex istin g ro b ot c ontro lle r , t he CC -L in k c ompat - i ble mo dule m u st be insta lled in t he ro b ot c ontro lle r .
2- 3 2 Connection 3. Setting the CC-Link compatible module T o c onn ec t t he CC -L in k s y st e m sp ec ifi c ation c ontro lle r to t he CC -L in k s y st e m , t he station N o . an d c omm u ni c ation sp eed m u st be s e t w it h t he rotar y s w it ch on t he CC -L in k c ompati ble mo dule.
2- 4 Connection 2 3. Setting the CC-Link compatible module 3.2 Setting the communication speed Using the rotary switch BPS in front of the CC-Link compatible module, set the commu- nication speed for the robot controller in the CC-Link system.
2- 5 2 Connection 4. Noise measures Two ferrite cores must be mounted on the input power cable when connecting to the CC-Link system. 4.1 Mounting the ferrite core Mount two ferrite cores onto the input po wer cable connected to the input power connec- tor on the front panel of the robot controller .
2- 6 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.
2- 7 2 Connection n NO TE • Set the Boar d status parameter to "INV ALID" when not using serial I/O boards. • When the Boar d status parameter is set to "INV ALID", the dedicated input/output of the STD.DIO connector becomes enabled.
2- 8 Connection 2 6.1 Parameter setting for CC-Link serial I/O board 1) Press the F 1 (P ARAM) key in “SYSTEM” mode to enter “SYSTEM>P ARAM” mode. 2) Press the F 5 (OP . BRD) key in “SYSTEM>P ARAM” mode to enter the option board parameter setting mode.
2- 9 2 Connection 4) Select the parameter with the cursor ( ↑ / ↓ ) ke ys. Fig. 2-6-3 SYSTEM >PARAM>OP.BRD> SELECT V8.18 1.board condition VALID 2.remote cmd / IO cmd(SI05) VALID 3.Output MSG to SOW(1) INVALID EDIT JUMP 5) Press the F 1 (EDIT) key .
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Chapter 3 Communication Contents 1. State when robot controller power is turned ON ............................. 3-1 2. Initial process for connecting to CC-Link system .............................. 3-2 2.1 Initial data process ......................
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3- 1 3 Communication 1. State when robot controller power is turned ON T he CC-Link system specif ica tion robot controller al wa ys starts oper a tion in ser v o OFF sta te when the po w er turned ON . q When connection to CC-Link system is correctly established.
3- 2 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. 2.1 Initial data process The initial data process is carried out to confirm that the robot controller is cor rectly connected to the CC-Link system.
3- 3 3 Communication 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.
3- 4 Communication 3 3.2 T ransmitting data Data is transmitted by writing the robot controller output port data into the master station PLC’ s input device. The correspondence of the master station PLC’ s input device numbers and robot controller’ s output port numbers is shown belo w .
3- 5 3 Communication 4. Direct connection by emulated serialization on parallel DIO The master station PLC can exchange bit information data with the parallel port on the robot controller’ s parallel I/O unit regar dless of the robot program.
3- 6 Communication 3 4. Direct connection by emulated serialization on parallel DIO 1. Direct connection from SI n ( ) to DO n ( ) Serial port input can be directly connected to parallel port output. The relation of the parallel port and serial port that can be connected is as follo ws.
3- 7 3 Communication 4. Direct connection by emulated serialization on parallel D 2. Direct connection from SO n ( ) to DI n ( ) Parallel port input can be directly connected to ser ial port output. The relation of the parallel port and serial port that can be connected is as follo ws.
3- 8 Communication 3 5. Referring to communication data The ON/OFF information exchanged with the master station PLC can be referred to using the program- ming unit (hereinafter, MPB).
Chapter 4 Troubleshooting Contents 1. Items to confirm before starting up CC-Link system ......................... 4-1 2. Meanings of LEDs on CC-Link compatible module ........................... 4-2 3. T roubleshooting ...............................
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4- 1 4 T roubleshooting 1. Items to confirm before starting up CC-Link system Confirm the follo wing items before starting up the CC-Link system. 1 2 3 4 5 6 7 8 9 10 Confirmation details Check Is the CC-Link compatible module accurately connected? (Refer to Chapter 2 section 2 or 3.
4- 2 T roubleshooting 4 2. Meanings of LEDs on CC-Link compatible module SD ERRL RUN RD 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 Front of the unit The LEDs on the CC-Link compatible module express the follo wing statuses.
4- 3 4 T roubleshooting 3. T roubleshooting If trouble occurs in the connection with the robot controller while starting up the CC-Link system or during operation, check the follo wing items in listed order .
4- 4 T roubleshooting 4 3. T roubleshooting 3.2 Programming unit error display confirmation [Confirmation item 1] <Confirmation details> • “CC-Link Communication Error” is displayed on the programming unit. <Cause> • An error has occurred in the CC-Link system connection.
4- 5 4 T roubleshooting 3. T roubleshooting 3.3 CC-Link compatible module LED confirmation [Confirmation item 1] <Confirmation details> • The LED display on the CC-Link compatible module is not “R UN. ERR. SD. RD” = “ ”.( :ON, :OFF) <Cause> • An error has occurred in the CC-Link system connection.
4- 6 T roubleshooting 4 3. T roubleshooting 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 cor rectly connected to the CC-Link system.
4- 7 4 T roubleshooting 4. Error messages relating to CC-Link This section describes error messages relating to CC-Link compatible units. For other messages, refer to robot controller owner's manuals. When an error occurs, an error message appears on the message line (2nd line) of the MPB screen.
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Chapter 5 Specifications Contents 1. Profile ............................................................................................... 5-1 2. Details of remote input/output signals ............................................. 5-3 3. Dedicated input/output signal timing chart .
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5- 1 5 Specifications 1. Profile YAMAHA robot controller (4-station occupying) Remote input/output SO (00): Emergency stop input status output SO (01): CPU_OK status output SO (02): Servo ON status ou.
5- 2 Specifications 5 SO(140) to SO(147): General-purpose output SO(150) to SO(157): General-purpose output Reserved Initial data process request flag Not used Remote station ready Reserved (Reserved:.
5- 3 5 Specifications 2. Details of remote input/output signals SO (00): Emergency stop input status output SO (01): CPU_OK status output SO (02): Servo ON status output SO (03): Alarm status output S.
5- 4 Specifications 5 2. Details of remote input/output signals SI (00): Emergency stop input SI (01): Servo ON input SI (02): Service mode input SI (03): Step run SI (05): IO command execution trigge.
5- 5 5 Specifications 2. Details of remote input/output signals SI(20) to SI(27): General-purpose input to SI(150) to SI(157): General-purpose input Initial data process complete flag RY(n+1)0 to RY(n+1)7 to RY(n+6)8 to RY(n+6)F RY(n+7)8 Device No. Signal name Details Set these inputs to ON or OFF to refer to SI port values or execute WAIT command.
5- 6 Specifications 5 3. Dedicated input/output signal timing chart 3.1 Initial data process for CC-Link connection a) b) c) d) e) on on off on off on off on off off RX (n+7) 8 Initial data process re.
5- 7 5 Specifications 3. Dedicated input/output signal timing chart 3.2 Servo ON and emergency stop a) b) c) d) e) f) g) h) i) j) k) on on off on off on off on on off off off RXn0:SO ( 00 ) Emergency .
5- 8 Specifications 5 3. Dedicated input/output signal timing chart 3.3 AUTO mode changeover , program reset and program execution a) b) 100ms or more 100ms or more c) d) e) f) g) h) i) on on off on o.
5- 9 5 Specifications 3. Dedicated input/output signal timing chart 3.4 Stopping with program interlock a) b) c) d) e) f) g) h) i) on on off on off on off on off off RXn8:SO ( 10 ) AUTO mode status ou.
5- 10 Specifications 5 4. Sample program An example for the follo wing type of hardware configuration has been prepared for this section. P100 MXYx 2nd unit supply position Pallet SXYx 1st unit supply position Master station A1SHCPU +A1SJ61BT11 Remote device station RCX40 (1st unit) + SXYx (3 axes) (Station No.
5- 11 5 Specifications 4. Sample program [Robot program data assignment] * Variables used 1st unit : A : Point No. in pallet 2nd unit : B : Point No. in pallet * Points used 1st unit : P100 : Point ab.
5- 12 Specifications 5 4. Sample program [PLC data assignment] X0 (*1) : Unit error X1 (*1) : Local station data link status X6 (*1) : Data link start normal completion X7 (*1) : Data link start error.
5- 13 5 Specifications 4. Sample program [Robot program] 1st unit’s RCX40 ‘INIT R OUTINE RESET SO2() RESET SO4() RESET DO4() A=101 ‘MAIN R OUTINE MO VE P ,P100,Z=0 GOSUB *PICK *ST1: MO VE P ,P[A.
5- 14 Specifications 5 4. Sample program [PLC program] 0 5 7 42 44 46 48 51 63 91 92 103 107 P10 X0 M0 M1 M9038 M0 M2 X6 X7 X0 X0F X1 M4 M4 M8 M8 M9036 X178 X178 X0F [ PLS M0 ] [ SET M1 ] [ RST M1 ] [.
5- 15 5 Specifications 4. Sample program 109 137 X17B X102 X109 X108 X109 X108 X10B X10C X108 X10C X10B X109 M9036 M9036 X1F8 X101 X100 X102 ( Y101 ) ( Y10E ) ( Y10F ) ( Y10B ) ( Y10D ) ( Y10A ) ( Y11.
5- 16 Specifications 5 4. Sample program 212 214 242 X1F8 X1FB X181 X180 X182 X182 X189 X188 X189 X189 X188 X18B X18C X188 X18C X18B M9036 [ RST Y1F8 ] ( Y181 ) ( Y18E ) ( Y18F ) ( Y18B ) ( Y18D ) ( Y.
5- 17 5 Specifications 5. CC-Link compatible module specifications The CC-Link compatible module with the label is compatible with CC-Link V er . 1.10. Limits on the station-to-station cable length, etc., can be eased by using the V er . 1.10 compatible CC-Link cable.
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Chapter 6 Appendix Contents 1. T erm definition ................................................................................. 6-1.
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6- 1 6 Appendix 1. T erm definition 1. CC-Link (Control & Communication Link) CC-Link is a registered trademark of CC-Link partner association. 2. SAFE mode setting When the SAFE mode setting is enabled, service mode input is made valid so that safety functions such as operating speed limits in MANUAL mode can be used.
OWNER'S MANUAL Oct. 2006 V er. 1.06 This manual is based on V er . 1.06 of Japanese manual. © Y AMAHA MOTOR CO., L TD. IM Company Robot Controller All rights reserved. No part of this publication may be reproduced in any form without the permission of Y AMAHA MO TOR CO.
Un point important après l'achat de l'appareil (ou même avant l'achat) est de lire le manuel d'utilisation. Nous devons le faire pour quelques raisons simples:
Si vous n'avez pas encore acheté Yamaha RCX Series c'est un bon moment pour vous familiariser avec les données de base sur le produit. Consulter d'abord les pages initiales du manuel d'utilisation, que vous trouverez ci-dessus. Vous devriez y trouver les données techniques les plus importants du Yamaha RCX Series - de cette manière, vous pouvez vérifier si l'équipement répond à vos besoins. Explorant les pages suivantes du manuel d'utilisation Yamaha RCX Series, vous apprendrez toutes les caractéristiques du produit et des informations sur son fonctionnement. Les informations sur le Yamaha RCX Series va certainement vous aider à prendre une décision concernant l'achat.
Dans une situation où vous avez déjà le Yamaha RCX Series, mais vous avez pas encore lu le manuel d'utilisation, vous devez le faire pour les raisons décrites ci-dessus,. Vous saurez alors si vous avez correctement utilisé les fonctions disponibles, et si vous avez commis des erreurs qui peuvent réduire la durée de vie du Yamaha RCX Series.
Cependant, l'un des rôles les plus importants pour l'utilisateur joués par les manuels d'utilisateur est d'aider à résoudre les problèmes concernant le Yamaha RCX Series. Presque toujours, vous y trouverez Troubleshooting, soit les pannes et les défaillances les plus fréquentes de l'apparei Yamaha RCX Series ainsi que les instructions sur la façon de les résoudre. Même si vous ne parvenez pas à résoudre le problème, le manuel d‘utilisation va vous montrer le chemin d'une nouvelle procédure – le contact avec le centre de service à la clientèle ou le service le plus proche.
