Deutsch dropdown-ico

Yamaha Yamaha Robot Controller CC-Link Unit Bedienungsanleitung

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76

Zur Seite of

Ähnliche Gebrauchsanleitungen

Richtige Gebrauchsanleitung

Die Vorschriften verpflichten den Verkäufer zur Übertragung der Gebrauchsanleitung Yamaha Yamaha Robot Controller CC-Link Unit an den Erwerber, zusammen mit der Ware. Eine fehlende Anleitung oder falsche Informationen, die dem Verbraucher übertragen werden, bilden eine Grundlage für eine Reklamation aufgrund Unstimmigkeit des Geräts mit dem Vertrag. Rechtsmäßig lässt man das Anfügen einer Gebrauchsanleitung in anderer Form als Papierform zu, was letztens sehr oft genutzt wird, indem man eine grafische oder elektronische Anleitung von Yamaha Yamaha Robot Controller CC-Link Unit, sowie Anleitungsvideos für Nutzer beifügt. Die Bedingung ist, dass ihre Form leserlich und verständlich ist.

Was ist eine Gebrauchsanleitung?

Das Wort kommt vom lateinischen „instructio”, d.h. ordnen. Demnach kann man in der Anleitung Yamaha Yamaha Robot Controller CC-Link Unit die Beschreibung der Etappen der Vorgehensweisen finden. Das Ziel der Anleitung ist die Belehrung, Vereinfachung des Starts, der Nutzung des Geräts oder auch der Ausführung bestimmter Tätigkeiten. Die Anleitung ist eine Sammlung von Informationen über ein Gegenstand/eine Dienstleistung, ein Hinweis.

Leider widmen nicht viele Nutzer ihre Zeit der Gebrauchsanleitung Yamaha Yamaha Robot Controller CC-Link Unit. Eine gute Gebrauchsanleitung erlaubt nicht nur eine Reihe zusätzlicher Funktionen des gekauften Geräts kennenzulernen, sondern hilft dabei viele Fehler zu vermeiden.

Was sollte also eine ideale Gebrauchsanleitung beinhalten?

Die Gebrauchsanleitung Yamaha Yamaha Robot Controller CC-Link Unit sollte vor allem folgendes enthalten:
- Informationen über technische Daten des Geräts Yamaha Yamaha Robot Controller CC-Link Unit
- Den Namen des Produzenten und das Produktionsjahr des Geräts Yamaha Yamaha Robot Controller CC-Link Unit
- Grundsätze der Bedienung, Regulierung und Wartung des Geräts Yamaha Yamaha Robot Controller CC-Link Unit
- Sicherheitszeichen und Zertifikate, die die Übereinstimmung mit entsprechenden Normen bestätigen

Warum lesen wir keine Gebrauchsanleitungen?

Der Grund dafür ist die fehlende Zeit und die Sicherheit, was die bestimmten Funktionen der gekauften Geräte angeht. Leider ist das Anschließen und Starten von Yamaha Yamaha Robot Controller CC-Link Unit zu wenig. Eine Anleitung beinhaltet eine Reihe von Hinweisen bezüglich bestimmter Funktionen, Sicherheitsgrundsätze, Wartungsarten (sogar das, welche Mittel man benutzen sollte), eventueller Fehler von Yamaha Yamaha Robot Controller CC-Link Unit und Lösungsarten für Probleme, die während der Nutzung auftreten könnten. Immerhin kann man in der Gebrauchsanleitung die Kontaktnummer zum Service Yamaha finden, wenn die vorgeschlagenen Lösungen nicht wirksam sind. Aktuell erfreuen sich Anleitungen in Form von interessanten Animationen oder Videoanleitungen an Popularität, die den Nutzer besser ansprechen als eine Broschüre. Diese Art von Anleitung gibt garantiert, dass der Nutzer sich das ganze Video anschaut, ohne die spezifizierten und komplizierten technischen Beschreibungen von Yamaha Yamaha Robot Controller CC-Link Unit zu überspringen, wie es bei der Papierform passiert.

Warum sollte man Gebrauchsanleitungen lesen?

In der Gebrauchsanleitung finden wir vor allem die Antwort über den Bau sowie die Möglichkeiten des Geräts Yamaha Yamaha Robot Controller CC-Link Unit, über die Nutzung bestimmter Accessoires und eine Reihe von Informationen, die erlauben, jegliche Funktionen und Bequemlichkeiten zu nutzen.

Nach dem gelungenen Kauf des Geräts, sollte man einige Zeit für das Kennenlernen jedes Teils der Anleitung von Yamaha Yamaha Robot Controller CC-Link Unit widmen. Aktuell sind sie genau vorbereitet oder übersetzt, damit sie nicht nur verständlich für die Nutzer sind, aber auch ihre grundliegende Hilfs-Informations-Funktion erfüllen.

Inhaltsverzeichnis der Gebrauchsanleitungen

  • Seite 1

    OWNER'S MANUAL YAMAHA Robot Controller RCX Series UNIT[...]

  • Seite 2

    [...]

  • Seite 3

    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 . 1.10. CC-Link compatible modules without[...]

  • Seite 4

    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. Ref er to the robot controller instruction manual[...]

  • Seite 5

    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. Failure to shut off all phases could lead t[...]

  • Seite 6

    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. Failure to shut off all phases could lead to electric shocks, product d[...]

  • Seite 7

    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 occur s due to defects in materials or w orkmanship in the genu- ine parts constituting this Y AMAHA robot and/or related product within the warranty per[...]

  • Seite 8

    6 2 MEMO[...]

  • Seite 9

    i Contents Chapter 1 Outline 1. Features ............................................................................... 1-1 2. Mechanism ........................................................................... 1-2 3. Names of each part on the CC-Link compatible module ...... 1-3 4. Assignment of CC-Link compatible I/O ..........................[...]

  • Seite 10

    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 ................................................................... 4-3 3.1 Robot controller front panel LED confirmation ............. 4-3 3.2 Programming unit[...]

  • Seite 11

    Chapter 1 Outline Contents 1. Features ............................................................................................ 1-1 2. Mechanism ....................................................................................... 1-2 3. Names of each part on the CC-Link compatible module .................. 1-3 4. Assignment of CC-Link compat[...]

  • Seite 12

    MEMO[...]

  • Seite 13

    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. The CC-Link system allo ws wiring to be reduced. Master station Station that controls entire C[...]

  • Seite 14

    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. q w ON/OFF information Master station PLC Robot controller q The robot controller’ s ON/OFF information is sent to the master station PLC via the network (CC-Li[...]

  • Seite 15

    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 . w t r e q 1   2   3   4   5   6   7   8   9   0 1   2 ?[...]

  • Seite 16

    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. setting n= (station No. - 1) ✕ 2 SOW(0) *3 RWr0 SIW(0) *3 RWw0 S[...]

  • Seite 17

    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 . q Normal state of CC-Link system connection when robot controller power is turned ON Robot controller Master station PLC • Emergenc y s[...]

  • Seite 18

    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 • Connection to CC-Link system not possible • Error in master station PLC Robot controller Master station PLC Robot controller Master station PLC ?[...]

  • Seite 19

    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 controller power is turned ON Robot controller Master station PLC Robot controller Master station PLC Robot controller Master station PLC • CC-Link sy[...]

  • Seite 20

    1- 8 MEMO[...]

  • Seite 21

    Chapter 2 Connection Contents 1. Confirming the CC-Link compatible module settings ....................... 2-1 2. Setting to the CC-Link system specification controller ..................... 2-2 2.1 Saving the robot controller data .............................................................. 2-2 2.2 Installing the CC-Link compatible module ......[...]

  • Seite 22

    MEMO[...]

  • Seite 23

    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). • When connecting CC-Link compatible module to existing robot controller → Fo[...]

  • Seite 24

    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 . C heck t he CC -L in k s y st e m sp ec ifi c ations w it h t he pro cedu r e g i [...]

  • Seite 25

    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. Confirm t he cu rr e nt station N o . an d c omm[...]

  • Seite 26

    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. 1   2   3   4   5   6   7   8   9   0 1   2   3   4   5   6   7   8   9 [...]

  • Seite 27

    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 . [Procedures] 1. Mount the two ferr ite cores (su[...]

  • Seite 28

    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. DA DB DG SLD 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 ?[...]

  • Seite 29

    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. W hen the Boar d status parameter is set to "V ALID", the dedicated input (except [...]

  • Seite 30

    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. The option boards installed in the controller are displayed in order on the MPB[...]

  • Seite 31

    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 . Fig. 2-6-4 SYSTEM >PARAM>OP.BRD> SELECT V8.18 1.board condition VALID 2.remote[...]

  • Seite 32

    2- 10 MEMO[...]

  • Seite 33

    Chapter 3 Communication Contents 1. State when robot controller power is turned ON ............................. 3-1 2. Initial process for connecting to CC-Link system .............................. 3-2 2.1 Initial data process .................................................................................. 3-2 3. Communication with master stati[...]

  • Seite 34

    MEMO[...]

  • Seite 35

    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. The follo wing conditions m ust be satisfied to corr ectly connect to the CC-Link sys[...]

  • Seite 36

    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. Prepare the process on the master stati[...]

  • Seite 37

    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. 3.1 Receiving data Data is recei ved by reading the master station PLC output de vice data with the robot controller’ s inpu[...]

  • Seite 38

    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 . n: Address assigned to master module with station No. s[...]

  • Seite 39

    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. By using this func- tion, I/O devices such as a sensor or relay can be used lik e a device connected to C[...]

  • Seite 40

    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. Output device such as sensor DO port SI port ← DO2() SI2() D[...]

  • Seite 41

    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. Input device such as valve DI port SO port → DI2() SO2() DI3([...]

  • Seite 42

    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). Note that the MPB display update interval is longer than the CC-Link data update interval, so if the ON/ OFF interval is short, accurate information may not be displ[...]

  • Seite 43

    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 ................................................................................ 4-3 3.1 Robot controller front panel LED confirma[...]

  • Seite 44

    MEMO[...]

  • Seite 45

    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.) Is the robot controller set to the CC-Link system specifications[...]

  • Seite 46

    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. U[...]

  • Seite 47

    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 . 3-1 Robot controller front panel LED confirmation 3-2 Programming unit error display confirmation 3-3 CC-Link compatible module LED confirmat[...]

  • Seite 48

    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. <Countermeasures> • Check whether the CC-Link sys[...]

  • Seite 49

    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. Refer to table in Chapter 4[...]

  • Seite 50

    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. * Refer to the master station PLC instruction manual for details on the line test. [[...]

  • Seite 51

    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. 12.1 : Emg.stop on Code : &H0C01 Meaning/Ca[...]

  • Seite 52

    4- 8 MEMO[...]

  • Seite 53

    Chapter 5 Specifications Contents 1. Profile ............................................................................................... 5-1 2. Details of remote input/output signals ............................................. 5-3 3. Dedicated input/output signal timing chart ..................................... 5-6 3.1 Initial data process [...]

  • Seite 54

    MEMO[...]

  • Seite 55

    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 output SO (03): Alarm status output System area [for future expansion] SO (10): AUTO mode status output SO (11): Origin return complete status output SO[...]

  • Seite 56

    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: QnA) RX(n+6)0 to RX(n+6)7 RX(n+6)8 to RX(n+6)F RX(n+7)0 RX(n+7)1 RX(n+7)2 RX(n+7)3 RX(n+7)4 RX(n+7)5 RX(n+7)6 RX(n+7)7 RX(n+7)8 RX(n+7)9 RX(n+7)A RX([...]

  • Seite 57

    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 SO (10): AUTO mode status output SO (11): Origin return complete status output SO (12): Sequence program execution status output SO (13): Robot program[...]

  • Seite 58

    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 trigger input SI (10): Sequence control input SI (11): Interlock input SI (12): Robot program start input SI (13): AUTO mode input [RCX141/221] SI (14): Abs[...]

  • Seite 59

    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.[...]

  • Seite 60

    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 request flag RX (n+7) B Remote Ready RYn0:SI(00) Emergency stop input RY(n+1)1:SI(11) Interlock input RY(n+7)8 Initial data process complete flag Confir[...]

  • Seite 61

    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 stop input status output RXn1:SO ( 01 ) CPU_OK output RXn2:SO ( 02 ) Servo ON status output RXn3:SO ( 03 ) Alarm status output RYn0:SI ( 00 ) Emergenc[...]

  • Seite 62

    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 off on off on on off off on off on off off RXn8:SO ( 10 ) AUTO mode status output RXn9:SO ( 11 ) Origin return complete status output RXnB:SO ( 13 ) Ro[...]

  • Seite 63

    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 output RXn9:SO ( 11 ) Origin return complete status output RXnB:SO ( 13 ) Robot program execution status output RYn9:SI ( 11 ) Interlock input RYnA:SI ([...]

  • Seite 64

    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. 1, 4 stations occupied) Remote device[...]

  • Seite 65

    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 abov e workpiece supply P101 : 1st point abov e pallet :: P108 : 8th point abov e pallet P121 : Z axis position point for workpiece supply P122 : Z axis[...]

  • Seite 66

    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 completion X0F (*1) : Unit ready X100 : 1st unit’ s SO(00): Emergency stop input status X101 : 1st unit’ s SO(01): CPU_OK : : X17F : 1st unit res[...]

  • Seite 67

    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],Z=0 GOSUB *PLA CE MO VE P ,P100,Z=0 SO(41)=1 W AIT SI(41)=1 SO(41)=0 W AIT SI(41)=0 SO(23,22,21,20)=A-100 SO(40)=1 W AIT SI(40)=1 SO(40)=0 W AIT SI([...]

  • Seite 68

    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 ] [ SET Y0 ] [ SET M2 ] [ SET Y6 ] [ RST Y6 ] [ RST M2 ] [ RST Y6 ] [ RST M2 ] [ CALL P10 ] [ CALL P20 ] [ SET Y100 ] [ SET Y109 ] [ SET Y178 ] [ RST Y17[...]

  • Seite 69

    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 ) ( Y110 ) ( Y111 ) ( Y112 ) ( Y113 ) ( Y120 ) ( Y121 ) ( Y122 ) ( Y123 ) ( Y130 ) ( Y131 ) ( Y132 ) ( Y133 ) ( Y140 ) ( Y141 ) ( Y142 ) ( Y143 ) [ RET ] [ S[...]

  • Seite 70

    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 ) ( Y18A ) ( Y190 ) ( Y191 ) ( Y192 ) ( Y193 ) ( Y1A0 ) ( Y1A1 ) ( Y1A2 ) ( Y1A3 ) ( Y1B0 ) ( Y1B1 ) ( Y1B2 ) ( Y1B3 ) ( Y1C0 ) ( Y1C1 ) ( Y1C2 ) ( Y1C3 ) [...]

  • Seite 71

    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. Refer to the master station PLC instruction manual compat- ible with V er . 1.10.[...]

  • Seite 72

    5- 18 MEMO[...]

  • Seite 73

    Chapter 6 Appendix Contents 1. T erm definition ................................................................................. 6-1[...]

  • Seite 74

    MEMO[...]

  • Seite 75

    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. The SAFE mode setting is [...]

  • Seite 76

    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., L TD. Information furnished by Y AMAHA in this manual is believ ed to be[...]