Yamaha RCX Series manual

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

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[...]

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[...]

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[...]

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[...]

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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 ...... 1-3 4. Assignment of CC-Link compatible I/O ..........................[...]

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[...]

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[...]

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

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[...]

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 ?[...]

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[...]

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[...]

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 ?[...]

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[...]

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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 .............................................................. 2-2 2.2 Installing the CC-Link compatible module ......[...]

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

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 [...]

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[...]

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 [...]

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[...]

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 ?[...]

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 [...]

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[...]

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[...]

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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 .................................................................................. 3-2 3. Communication with master stati[...]

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

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[...]

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[...]

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[...]

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[...]

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[...]

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([...]

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[...]

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[...]

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

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[...]

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[...]

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[...]

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[...]

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. [[...]

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[...]

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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 ..................................... 5-6 3.1 Initial data process [...]

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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 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[...]

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([...]

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[...]

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[...]

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 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[...]

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[...]

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[...]

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 ([...]

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[...]

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[...]

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[...]

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([...]

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[...]

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[...]

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 ) [...]

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.[...]

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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. The SAFE mode setting is [...]

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[...]