Yamaha RCX Series User Manual
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Yamaha RCX Series User Manual

Yamaha RCX Series User Manual

Network board. cc-link compatible module
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RCX series
YAMAHA NETWORK BOARD
CC-Link
E
User's Manual
ENGLISH
E78-Ver. 1.08

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Summary of Contents for Yamaha RCX Series

  • Page 1 RCX series YAMAHA NETWORK BOARD CC-Link User’s Manual ENGLISH E78-Ver. 1.08...
  • Page 3 CC-Link Ver.1.10. CC-Link compatible modules without the CC-Link label are compatible with Ver.1.00. The robot controller explained in this manual refers to the RCX series. This manual describes the flow of operations from wiring the CC-Link compatible module to programming, and includes setting examples.
  • Page 4 Safety Precautions (Always read before starting use) Always read this manual, the robot controller user's 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 user's manual for details on the cautions to be taken with the robot controller system using this product.
  • Page 5 [Precautions for design] WARNING • REFER TO THE CC-LINK SYSTEM MASTER MODULE USER’S MANUAL AND THIS MANUAL FOR DETAILS ON THE STATE OF THE CC-LINK SYSTEM AND ROBOT CONTROLLER WHEN A COMMUNICATION ERROR OCCURS WITH THE CC-LINK SYSTEM, ETC. CONFIGURE AN INTERLOCK CIRCUIT IN THE SEQUENCE PROGRAM SO THAT THE SYSTEM, INCLUDING THE ROBOT CONTROLLER WILL WORK SAFELY USING THE COMMUNICATION STATUS INFORMATION.
  • Page 6 [Precautions for wiring] WARNING • ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING WORK. FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS OR PRODUCT DAMAGE. • ALWAYS INSTALL THE TERMINAL COVERS ENCLOSED WITH THE PRODUCT BEFORE TURNING ON THE POWER OR OPERATING THE PRODUCT AFTER INSTALLATION OR WIRING WORK.
  • Page 7 Dispose of this product as industrial waste. This manual does not guarantee the implementation of industrial rights or other rights, and does not authorize the implementation rights. YAMAHA shall not be held liable for any problems regarding industrial rights that occur through the use of the contents given in this manual.
  • Page 8 If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and/or related product within the warranty period, then YAMAHA will repair or replace those parts free of charge (hereafter called "warranty repair").

  • Page 9: Table Of Contents

    General Contents Chapter 1 OUTLINE Features Mechanism Names of each part on the CC-Link compatible module 1-3 Assignment of CC-Link compatible I/O Shift of CC-Link system connection status and robot controller status 1-6 Chapter 2 CONNECTION Confirming the CC-Link compatible module settings 2-1 Setting to the CC-Link system specification controller 2-2 Saving the robot controller data Installing the CC-Link compatible module...
  • Page 10 Direct connection by emulated serialization on parallel DIO 3-8 Emulated serialization setting on parallel DIO Referring to communication data 3-11 Referring to the data from the programming unit 3-11 Chapter 4 TROUBLESHOOTING Items to confirm before starting up CC-Link system 4-1 Meanings of LEDs on CC-Link compatible module 4-2 Troubleshooting Robot controller front panel LED confirmation...
  • Page 11 Chapter 1 OUTLINE Contents Features Mechanism Names of each part on the CC-Link compatible module 1-3 Assignment of CC-Link compatible I/O Shift of CC-Link system connection status and robot controller status 1-6...

  • Page 13: Features

    1. Features 1. Features Chapter CC-Link is the abbreviation of Control & Communication Link. The CC-Link system connects the robot controller and dispersed input/output modules with dedicated cables, and controls these modules from the master station PLC. The CC-Link system allows wiring to be reduced.

  • Page 14: Mechanism

    2. Mechanism 2. Mechanism Chapter The mechanism of communication is explained in this section to provide an understanding of how the robot controller and PLC operate via the CC-Link system. ON/OFF information Master station Robot controller q The robot controller’s ON/OFF information is sent to the master station PLC via the network (CC-Link system cable).

  • Page 15: Names Of Each Part On The Cc-Link Compatible Module

    3. Names of each part on the CC-Link compatible module 3. Names of each part on the CC-Link compatible module Chapter 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.

  • Page 16: Assignment Of Cc-Link Compatible I/O

    4. Assignment of CC-Link compatible I/O 4. Assignment of CC-Link compatible I/O Chapter The I/O expressions used in the robot controller’s program language and the I/O expressions for the remote device stations differ. The correspondence is shown below. Output from robot controller Input to robot controller Program language Remote device station...
  • Page 17 4. Assignment of CC-Link compatible I/O NOTE • SIW(n) and SOW(n) are handled as numerical data of word with no sign. Chapter SID(n) and SOD(n) are handled as numerical data of double words with a sign. • The dedicated input of STD.DIO connector provided on the RCX40/141/142 controllers will be disabled except for an interlock signal (DI 11).

  • Page 18: Shift Of Cc-Link System Connection Status And Robot Controller Status

    5. Shift of CC-Link system connection status and robot controller status 5. Shift of CC-Link system connection status and robot controller status Chapter Always start the CC-Link system specification robot controller in the servo OFF state after the power is turned ON. q Normal state of CC-Link system connection when robot controller power is turned Robot Master station...
  • Page 19 5. Shift of CC-Link system connection status and robot controller status • Interlock signal in SAFETY connector is valid. (RCX221/222) • When the Board condition (external 24V monitor control) of system parameters is left valid while SAFE mode is enabled, service mode input signal is made valid Chapter with DI (02) in SAFETY connector (RCX40/141/142) •...
  • Page 20 5. Shift of CC-Link system connection status and robot controller status * Service mode input signal cannot be invalidated with SI (02) when SAFE mode is enabled, so change the service mode parameter setting in SYSTEM > PARAM mode. In this case, take full precautions to prevent improper settings that might Chapter lead to a hazardous situation.
  • Page 21 Chapter 2 CONNECTION Contents Confirming the CC-Link compatible module settings 2-1 Setting to the CC-Link system specification controller 2-2 Saving the robot controller data Installing the CC-Link compatible module Response when starting the robot controller Setting the CC-Link compatible module Setting the station No.

  • Page 23: Confirming The Cc-Link Compatible Module Settings

    1. Confirming the CC-Link compatible module settings 1. Confirming the CC-Link compatible module settings When using the CC-Link system specification robot controller, the CC-Link compatible module's MAC ID and communication speed setting can be confirmed from a programming unit (RPB for RCX221/222 or MPB for other controllers; hereafter called Chapter "MPB/RPB").

  • Page 24: Setting To The Cc-Link System Specification Controller

    2. Setting to the CC-Link system specification controller 2. 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 in the robot controller. Check the CC-Link system specifications with the procedure given in section 1.

  • Page 25: Setting The Cc-Link Compatible Module

    3. Setting the CC-Link compatible module 3. Setting the CC-Link compatible module To connect the CC-Link system specification controller to the CC-Link system, the station No. and communication speed must be set with the rotary switch on the CC-Link compatible module. Confirm the current station No. and communication speed with the Chapter procedures given in section 1.

  • Page 26: Setting The Communication Speed

    3. Setting the CC-Link compatible module CAUTION • 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 Chapter near the CC-Link compatible module.
  • Page 27 3. Setting the CC-Link compatible module WARNING WHEN SETTING THE STATION NO., COMPLETELY SHUT OFF THE POWER SUPPLIED TO THE ROBOT CONTROLLER. [Procedures] Chapter 1. Confirm the communication speed for the robot controller in the CC-Link system. The communication speed must be set between 156K and 10Mbps. The correspondence of the communication speed and switch is shown below.

  • Page 28: Noise Measures

    4. Noise measures 4. Noise measures Two ferrite cores must be mounted on the input power cable when connecting to the CC- Link system. Mounting the ferrite core Chapter Mount two ferrite cores onto the input power cable connected to the input power connector on the front panel of the robot controller.

  • Page 29: Connecting To The Cc-Link System

    5. Connecting to the CC-Link system 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. Chapter Cable terminal Front of the unit WARNING WHEN SETTING THE STATION NO., COMPLETELY SHUT OFF THE POWER SUPPLIED TO THE ROBOT CONTROLLER.

  • Page 30: Testing The Line From The Master Station Plc

    5. Connecting to the CC-Link system CAUTION • Securely fi x the CC-Link system cable. • Carefully carry out the work to avoid applying excessive force on the CC- Link cable. • Treat each end of the CC-Link system cable wire with a round terminal or Y Chapter terminal so that it will not dislocate.

  • Page 31: Parameter Setting For Cc-Link Serial I/O Board

    6. Parameter setting for CC-Link serial I/O board 6. Parameter setting for CC-Link serial I/O board The following functions are enabled or disabled by setting the parameters for the CC-Link serial I/O board. Parameter Meaning Chapter [RCX40/141/142] Enables or disables the serial I/O board. When set to "VALID" the Board condition serial I/O can be used.

  • Page 32: Parameter Setting For Cc-Link Serial I/O Board

    6. Parameter setting for CC-Link serial I/O board Parameter setting for CC-Link serial I/O board [Operation] 1. Press the (PARAM) key in "SYSTEM" mode to enter "SYSTEM>PARAM" mode. Chapter 2. Press the (OP. BRD) key in "SYSTEM>PARAM" mode to enter the option board parameter setting mode.

  • Page 33: Parameter Setting For Cc-Link Serial I/O Board

    6. Parameter setting for CC-Link serial I/O board 4. Select the parameter with the cursor ( ↑ / ↓ ) keys. ＳＹＳＴＥＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ＞ＳＥＬＥＣＴ      Ｖ８．１８   １．ｂｏａｒｄ ｃｏｎｄｉｔｉｏｎ           ＶＡＬＩＤ   ２．ｒｅｍｏｔｅ ｃｍｄ ／ ＩＯ ｃｍｄ（ＳＩ０５） ＶＡＬＩＤ Chapter   ３．Ｏｕｔｐｕｔ ＭＳＧ ｔｏ ＳＯＷ（１）      ＩＮＶＡＬＩＤ     ＥＤＩＴ    ＪＵＭＰ 5. Press the (EDIT) key. 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     ＩＮＶＡＬＩＤ ＶＡＬＩＤ 6. Press the (INVALID) or (VALID) key.
  • Page 34 MEMO 2-12...
  • Page 35 Chapter 3 COMMUNICATION Contents State when robot controller power is turned ON 3-1 Initial process for connecting to CC-Link system 3-3 Initial data process Communication with master station PLC Receiving data Transmitting data Direct connection by emulated serialization on parallel DIO 3-8 Emulated serialization setting on parallel DIO Referring to communication data 3-11...

  • Page 37: State When Robot Controller Power Is Turned On

    1. State when robot controller power is turned ON 1. 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. q When connection to CC-Link system is correctly established. The following conditions must be satisfied to correctly connect to the CC-Link system: Chapter...
  • Page 38 1. State when robot controller power is turned ON Service mode input signal in the CC-Link system cannot be invalidated when SAFE mode is enabled, so change the service mode setting in SYSTEM > PARAM mode. In this case, take full precautions to prevent improper settings that might lead to a hazardous situation.

  • Page 39: Initial Process For Connecting To Cc-Link System

    2. Initial process for connecting to CC-Link system 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. Initial data process The initial data process is carried out to confirm that the robot controller is correctly connected to the CC-Link system.

  • Page 40: Communication With Master Station Plc

    3. Communication with master station PLC 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. Receiving data Data is received by reading the master station PLC output device data with the robot Chapter controller’s input port.
  • Page 41 3. Communication with master station PLC When reading the bit information 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 Assignment statement Example...

  • Page 42: Transmitting Data

    3. Communication with master station PLC 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 controller’s output port numbers is shown below. Master station Robot controller Master station...
  • Page 43 3. Communication with master station PLC When writing the robot controller’s word information into the master station PLC’s input device No., write the following command in the robot program. Assignment statement Example : To write 512 into RWr (n+2) as word data SOW (2) = 512 ....

  • Page 44: Direct Connection By Emulated Serialization On Parallel Dio

    4. Direct connection by emulated serialization on parallel DIO 4. Direct connection by emulated serialization on parallel DIO The robot controller's parallel input data can be transferred to the serial output data regardless of the robot program. Likewise, the robot controller's serial input data can be transferred to the parallel output data.
  • Page 45 4. Direct connection by emulated serialization on parallel DIO Valid keys and submenu functions in this mode are as follows. Valid keys Menu Function Cursor (↑/↓) keys Selects SIO parameters. EDIT Sets SIO parameters. JUMP Jumps to specified SIO parameter. NOTE Chapter When the port specifi...
  • Page 46 5. Referring to communication data 2. Direct connection from DI n ( ) to SO n ( ) Parallel port input can be directly connected to serial port output. The relation of the parallel port and serial port that can be connected is as follows. Input device such as sensor DI port →SO port DI2()

  • Page 47: Referring To Communication Data

    5. Referring to communication data 5. Referring to communication data The ON/OFF information exchanged with the master station PLC can be referred to using the programming unit (RPB for RCX221/222 or MPB for other controllers; hereafter called "MPB/RPB"). Note that the MPB/RPB 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 displayed.
  • Page 48 5. Referring to communication data 3. Press the key on the MPB/RPB once more to check the status of SI input DISPLAY ports 10 to 15. 4. Press the key on the MPB/RPB twice more to check the status of SO input DISPLAY ports 0 to 7.
  • Page 49 Chapter 4 TROUBLESHOOTING Contents Items to confirm before starting up CC-Link system 4-1 Meanings of LEDs on CC-Link compatible module 4-2 Troubleshooting Robot controller front panel LED confirmation Programming unit error display confirmation CC-Link compatible module LED confirmation Confirmation from master station PLC Error messages relating to CC-Link...

  • Page 51: Items To Confirm Before Starting Up Cc-Link System

    1. Items to confirm before starting up CC-Link system 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 or 3.) Is the robot controller set to the CC-Link system specifications? (Refer to Chapter 2 section 1.) Are the CC-Link compatible module station No.

  • Page 52: Meanings Of Leds On Cc-Link Compatible Module

    2. Meanings of LEDs on CC-Link compatible module 2. Meanings of LEDs on CC-Link compatible module ERRL Chapter Front of the unit The LEDs on the CC-Link compatible module express the following statuses. Use these for confirmation when an error occurs. : ON : OFF : Blinking (This might seem to be lit dep ending on the a mbient en vironment.)

  • Page 53: Troubleshooting

    3. Troubleshooting 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. 3-1 Robot controller front panel LED confirmation 3-2 Programming unit error display confirmation 3-3 CC-Link compatible module LED confirmation Chapter 3-4 Confirmation from master station PLC...

  • Page 54: Programming Unit Error Display Confirmation

    3. Troubleshooting 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 system cable is disconnected or incorrectly connected. Chapter •...

  • Page 55: Cc-Link Compatible Module Led Confirmation

    3. Troubleshooting CC-Link compatible module LED confirmation [Confirmation item 1] <Confirmation details> • The LED display on the CC-Link compatible module is not "RUN. ERR. SD. RD" = " ".( :ON, :OFF) <Cause> • An error has occurred in the CC-Link system connection. Refer to table in Chapter 4 section 2 for the meanings of the LED displays.

  • Page 56: Confirmation From Master Station Plc

    3. Troubleshooting 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. Chapter [Confirmation item 2] <Confirmation details>...

  • Page 57: Error Messages Relating To Cc-Link

    4. Error messages relating to CC-Link 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 user's manuals. When an error occurs, an error message appears on the message line (2nd line) of the MPB or RPB screen. 12.1 : Emg.stop on Code : &H0C01...
  • Page 58 4. Error messages relating to CC-Link 12.11 : CC-Link communication error Code : &H0C0B Meaning/Cause : a. Error in cable for CC-Link system. b. Master station sequencer power is turned off or the operation has stopped. Action : 1. Check for the cable and take measures to suppress noise on the controller.
  • Page 59 Chapter 5 SPECIFICATIONS Contents Profile Details of remote input/output signals Dedicated input/output signal timing chart Initial data process for CC-Link connection Servo ON and emergency stop AUTO mode changeover, program reset and program execution 5-10 Stopping with program interlock 5-11 Sample program 5-13 CC-Link compatible module specifications 5-20...

  • Page 61: Profile

    1. Profile 1. Profile YAMAHA robot controller (4-station occupying) Remote input/output Remote → Master 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...
  • Page 62 1. Profile Remote → Master Master → Remote Device No. Signal name Device No. Signal name RX(n+3)8 RY(n+3)8 SO(70) to SO(77): General-purpose output SI(70) to SI(77): General-purpose input RX(n+3)F RY(n+3)F RX(n+4)0 RY(n+4)0 SO(100) to SO(107): General-purpose output SI(100) to SI(107): General-purpose input RX(n+4)7 RY(n+4)7 RX(n+4)8...
  • Page 63 1. Profile Remote registers Remote → Master Remote → Master Device No. Name Device No. Name RWrn Dedicated SOW(0) RWwn Dedicated SIW(0) RWr(n+1) Dedicated SOW(1) RWw(n+1) Dedicated SIW(1) General-purpose General-purpose RWr(n+2) RWw(n+2) SOW(2) SIW(2) General-purpose General-purpose SOD(2) SID(2) General-purpose General-purpose RWr(n+3) RWw(n+3) SOW(3)

  • Page 64: Details Of Remote Input/Output Signals

    2. Details of remote input/output signals 2. Details of remote input/output signals Remote input (RX) Device No. Signal name Details RXn0 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.
  • Page 65 2. Details of remote input/output signals Remote output (RY) Device No. Signal name Details Turn OFF to trigger emergency stop on controller.Keep RYn0 SI(00): Emergency stop input turned ON during normal operation. Turn ON to cancel emergency stop and turn ON the robot servo motor.
  • Page 66 2. Details of remote input/output signals Device No. Signal name Details Turn ON to perform return-to-origin on incremental mode axes or semi-absolute mode axes. [RCX141/221] When this input is switched from OFF to ON, return-to- SI(17): Return-to-origin input origin is performed on incremental mode axes or absolute search is performed on semi-absolute mode axes.
  • Page 67 2. Details of remote input/output signals Remote registers (RWr) Device No. Name Details RWrn Dedicated SOW(0) Used as remote command’s status area. RWr(n+1) Dedicated SOW(1) Used as remote command’s error code area. RWr(n+2) General-purpose SOW(2) General-purpose SOD(2) RWr(n+3) General-purpose SOW(3) RWr(n+4) General-purpose SOW(4) General-purpose...

  • Page 68: Dedicated Input/Output Signal Timing Chart

    3. Dedicated input/output signal timing chart 3. Dedicated input/output signal timing chart Initial data process for CC-Link connection RX (n+7) 8 Initial data process request flag RX (n+7) B Remote Ready RYn0:SI(00) Emergency stop input Chapter RY(n+1)1:SI(11) Interlock input RY(n+7)8 Initial data process complete flag CAUTION •...

  • Page 69: Servo On And Emergency Stop

    3. Dedicated input/output signal timing chart Ser vo ON and emergency stop RXn0:SO ( 00 ) Emergency stop input status output RXn1:SO ( 01 ) CPU_OK status output RXn2:SO ( 02 ) Servo ON status output RXn3:SO ( 03 ) Alarm status output Chapter RYn0:SI ( 00 )

  • Page 70: Auto Mode Changeover, Program Reset And Program Execution

    3. Dedicated input/output signal timing chart * When SAFE mode is enabled, dedicated inputs other than SI (00) and SI (11) might be disabled depending on service mode parameter setting unless service mode input signal is set to ON with SI (02) in the CC-Link system. AUTO mode changeover, program reset and program execution RXn8:SO ( 10 ) AUTO mode status...

  • Page 71: Stopping With Program Interlock

    3. Dedicated input/output signal timing chart 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) Robot program start input ON is input h) Program reset status output OFF is output Robot program execution status output ON is output i) After confirming that the robot program execution status output is ON, the robot...
  • Page 72 3. Dedicated input/output signal timing chart Program execution process a) Robot program 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...

  • Page 73: Sample Program

    4. Sample program 4. Sample program An example for the following type of hardware configuration has been prepared for this section. MXYx Pallet SXYx 2nd unit supply position 1st unit supply position P105 P100 P101 P201 P205 P200 P102 P106 P202 P206 Chapter...
  • Page 74 4. Sample program [Robot program data assignment] * Variables used 1st unit : : Point No. in pallet 2nd unit : B : Point No. in pallet * Points used 1st unit : P100 : Point above workpiece supply P101 : 1st point above pallet P108 : 8th point above pallet...
  • Page 75 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...
  • Page 76 4. Sample program [Robot program] 1st unit’s RCX40 2nd unit’s RCX142 ‘INIT ROUTINE ‘INIT ROUTINE RESET SO2() RESET SO2() RESET SO4() RESET SO4() RESET DO4() RESET DO4() A=101 B=201 ‘MAIN ROUTINE ‘MAIN ROUTINE MOVE P,P100,Z=0 MOVE P,P200,Z=0 GOSUB *PICK GOSUB *PICK *ST1: *ST2: MOVE P,P[A],Z=0...
  • Page 77 4. Sample program [PLC program] [ PLS [ SET [ MOV No. of connected modules [ TO [ MOV H1401 Station information [ MOV H1405 [ T0 [ RST M9038 [ SET Refresh instruction [ SET Chapter [ SET [ RST Data link start normal completion [ RST [ FROM H0...
  • Page 78 4. Sample program X17B X101 X100 X102 ( Y101 X102 X109 ( Y10E X108 X109 ( Y10F X109 ( Y10B X108 X10B X10C ( Y10D X108 X10C X10B ( Y10A X17B X190 ( Y110 X191 ( Y111 X192 ( Y112 X193 ( Y113 X1A0...
  • Page 79 4. Sample program X1F8 [ RST Y1F8 Set initial data process complete flag OFF X182 X1FB X181 X180 ( Y181 X182 X189 ( Y18E X188 X189 ( Y18F X189 ( Y18B X188 X18B X18C ( Y18D X188 X18C X18B ( Y18A X1FB X110 ( Y190...

  • Page 80: Cc-Link Compatible Module Specifications

    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. CC-Link compatible module Specification item Target controller RCX series controller Remote station type Remote device station Number of occupied Fixed to four stations stations Chapter Station No.
  • Page 81 Chapter 6 APPENDIX Contents Term definition...

  • Page 83: Term Definition

    1. Term definition 1. Term 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.
  • Page 84 All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.

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