Yamaha CC-Link RCX Series Owner's Manual
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Yamaha CC-Link RCX Series Owner's Manual

Yamaha CC-Link RCX Series Owner's Manual

Robot controller
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YAMAHA Robot Controller
RCX Series
UNIT
OWNER'S MANUAL
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Summary of Contents for Yamaha CC-Link RCX Series

  • Page 1 YAMAHA Robot Controller RCX Series UNIT OWNER'S MANUAL Get other manuals https://www.bkmanuals.com...
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  • Page 3 For details on other devices such as connecting the master station PLC and PLC program- ming, refer to the manual for the respective product. Refer to the manual enclosed with the YAMAHA controller for details on operating the robot controller and on the robot program.
  • Page 4 Safety Precautions (Always read before starting use) Always read this manual, the robot controller instruction manual and programming manual before using this product. Take special care to safety, and correctly handle the product. The cautions given in this manual are related to this product. Refer to the robot controller instruction manual for details on the cautions to be taken with the robot controller system using this product.
  • Page 5 [Precautions for installation] WARNING • 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.
  • Page 6 • 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 7 If a failure or breakdown occurs due to defects in materials or workmanship in the genu- ine 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").
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  • Page 9: Table Of Contents

    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 ........ 1-4 5. Shift of CC-Link system connection status and robot controller status ............
  • Page 10 Chapter 4 Troubleshooting 1. Items to confirm before starting up CC-Link system .... 4-1 2. Meanings of LEDs on CC-Link compatible module ....4-2 3. Troubleshooting ..............4-3 3.1 Robot controller front panel LED confirmation ..... 4-3 3.2 Programming unit error display confirmation ....4-4 3.3 CC-Link compatible module LED confirmation ....

  • Page 11: Chapter 1 Outline

    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 compatible I/O ..........1-4 5. Shift of CC-Link system connection status and robot controller status ..............
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  • Page 13: Features

    1. Features 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. Master station Station that controls entire CC- Link system.

  • Page 14: Mechanism

    2. Mechanism The mechanism of communication is explained in this section to provide an understand- ing of how the robot controller and PLC operate via the CC-Link system. 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 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 The I/O expressions used in the robot controller’s program language and the I/O expres- sions for the remote device stations differ. The correspondence is shown below. Output from robot controller Input to robot controller NOTE SIW(n) and SOW(n) are handled as Program language...

  • Page 17: Shift Of Cc-Link System Connection Status And Robot Controller Status

    5. Shift of CC-Link system connection status and robot controller status Always start the CC-Link system specification robot controller in the servo OFF state after the power is turned ON. q Normal state of CC-Link system connection when robot controller power is turned ON Robot Master station...
  • Page 18 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 Master station Robot...
  • Page 19 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 Robot Master station Robot Master station controller controller Robot Master station controller •...
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  • Page 21: Chapter 2 Connection

    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 ..........2-2 2.3 Response when starting the robot controller ..........2-2 3.
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  • Page 23: Confirming The Cc-Link Compatible Module Settings

    1. Confirming the CC-Link compatible module settings With the CC-Link system specification robot controller, the CC-Link compatible module station No. and communication speed settings can be confirmed with the programming unit (hereinafter, MPB). • When connecting CC-Link compatible module to existing robot controller →...

  • Page 24: 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 compat- ible module must be installed in the robot controller. Check the CC-Link system specifications with the procedure given in section 1. Saving the robot controller data Before installing the CC-Link compatible module into the robot controller, be sure to save the data stored in the robot controller into an external memory by using VIP soft-...

  • Page 25: 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 procedures given in section 1. Setting the station No.

  • Page 26: Setting The Communication Speed

    3. Setting the CC-Link compatible module 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.       NOTE The communication speed must match the CC-Link system’s master station setting.

  • Page 27: 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 Mount two ferrite cores onto the input power cable connected to the input power connec- tor on the front panel of the robot controller. [Procedures] 1.

  • Page 28: 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.       Cable terminal Front of the unit Connecting to the cable terminal to the controller WARNING When setting the station No., completely shut off the power...

  • Page 29: 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- NOTE Link serial I/O board. • Set the Board status parameter to "INVALID" when not using serial I/O boards. Parameter Meaning •...
  • Page 30 6. Parameter setting for CC-Link serial I/O board Parameter setting for CC-Link serial I/O board 1) Press the (PARAM) key in “SYSTEM” mode to enter “SYSTEM>PARAM” mode. 2) Press the (OP. BRD) key in “SYSTEM>PARAM” mode to enter the option board parameter setting mode.
  • Page 31 6. Parameter setting for CC-Link serial I/O board 4) Select the parameter with the cursor (↑/↓) keys. 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 (EDIT) key.
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  • Page 33: Chapter 3 Communication

    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 station PLC ......... 3-3 3.1 Receiving data ..................3-3 3.2 Transmitting data ..................
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  • Page 35: 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 sys- tem: •...

  • Page 36: 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 37: 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 controller’s input port.

  • Page 38: 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 39: Direct Connection By Emulated Serialization On Parallel Dio

    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 regardless of the robot program. By using this func- tion, I/O devices such as a sensor or relay can be used like a device connected to CC-Link. Master station PLC I/O device Sensor, relay, etc.
  • Page 40 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 follows. NOTE Output device such as sensor ←...
  • Page 41 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 serial port output. The relation of the parallel port and serial port that can be connected is as follows. NOTE Input device such as valve →...

  • Page 42: 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 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 displayed.

  • Page 43: Chapter 4 Troubleshooting

    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. Troubleshooting................4-3 3.1 Robot controller front panel LED confirmation ........4-3 3.2 Programming unit error display confirmation .......... 4-4 3.3 CC-Link compatible module LED confirmation ........
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  • Page 45: 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 46: Meanings Of Leds On Cc-Link Compatible Module

    2. Meanings of LEDs on CC-Link compatible module       ERRL Front of the unit The LEDs on the CC-Link compatible module express the following statuses. Use these for confirmation when an error occurs. RUN ERRL Meaning Normal communication is taking place, but the CRC error occurs sometimes because of noise.

  • Page 47: 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. Robot controller front panel LED confirmation Programming unit error display confirmation CC-Link compatible module LED confirmation Confirmation from master station PLC Robot controller front panel LED confirmation [Confirmation item 1]...

  • Page 48: 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. •...

  • Page 49: 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 50: 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. [Confirmation item 2] <Confirmation details>...

  • Page 51: 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 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...
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  • Page 53: Chapter 5 Specifications

    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 for CC-Link connection ..........5-6 3.2 Servo ON and emergency stop ..............5-7 3.3 AUTO mode changeover, program reset and program execution .....
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  • Page 55: 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 RYn1 SO (01): CPU_OK status output...
  • Page 56 1. Profile Remote → Master Master → Remote Device No. Signal name Device No. Signal name RX(n+6)0 RY(n+6)0 SO(140) to SO(147): General-purpose output SI(140) to SI(147): General-purpose input RX(n+6)7 RY(n+6)7 RX(n+6)8 RY(n+6)8 SO(150) to SO(157): General-purpose output SI(150) to SI(157): General-purpose input RX(n+6)F RY(n+6)F RX(n+7)0...

  • Page 57: Details Of Remote Input/Output Signals

    2. Details of remote input/output signals Device No. Signal name Details RXn0 SO (00): Emergency stop input status output Turns ON when robot controller is in emergency stop state. Turns ON when robot controller is in normal state. RXn1 SO (01): CPU_OK status output RXn2 Turns ON when robot controller motor power is ON.
  • Page 58 2. Details of remote input/output signals Device No. Signal name Details Turn OFF to trigger emergency stop on controller. RYn0 SI (00): Emergency stop input Keep turned ON during normal operation. Turn ON to cancel emergency stop and turn ON the robot servo motor.
  • Page 59 2. Details of remote input/output signals Device No. Signal name Details RY(n+1)0 SI(20) to SI(27): General-purpose input RY(n+1)7 Set these inputs to ON or OFF to refer to SI port values or execute WAIT command. RY(n+6)8 SI(150) to SI(157): General-purpose input RY(n+6)F Turns ON when power is turned ON, communication error is reset, or data initialization is...

  • Page 60: Dedicated Input/Output Signal Timing Chart

    3. Dedicated input/output signal timing chart Initial data process for CC-Link connection CAUTION RX (n+7) 8 Initial data process request flag • The dedicated input ON/OFF process from the master station RX (n+7) B PLC to the controller must be Remote Ready carried out at an interval of 100ms or more.

  • Page 61: Servo On And Emergency Stop

    3. Dedicated input/output signal timing chart Servo ON and emergency stop CAUTION RXn0:SO ( 00 ) • The dedicated input ON/OFF Emergency stop input status output process from the master station PLC to the controller must be RXn1:SO ( 01 ) carried out at an interval of CPU_OK output 100ms or more.

  • Page 62: Auto Mode Changeover, Program Reset And Program Execution

    3. Dedicated input/output signal timing chart AUTO mode changeover, program reset and program execution CAUTION RXn8:SO ( 10 ) • The dedicated input ON/OFF AUTO mode status output process from the master station PLC to the controller must be RXn9:SO ( 11 ) carried out at an interval of Origin return complete 100ms or more.

  • Page 63: Stopping With Program Interlock

    3. Dedicated input/output signal timing chart Stopping with program interlock CAUTION RXn8:SO ( 10 ) • The dedicated input ON/OFF AUTO mode status output process from the master station PLC to the controller must be RXn9:SO ( 11 ) carried out at an interval of Origin return complete status output 100ms or more.

  • Page 64: 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 P100 P101 P105 P201 P205 P200 P102 P106 P202 P206 P103 P107 P203 P207...
  • Page 65 4. Sample program [Robot program data assignment] * Variables used 1st unit : : Point No. in pallet 2nd unit : : Point No. in pallet * Points used 1st unit : P100 : Point above workpiece supply P101 : 1st point above pallet P108 : 8th point above pallet P121...
  • Page 66 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 67 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 68 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 [ SET [ RST Data link start normal completion [ RST [ FROM H0...
  • Page 69 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 70 4. Sample program X1F8 [ RST Set initial data process Y1F8 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 71: Cc-Link Compatible Module Specifications

    5. CC-Link compatible module specifications The CC-Link compatible module with the label is compatible with CC-Link Ver. 1.10. Limits on the station-to-station cable length, etc., can be eased by using the Ver. 1.10 compatible CC-Link cable. Refer to the master station PLC instruction manual compat- ible with Ver.
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  • Page 73: Chapter 6 Appendix

    Chapter 6 Appendix Contents 1. Term definition ................. 6-1 Get other manuals https://www.bkmanuals.com...
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  • Page 75: 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. The SAFE mode setting is determined at the time of shipping.
  • Page 76 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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