Shift Of Cc-Link System Connection Status And Robot Controller Status - Yamaha RCX Series User Manual

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
1
after the power is turned ON.
q Normal state of CC-Link system connection when robot controller power is turned
ON
• Emergency stop/interlock signals in CC-Link system are valid
• When SAFE mode is enabled, service mode input signal is made valid with SI (02)
in the CC-Link system.
• Emergency stop terminal in SAFETY connector is valid.
• Interlock signal in STD. DIO connector is valid unless the Board condition (external
24V monitor control) of system parameters is set invalid. (RCX40/141/142)
• 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
with DI (02) in SAFETY connector (RCX40/141/142)
• When SAFE mode is enabled, service mode input signal is made valid with DI (02)
in SAFETY connector. (RCX221/222)
* The signals in the CC-Link system are sent and received.
* Always initialize with the master station PLC when connecting to the CC-Link
system.
w Shift from CC-Link system normal connection state to CC-Link system erroneous
connection state
• Emergency stop input turns off with SI (00) in the robot controller.
• Service mode input turns off with SI (02) in the robot controller.
• Emergency stop terminal in SAFETY connector is valid.
• Interlock signal in STD. DIO connector is valid unless the Board condition (external
24V monitor control) of system parameters is set invalid. (RCX40/141/142)
1-6
controller
Robot Master station
controller PLC
Robot Master station
PLC
Robot
controller
or
Robot
controller
Master station
PLC
Master station
PLC