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YAMAHA Robot Controller RCX Series UNIT OWNER'S MANUAL Get other manuals https://www.bkmanuals.com...
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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.
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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.
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[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.
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• 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.
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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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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 ............
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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 ....
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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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.
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).
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. ...
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...
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...
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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...
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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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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 →...
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-...
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.
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.
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.
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...
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 •...
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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.
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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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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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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: •...
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.
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.
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...
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.
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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 ←...
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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 →...
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.
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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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.
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.
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]...
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. •...
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.
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>...
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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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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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...
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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...
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.
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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.
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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...
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.
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.
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.
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.
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...
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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...
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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...
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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...
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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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.
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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.