Shift Of Cc-Link System Connection Status And Robot Controller Status - Yamaha CC-Link RCX Series Owner's Manual

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
• Emergency stop/interlock signal 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 when the external 24V monitor con-
trol setting in SYSTEM > PARAM mode is left valid.
• When the external 24V monitor control setting in SYSTEM > PARAM mode is left
valid while SAFE mode is enabled, service mode input signal is made valid with DI
(02) in SAFETY connector.
* The signals in the CC-Link system are sent and received.
* Always initialize with the master station PLC when connecting to the CC-Link sys-
tem.
w Shift from CC-Link system normal connection state to CC-Link sys-
tem erroneous connection state
Robot Master station
controller PLC
• 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 when the external 24V monitor con-
trol setting in SYSTEM > PARAM mode is left valid.
• When the external 24V monitor control setting in SYSTEM > PARAM mode is left
valid while SAFE mode is enabled, service mode input signal is made valid with DI
(02) in SAFETY connector.
* The signals in the CC-Link system are not sent or received.
* The "CC-Link Communication Error" is added to the error history in the robot con-
troller.
* If the connection to the CC-Link system shifts from the normal state to the erroneous
state, the CC-Link system connection must be returned to the normal state.
* The CC-Link system will return when the CC-Link system connection is recovered to
the normal state.
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Robot Master station
controller PLC
Robot
controller
or
Robot
controller
1
Master station
PLC
Master station
PLC
5
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