Yamaha Robotics Robot Controller CC-Link Unit Benutzerhandbuch
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Outline
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
ON
Robot
controller
Master station
PLC
Robot
controller
Master station
PLC
Robot
controller
Master station
PLC
• CC-Link system emergency stop/interlock signals change to valid state
• 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.
(02) in SAFETY connector.
* The signals in the CC-Link system can be sent and received.
* When the connection to the CC-Link system shifts to the normal state, the initializa-
tion process must be carried out with the master station PLC when connecting to the
CC-Link system.
CC-Link system.
* When service mode parameter setting in SYSTEM > PARAM mode has been changed
while SAFE mode is enabled, make the service mode parameter setting again. In this
case, take full precautions to prevent improper settings that might lead to a hazardous
situation.
case, take full precautions to prevent improper settings that might lead to a hazardous
situation.
* The CC-Link system will return when the CC-Link system connection is recovered to
the normal state.