Yamaha Robot Controller CC-Link Unit User Manual

An example for the following type of hardware configuration has been prepared for this
section.

P100

MXYx

2nd unit supply position

Pallet

SXYx

1st unit supply position

Master station

A1SHCPU

+A1SJ61BT11

Remote device station

RCX40 (1st unit) 

+ SXYx (3 axes)

 (Station No. 1, 4

       stations occupied)

Remote device station

RCX142 (2nd unit) 

+ MXYx (3 axes)

 (Station No. 5, 4

       stations occupied)

P101

P102

P103

P104

P201

P202

P203

P204

P105

P106

P107

P108

P205

P206

P207

P208

P200

[Details of sample]
•

Pick & place work is carried out using the PLC and RCX40 + SXYx (3 axes),
RCX142+MXYx (3 axes).

•

The workpieces supplied to each robot are arranged on one pallet.

•

The workpiece is supplied at a rate faster than the robot operation.

•

The two robots will interfere above the pallet, so data is exchanged to prevent interfer-
ence.

•

When handling the workpiece, the robot moves at a low speed.

•

The robot controller directly exchanges the pallet.

*

Refer to the robot programming manual for details on the robot program language.

* The PLC circuit is a simple circuit that executes the selected robot program when

emergency stop is canceled.