Yamaha Robot Controller CC-Link Unit User Manual
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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
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 ......................................................... 1-5
Chapter 2 Connection
1. Confirming the CC-Link compatible module settings ........... 2-1
2. Setting to the CC-Link system specification controller ......... 2-2
2. Setting to the CC-Link system specification controller ......... 2-2
2.1 Saving the robot controller data .................................... 2-2
2.2 Installing the CC-Link compatible module .................... 2-2
2.3 Response when starting the robot controller ................. 2-2
2.2 Installing the CC-Link compatible module .................... 2-2
2.3 Response when starting the robot controller ................. 2-2
3. Setting the CC-Link compatible module ............................... 2-3
3.1 Setting the station No. .................................................. 2-3
3.2 Setting the communication speed ................................. 2-4
3.2 Setting the communication speed ................................. 2-4
4. Noise measures .................................................................... 2-5
4.1 Mounting the ferrite core .............................................. 2-5
5. Connecting to the CC-Link system ....................................... 2-6
5.1 Connecting to the cable terminal to the controller ........ 2-6
5.2 Testing the line from the master station PLC .................. 2-6
5.2 Testing the line from the master station PLC .................. 2-6
6. Parameter setting for CC-Link serial I/O board .................... 2-7
6.1 Parameter setting for CC-Link serial I/O board .............. 2-8
Chapter 3 Communication
1. State when robot controller power is turned ON ................ 3-1
2. Initial process for connecting to CC-Link system ................. 3-2
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 .......................................................... 3-4
3.2 Transmitting data .......................................................... 3-4
4. Direct connection by emulated serialization on parallel DIO ... 3-5
4.1 Emulated serialization setting on parallel DIO .............. 3-5
5. Referring to communication data ........................................ 3-8
5.1 Referring to the data from the programming unit .......... 3-8