Yamaha Robotics Robot Controller CC-Link Unit User Manual
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Outline
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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
controller
Master station
PLC
Robot
controller
Master station
PLC
• Emergency stop/interlock signals in CC-Link system are invalid
• 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.
(02) in SAFETY connector.
* The signals on the CC-Link system cannot be exchanged.
* As opposed to the state given in w, in this state, the emergency stop state by SI (00) is
not attained in the controller, so the robot can be operated from the programming unit.
(The robot controller can be started independently when setting up the system, etc.)
* Service mode input signal cannot be invalidated with SI (02) when SAFE mode is
enabled, so change the service mode parameter setting in SYSTEM > PARAM mode.
In this case, take full precautions to prevent improper settings that might lead to a
hazardous situation.
In this case, take full precautions to prevent improper settings that might lead to a
hazardous situation.
* When the connection to the CC-Link system is correctly recovered, the system will
automatically return to the CC-Link system.
* The “CC-Link Communication Error” has been added to the error history in the robot
controller.
(A standby state for up to 2.5 seconds will occur to check the communication.)