Yamaha RCX Series User Manual
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3
Communication
1. State when robot controller power is turned ON
The CC-Link system specification robot controller always starts operation in servo OFF
state when the power turned ON.
state when the power turned ON.
q When connection to CC-Link system is correctly established.
The following conditions must be satisfied to correctly connect to the CC-Link sys-
tem:
tem:
• The CC-Link system cable must be physically connected
• The station No. and communication speed must be correctly set
• The master station PLC must be operating correctly
When the robot controller is correctly connected to the CC-Link system, the normal
state will be indicated with the LEDs on the CC-Link compatible module.
state will be indicated with the LEDs on the CC-Link compatible module.
At this time, the emergency stop signal and interlock signal in the CC-Link system
will be valid, so these signals must be turned ON with the initial data process.
will be valid, so these signals must be turned ON with the initial data process.
The emergency stop terminal in SAFETY connector is always kept valid. The inter-
lock signal in STD. DIO connector is also valid unless the external 24V monitor con-
trol setting in SYSTEM > PARAM mode is set invalid.
lock signal in STD. DIO connector is also valid unless the external 24V monitor con-
trol setting in SYSTEM > PARAM mode is set invalid.
When SAFE mode is enabled, service mode input signal is made valid with SI (02) in
the CC-Link system. When the external 24V monitor control setting in SYSYEM
>PARAM mode is left valid while SAFE mode is enabled, service mode input signal
is also made valid with DI (02) in SAFETY connector.
the CC-Link system. When the external 24V monitor control setting in SYSYEM
>PARAM mode is left valid while SAFE mode is enabled, service mode input signal
is also made valid with DI (02) in SAFETY connector.
w When connection to CC-Link system is incorrectly established
The following causes can be considered a correct connection with the CC-Link sys-
tem cannot be established:
tem cannot be established:
• The CC-Link system cable is not physically connected
• The station No. or communication speed is set incorrectly
• The master station PLC is not operating correctly
When the robot controller is incorrectly connected to the CC-Link system, the error
state will be indicated with the LEDs on the CC-Link compatible module. Note that if
the master station PLC is not operating correctly, nothing will appear on the LEDs.
state will be indicated with the LEDs on the CC-Link compatible module. Note that if
the master station PLC is not operating correctly, nothing will appear on the LEDs.
The emergency stop signal and interlock signal in the CC-Link system are invalid in
this case, so the robot controller can be operated independently. However, if the cor-
rect state has been established even once after the robot controller power was turned
ON, the robot controller’s emergency stop state cannot be canceled without correctly
connecting to the CC-Link system.
this case, so the robot controller can be operated independently. However, if the cor-
rect state has been established even once after the robot controller power was turned
ON, the robot controller’s emergency stop state cannot be canceled without correctly
connecting to the CC-Link system.
The emergency stop terminal in SAFETY connector is always kept valid. The inter-
lock signal in STD. DIO connector is also valid unless the external 24V monitor con-
trol setting in SYSTEM > PARAM mode is set invalid.
lock signal in STD. DIO connector is also valid unless the external 24V monitor con-
trol setting in SYSTEM > PARAM mode is set invalid.
When the external 24V monitor control in SYSYEM >PARAM mode is left valid
while SAFE mode is enabled, service mode input signal is made valid with DI (02) in
SAFETY connector.
while SAFE mode is enabled, service mode input signal is made valid with DI (02) in
SAFETY connector.
Service mode input signal in the CC-Link system cannot be invalidated when SAFE
mode is enabled, so change the service mode setting in SYSTEM > PARAM mode. In
this case, take full precautions to prevent improper settings that might lead to a haz-
ardous situation.
mode is enabled, so change the service mode setting in SYSTEM > PARAM mode. In
this case, take full precautions to prevent improper settings that might lead to a haz-
ardous situation.
* For meanings of LED display, see Chapter 4 in this manual.