Yamaha Robot Controller CC-Link Unit Manual Do Utilizador

SO (00): Emergency stop input status output
SO (01): CPU_OK status output
SO (02): Servo ON status output
SO (03): Alarm status output

System area [for future expansion]

SO (10): AUTO mode status output
SO (11): Origin return complete status output
SO (12): Sequence program execution status output
SO (13): Robot program execution status output
SO (14): Program reset status output
System area [for future expansion]
SO (16): IO command execution judgment output
SO (17): Output during IO command execution

SO(20) to SO(27): General-purpose output

SO(30) to SO(37): General-purpose output

SO(40) to SO(47): General-purpose output

SO(50) to SO(57): General-purpose output

SO(60) to SO(67): General-purpose output

SO(70) to SO(77): General-purpose output

SO(100) to SO(107): General-purpose output

SO(110) to SO(117): General-purpose output

SO(120) to SO(127): General-purpose output

SO(130) to SO(137): General-purpose output

RXn0
RXn1
RXn2
RXn3
RXn4
RXn5
RXn6
RXn7
RXn8
RXn9
RXnA
RXnB
RXnC
RXnD
RXnE
RXnF
RX(n+1)0
       to
RX(n+1)7
RX(n+1)8
       to
RX(n+1)F
RX(n+2)0
       to
RX(n+2)7
RX(n+2)8
       to
RX(n+2)F
RX(n+3)0
       to
RX(n+3)7
RX(n+3)8
       to
RX(n+3)F
RX(n+4)0
       to
RX(n+4)7
RX(n+4)8
       to
RX(n+4)F
RX(n+5)0
       to
RX(n+5)7
RX(n+5)8
       to
RX(n+5)F

SI (00): Emergency stop input
SI (01): Servo ON input
SI (02): Service mode input

System area [for future expansion]

SI (05):IO command execution trigger input

System area [for future expansion]

SI (10): Sequence control input
SI (11): Interlock input
SI (12): Robot program start input
SI (13): AUTO mode input
System area [for future expansion]
SI (15): Program reset input
SI (16): MANUAL mode input
SI (17): Absolute reset input

SI(20) to SI(27): General-purpose input

SI(30) to SI(37): General-purpose input

SI(40) to SI(47): General-purpose input

SI(50) to SI(57): General-purpose input

SI(60) to SI(67): General-purpose input

SI(70) to SI(77): General-purpose input

SI(100) to SI(107): General-purpose input

SI(110) to SI(117): General-purpose input

SI(120) to SI(127): General-purpose input

SI(130) to SI(137): General-purpose input

RYn0
RYn1
RYn2
RYn3
RYn4
RYn5
RYn6
RYn7
RYn8
RYn9
RYnA
RYnB
RYnC
RYnD
RYnE
RYnF
RY(n+1)0
       to
RY(n+1)7
RY(n+1)8
       to
RY(n+1)F
RY(n+2)0
       to
RY(n+2)7
RY(n+2)8
       to
RY(n+2)F
RY(n+3)0
       to
RY(n+3)7
RY(n+3)8
       to
RY(n+3)F
RY(n+4)0
       to
RY(n+4)7
RY(n+4)8
       to
RY(n+4)F
RY(n+5)0
       to
RY(n+5)7
RY(n+5)8
       to
RY(n+5)F

Remote 

→ Master

Master 

→ Remote

Device No.

Signal name

Device No.

Signal name

n: Address assigned to master module with station No. setting