Manuais de utilizador para Yamaha Robotics Robot Controller CC-Link Unit

índice analítico

• Introduction

  3
• Safety Precautions (Always read before starting use)

  4
• Warranty

  7
• Contents

  9
• Chapter 1 Outline

  11
  • 1. Features

    13
  • 2. Mechanism

    14
  • 3. Names of each part on the CC-Link compatible module

    15
  • 4. Assignment of CC-Link compatible I/O

    16
  • 5. Shift of CC-Link system connection status and robot controller status

    17
• Chapter 2 Connection

  21
  • 1. Confirming the CC-Link compatible module settings

    23
  • 2. Setting to the CC-Link system specification controller

    24
    • 2.1 Saving the robot controller data

      24
    • 2.2 Installing the CC-Link compatible module

      24
    • 2.3 Response when starting the robot controller

      24
  • 3. Setting the CC-Link compatible module

    25
    • 3.1 Setting the station No.

      25
    • 3.2 Setting the communication speed

      26
  • 4. Noise measures

    27
    • 4.1 Mounting the ferrite core

      27
  • 5. Connecting to the CC-Link system

    28
    • 5.1 Connecting to the cable terminal to the controller

      28
    • 5.2 Testing the line from the master station PLC

      28
  • 6. Parameter setting for CC-Link serial I/O board

    29
    • 6.1 Parameter setting for CC-Link serial I/O board

      30
• Chapter 3 Communication

  33
  • 1. State when robot controller power is turned ON

    35
  • 2. Initial process for connecting to CC-Link system

    36
    • 2.1 Initial data process

      36
  • 3. Communication with master station PLC

    37
    • 3.1 Receiving data

      37
    • 3.2 Transmitting data

      38
  • 4. Direct connection by emulated serialization on parallel DIO

    39
    • 4.1 Emulated serialization setting on parallel DIO

      39
  • 5. Referring to communication data

    42
    • 5.1 Referring to the data from the programming unit

      42
• Chapter 4 Troubleshooting

  43
  • 1. Items to confirm before starting up CC-Link system

    45
  • 2. Meanings of LEDs on CC-Link compatible module

    46
  • 3. Troubleshooting

    47
    • 3.1 Robot controller front panel LED confirmation

      47
    • 3.2 Programming unit error display confirmation

      48
    • 3.3 CC-Link compatible module LED confirmation

      49
    • 3.4 Confirmation from master station PLC

      50
  • 4. Error messages relating to CC-Link

    51
• Chapter 5 Specifications

  53
  • 1. Profile

    55
  • 2. Details of remote input/output signals

    57
  • 3. Dedicated input/output signal timing chart

    60
    • 3.1 Initial data process for CC-Link connection

      60
    • 3.2 Servo ON and emergency stop

      61
    • 3.3 AUTO mode changeover, program reset and program execution

      62
    • 3.4 Stopping with program interlock

      63
  • 4. Sample program

    64
  • 5. CC-Link compatible module specifications

    71
• Chapter 6 Appendix

  73
  • 1. Term definition

    75