SRCD/SRCP YAMAHA NETWORK BOARD ERCX/SRCX/DRCX CC-Link User’s Manual ENGLISH E YAMAHA MOTOR CO., LTD. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan URL http://www.yamaha-motor.jp/robot/index.html E70-Ver. 5.
INTRODUCTION Thank you for purchasing the CC-Link unit for the YAMAHA single-axis/dual-axis robot controllers SRCP/SRCD/ERCX/SRCX/DRCX series. This is an optional unit to allow connecting YAMAHA single-axis/dual-axis robot controllers SRCP/SRCD/ERCX/SRCX/DRCX series (hereafter called "controller") to the widely used CC-Link which is a de facto standard for FA (factory automation) field network.
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Contents Cautions To Ensure Safety ............................................................1 1-1 1-2 1-3 1-4 1-5 1-6 CC-Link Unit 2-1 2-2 2-3 2-4 2-5 Basic safety points ............................................................................. 2 System design safety points .............................................................. 2 Installation and wiring safety points ................................................... 3 Start-up and maintenance safety points.................................
2-9-5 Timing chart ................................................................................. 48 2-10 Robot language ................................................................................ 58 2-10-1 2-10-2 2-10-3 2-10-4 2-10-5 MOVF ........................................................................................... 58 JMPF ............................................................................................ 59 JMPB ............................................................
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CHAPTER1 Cautions To Ensure Safety 1-1 Basic safety points Besides reading this instruction manual and the controller user’s manual, also be sure to handle the equipment correctly while paying sufficient attention to safety. Points regarding safety in this instruction manual only list items involving this product. Please refer to the controller instruction manual for information regarding safety when using this unit with the controller.
CHAPTER1 Cautions To Ensure Safety 1-3 Installation and wiring safety points ! CAUTION Always cut off all power to the controller and the overall system before attempting installation or wiring jobs. This will prevent possible electrical shocks. After the controller has been on for a while, some points in the controller may be extremely hot or remain at high voltages. After cutting off the power when installing or removing the unit, wait at least 5 minutes before starting work.
CHAPTER1 Cautions To Ensure Safety 1-4 Start-up and maintenance safety points ! CAUTION Never attempt to disassemble the robot or controller. When a robot or controller component must be repaired or replaced, contact us for details on how to perform the servicing. ! CAUTION Always cut off all power to the controller and the overall system before attempting maintenance or servicing. This will prevent possible electrical shocks.
CHAPTER1 Cautions To Ensure Safety 1-6 Warranty For information on the warranty period and terms, please contact our distributor where you purchased the product. This warranty does not cover any failure caused by: 1. Installation, wiring, connection to other control devices, operating methods, inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual; 2. Usage that exceeded the specifications or standard performance shown in the YAMAHA manual; 3.
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CHAPTER2 CC-Link Unit 2-1 CC-Link unit features The term “CC-Link” is an abbreviation for “Communication & Control Link” and is an FA field network developed by the Mitsubishi Corporation. The PLC (sequencer), the master unit in the system, runs the controller under high speed control though dedicated cables connected to all units in the CC-Link system.
CHAPTER2 CC-Link Unit 2-2 CC-Link system concept In order to understand how the controller and sequencer (PLC) operate on the CC-Link system, let’s first take a look at how the system communicates. Each equipment connected in the CC-Link system is classified according to function as a master station, remote device station, remote I/O station, etc. The master station is a station for supervising the entire CC-Link system and can be considered the PLC (sequencer) master unit.
CHAPTER2 CC-Link Unit 2-3 CC-Link cable connections Wire the CC-Link cable to the accessory CC-Link plug. Make the wiring connections by referring to the drawing below or the marks on the plug. Make sure the connections are correct! When finished wiring the cable to the plug, connect it to the CC-Link connector as shown below. 1. DA (blue) 2. DB (white) 3. DG (yellow) 4. SLD (shield wire) 1 2 3 4 5 CC-Link plug MSTB2, 5/5-STF-5, 08 Phoenix Contact This is black on the controller side. 5.
CHAPTER2 CC-Link Unit 2-4 Parallel I/O connector The I/O connector must be wired into the controller so install as shown below even if not using the controller’s parallel I/O. ■ When the ERCX/SRCX/DRCX series controllers are used: 1. Short Pin No. A-24 (EMG 1) and B-24 (EMG 2). 2. Short Pin No. B-4 (LOCK) and A-15, to B-15 (0V). 3. Connect an external 24 volts to Pin No. A-13, B-13 (+IN COM).
CHAPTER2 CC-Link Unit ■ When the SRCP/SRCD series is used: 1. Short Pin No. 1 (EMG 1) and Pin No. 2 (EMG 2) of the EXT.CN connector. 2. Short Pin No. B-4 (LOCK) of the I/O.CN connector and Pin No. 4 (24G) of the EXT.CN connector. (This wiring can be eliminated by disabling bit 6 (Interlock function setting) of PRM34 (System mode selection).) 3. Connect Pin No. 3 (24V) and Pin No. 4 (24G) of the EXT.CN connector to an external 24 volt supply. If Step 1 is not completed, an emergency stop will occur.
CHAPTER2 CC-Link Unit 2-5 Controller system settings (remote station) The communication speed and station No. must be set so that the controller can be correctly identified as a remote station on the CC-Link system. Thy are set from the HPB. These settings are enabled after the controller is restarted. 2-5-1 Validating the CC-Link unit Before the CC-Link unit can be used, it must first be set as follows, to allow it to be identified by the controller. 1) Press F3 (SYS) on the initial screen.
CHAPTER2 CC-Link Unit 2-5-2 Setting the station No. The CC-Link unit occupies 2 stations. So the station displayed on the HPB and another station (the station No.+1) are occupied. 1) Press F3 (SYS) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to switch to the function display and then press F2 (OPT). [SYS] select menu 1SAFE2OPT 3UTL 4next 3) Press F2 (NODE). [SYS-OPT] select menu 1DEV 2NODE3SPD 4next 4) The currently set station No. is displayed.
CHAPTER2 CC-Link Unit 2-5-3 Setting the communication speed Communication speed can be set to 10M, 5M, 2.5M, 625K, 156K in bps. The communication speed must match the master station speed. 1) Press F3 (SYS) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to switch to the function display and then press F2 (OPT). [SYS] select menu 1SAFE2OPT 3UTL 4next 3) Press F3 (SPD).
CHAPTER2 CC-Link Unit 2-6 Sequencer (master station) settings The master station sequencer (or PLC) in the CC-Link system can make line tests on the remote station. Use this function to check whether or not the controller is identified as a remote station on the CC-Link system before starting any actual work. Refer to the instruction manual for the master station sequencer (PLC) for detailed information.
CHAPTER2 CC-Link Unit 2-7 I/O information On/off (I/O) information handled by the CC-Link unit consists of 16 dedicated inputs, 32 general-purpose I/O inputs, 16 dedicated outputs and 32 general-purpose outputs (for 2 stations). Dedicated inputs are sub-grouped by assigned function into 13 dedicated command inputs, interlock, service mode and emergency stop inputs. * Some ports are currently reserved for future use and not available for dedicated command input and dedicated outputs.
CHAPTER2 CC-Link Unit OUTPUT (Remote→Master) Device No.
CHAPTER2 CC-Link Unit Remote Register OUTPUT (Remote→Master) Address Description Default RWrn Status RWrn+1 Reserved 0 RWrn+2 RWrn+3 RWrn+4 Command response 0 RWrn+5 RWrn+6 RWrn+7 Address RWwn RWwn+1 RWwn+2 RWwn+3 RWwn+4 RWwn+5 RWwn+6 RWwn+7 INPUT (Master→Remote) Description Execution command Command option Default 0 0 n: Value determined by station number setting. * For details on the remote register, refer to "2-12 Remote Command".
CHAPTER2 CC-Link Unit ■ Point movement command with absolute (ABS-PT) When origin point coordinates are set at 0, this command moves the robot to a position specified in data by point No. (See "2-7-3 General-purpose inputs") specified by SI200 through SI209, and at a speed specified by SI210 and SI211. On dual-axis controllers, the axis to be moved can be specified with SI213, SI214 by making PRM10 varid.
CHAPTER2 CC-Link Unit ■ Origin return command (ORG-S) This command performs origin return when the search method was selected as the origin detection method, or checks the origin return status if the mark method was selected. On dual-axis controllers, you can specify the axis for origin return with SI213, SI214 by making PRM10 varid.
CHAPTER2 CC-Link Unit ■ Reset command (RESET) This command returns the program step to the first step of the lead program, and turns DO0 - DO12*1, SO200 - SO231, and the memory I/O all off. The point variable “P” is also cleared to 0. (Does not clear the counter variables “C” and “D”. * The output from a parallel I/O port used for emulated serialization does not change even if reset with the RESET command.
CHAPTER2 CC-Link Unit 2-7-3 General-purpose inputs (SI200 - SI231) General-purpose inputs are inputs freely available to the user for handling as data in the program. As a special usage method, SI200 - SI209 can specify point numbers, and SI210 - SI211 can specify movement speed during running of ABS-PT or INC-PT point movement commands. As shown in the table below, a binary code should be entered in SI200 SI209 to specify the point numbers P0 - P999.
CHAPTER2 CC-Link Unit 2-7-4 Interlock (LOCK) These are inputs to temporarily stop robot movement. Robot operation can be stopped by setting this input to OFF during running of dedicated commands from the I/O, during running of a program by HPB (or personal computer), or during return to origin. (Of course, the program operation also stops.) When this input is OFF however, dedicated commands from the I/O and running of programs from the HPB (or personal computer) as well as origin return are all disabled.
CHAPTER2 CC-Link Unit 2-7-6 Service mode (SVCE) This input is valid when the service mode function of the controller main body is valid. The service mode input is used to inform the controller whether the current status is the service mode status or not. In the service mode status, keep this input OFF (the contact is open.). MEMO When the status of the service mode input varies during robot operation, the operation execution will be interrupted.
CHAPTER2 CC-Link Unit 2-7-8 Dedicated outputs Dedicated outputs inform the sequencer (PLC) of controller status. ■ "Preparation completed" output (READY) The dedicated output is ON while the controller system is operating normally. However the output turns OFF under any of the following conditions and the motor becomes "free". • During emergency stop The READY output turns ON again when emergency stop is canceled.
CHAPTER2 CC-Link Unit ■ "Servo status" output (SRV-O) Displays the robot servo status. This turns ON when all axes are at servo-ON. However, this output is OFF if even just one axis is in servo-OFF status. * This servo status output is always enabled, even if the "servo status output selection" parameter (single-axis controllers: PRM46, dual-axis controllers: PRM21) does not have to be changed. ■ "Origin return status" output (ORG-O) This outputs the robot origin return status.
CHAPTER2 CC-Link Unit 2-7-10 Initial data processing request flag This is an output for performing the handshake to start communication between the controller and the master station sequencer (PLC). During controller start-up, or when communication with the master station was not performed because an error occurs on the CC-Link system, the controller sets this output to ON. When this output turns ON, set the initial data end flag to ON from the sequencer (PLC).
CHAPTER2 CC-Link Unit 2-8 Timing chart Timing charts are included so please refer to them when creating a sequencer (PLC) program. 2-8-1 Handshake for starting data exchange RX(n+3)8 RY(n+3)8 RX(n+3)B RX(n+3)8 : Initial data request flag RY(n+3)8 : Initial data end flag RX(n+3)B : Remote READY (1) When the controller starts up or when communication with the master station was disabled because an error occurs in the CC-Link system, the controller turns RX(n+3)8 ON, and turns RX(n+3)B OFF.
CHAPTER2 CC-Link Unit 2-8-2 Dedicated input command execution ■ The BUSY output turns ON when a dedicated command input is received. Whether or not the received command ended normally is checked by the END output at the point when the BUSY output turns OFF. In other words, the END output that is ON at this time, shows the command ended normally. However the command did not end normally if the END output is OFF. ■ Always input the dedicated command input as a pulse signal.
CHAPTER2 CC-Link Unit (2) When a short execution time command runs and ends normally (In the following cases, when the dedicated command input is turned OFF, the command has already ended, and END has turned ON.) • When running a movement command (ABS-PT, INC-PT) with an extremely short movement distance. • When RESET was run. • When running steps of a command having an extremely short processing time such as L or DO statements.
CHAPTER2 CC-Link Unit Dedicated command execution completion Even after dedicated command execution completion, the END signal does not turn on until the dedicated command input turns off. Dedicated command BUSY END 30ms or less 1ms or less 1ms or less 1ms or less (3) When running a command was impossible from the start (In the following cases, END will not turn ON, when running of command was impossible from the start.
CHAPTER2 CC-Link Unit (4) When an on-going command becomes impossible to run (In the following cases, END will not turn ON, when running of an on-going command becomes impossible.) • When an interlock or emergency stop was triggered during running of a dedicated command. • When a jump to an unregistered program was made during automatic operation, a move to an unregistered point was made or some kind of error occurred.
CHAPTER2 CC-Link Unit 2-8-3 When interlock signal is input Interlock LOCK Dedicated command BUSY END Differs according to execution command ■ The BUSY output turns OFF when an interlock signal is input during running of a dedicated command. The READY output and the END output remain unchanged.
CHAPTER2 CC-Link Unit 2-8-4 When emergency stop signal is input Emergency stop EMG Dedicated command BUSY END READY 5ms or less 1ms or less ■ The READY output turns OFF. The BUSY output turns OFF during running of a dedicated command. The END output is unchanged. ■ To resume robot operation, after canceling emergency stop and checking that the READY output is ON, input the SERVO command.
CHAPTER2 CC-Link Unit 2-8-5 When an alarm is issued Alarm occurs Dedicated command RX(n+3)B RX(n+3)A BUSY END READY 5ms or less 30ms or less 1ms or less RX(n+3)B : Remote READY RX(n+3)A : Error flag ■ The remote READY output turns OFF, and the error flag turns ON. The READY, BUSY, END outputs are all OFF. ■ Refer to “Alarm and Countermeasures” in the controller instruction manual for information on eliminating the problem.
CHAPTER2 CC-Link Unit 2-8-6 When point movement commands are run ■ When executing a point movement command (ABS-PT, INC-PT), the point data and speed data must be input before inputting the dedicated command. When specifying the moving axis, the axis selection data must be input. The point data and speed data inputs are designated with SI200 to SI211. The axis selection data input is designated with SI213 to SI214. (Refer to “2-7-3 Generalpurpose input (SI200 to SI231)”.
CHAPTER2 CC-Link Unit 2-9 I/O assignment change function 2-9-1 Changing the I/O assignment The I/O assignment change function changes the function assigned to each input/output (I/O) signal. I/O assignment can be changed by setting the I/O assignment selection parameter (singleaxis controllers: PRM59, dual-axis controller: PRM26). For the contents of I/O assignment, refer to "2-9-2 I/O assignment list".
CHAPTER2 CC-Link Unit 2-9-2 I/O assignment list The table below shows the function assigned to each input/output (I/O) signal by setting the I/O assignment selection parameter. For details on the I/O assignment selection parameter, refer to "2-9-3 I/O assignment selection parameter description". For details on each I/O signal, refer to "2-9-4 I/O signal description".
CHAPTER2 CC-Link Unit RXn0 SRV-O SRV-O SRV-O SRV-O SRV-O RXn1 (ZONE0) (ZONE0) (ZONE0) (ZONE0) (ZONE0) RXn2 (ZONE1) (ZONE1) (ZONE1) (ZONE1) (ZONE1) RXn3 (ZONE2) (ZONE2) (ZONE2) (ZONE2) (ZONE2) RXn4 (ZONE3) (ZONE3) (ZONE3) (ZONE3) (ZONE3) ORG-O ORG-O ORG-O ORG-O ORG-O END END END END RXn5 RXn6 RXn7 RXn8 Output (Remote → Master) RXn9 RXnA RXnB Cannot RXnC RXnD END be used.
CHAPTER2 CC-Link Unit 2-9-3 I/O assignment selection parameter description The I/O assignment selection parameter (single-axis controllers: PRM59, dual-axis controllers: PRM26) selects the function to be assigned to each I/O signal. This parameter setting allows changing the function assigned to each I/O signal. This makes it possible to output the destination point number and perform jog movement. After changing the I/O assignment, the controller must be restarted to enable the changes.
CHAPTER2 CC-Link Unit e Point zone judgment method selection The position judgment parameter is selected when the point output selection is "2" (point zone output) or "3" (movement point zone output). Value Description 0 OUT valid position 1 Positioning-completed pulse MEMO • The Point zone judgment method selection is supported by the following controller versions: ERCX, SRCX : Ver. 13.64 or later DRCX : Ver. 18.64 or later SRCP, SRCD : Ver. 24.21 or later SRCP30 : Ver. 24.
CHAPTER2 CC-Link Unit 2-9-4 I/O signal descripion The meaning of each signal is explained below. For the meaning of signals not described here, refer to "2-7-2 Dedicated command input" and the following sections. ■ Point number designation inputs 200 to 205 (PI200 to PI205) These inputs designate the point number of the target position where the robot moves with a point movement command (ABS-PT, INC-PT). (For details on the ABS-PT and INC-PT commands, see 2-7-2, "Dedicated command input" in this chapter.
CHAPTER2 CC-Link Unit Axis selection example SI214 SI213 OFF OFF ON ON OFF ON OFF ON JOG+, JOGSelected axis X-axis X-axis Y-axis X-axis ! CAUTION • If the CHG (mode switch input) signal is switched during jog movement, the robot comes to an error stop. • When selecting the axis of a dual-axis controller, the status of SI213 and SI214 must first be determined. (Refer to "Jog movement (JOG+, JOG-)" in "2-9-5 Timing chart".
CHAPTER2 CC-Link Unit ■ Point data write command (PSET) Writes the current position data in the specified point number. To use this command, the point number for writing the current position data must first be specified using a PI (point number designation input) input. The PSET is enabled only when return-to-origin has been completed.
CHAPTER2 CC-Link Unit Target position point numbers for point movement commands (ABS-PT, INC-PT) are output as binary values. The same applies to point numbers which correspond to the point zone output function and the movement point zone output function. The PO output format is specified in the "hundreds" place of the I/O assignment selection parameter setting (single-axis controllers: PRM59, dual-axis controllers: PRM26) 0: PO output occurs at normal movement completion.
CHAPTER2 CC-Link Unit MEMO When using PO as an output signal that indicates the target position's point number for point movement commands (ABS-PT, INC-PT): • When a point movement is received through a parallel I/O, the target position's point number is output to the corresponding parallel I/O (PO0 to PO5). When received through a serial I/O such as a CC-Link, the target position's point number is output to the corresponding serial I/O (PO200 to PO205).
CHAPTER2 CC-Link Unit 2-9-5 Timing chart This section shows timing charts for the operations that are added by changing the I/O assignment. ■ Jog movement (JOG+, JOG-) CHG (Mode switch input) Data retention Axis designation data * SI213, SI214 JOG+/JOG (JOG movement command) END BUSY READY Robot movement Robot movement 30ms or more 30ms or less 1ms or less 30ms or less 1ms or less * For dual-axis controllers only.
CHAPTER2 CC-Link Unit ■ Point data write (PSET) CHG (Mode switch input) PSET (Point data write command) PI200 to 205 * (Point number designation inputs 200 to 205) Data retention END BUSY READY Point data write Point data writing 30ms or more 30ms or less 1ms or less 30ms or less * The number of point number outputs that can be used depends on the I/O assignment type. Precondition: The CHG signal is on before and during point data writing (until the following procedure is complete).
CHAPTER2 CC-Link Unit ■ Target position's point number output (PO) (1) Outputting the point number at the timing that movement is normally completed Data retention q Axis designation data *1 SI213, SI214 ABS-PT/INC-PT (Point movement command) Data retention w Command q PO200 to 205 *2 (Target position's point number outputs 200 to 205) Command w Point number output q Point number output w END BUSY Movement q Robot movement 30ms or more 30ms or less 1ms or less Movement w 30ms or more 1ms or
CHAPTER2 CC-Link Unit ↓ [Point movement command execution w] (8) Execute the next point movement command. (9) Point movement ends. (10) The END signal turns on. The previous target position's point number being output from the specified point number (PO200 to PO205) is cleared and the current target position's point number is then output.
CHAPTER2 CC-Link Unit (2) Outputting the point number at the timing that a movement command is received Data retention q Axis designation data *1 SI213, SI214 ABS-PT/INC-PT (Point movement command) Data retention w Command q PO200 to 205 *2 (Target position's point number outputs 200 to 205) Command w Point number output q Point number output w END BUSY Movement q Robot movement 30ms or more 30ms or less 1ms or less Movement w 30ms or more 1ms or less 30ms or less 1ms or less 1ms or less *
CHAPTER2 CC-Link Unit [Point movement command execution w] (8) Execute the next point movement command. (9) When the controller received the point movement command and the BUSY signal turned on, the previous target position's point number being output from the specified point number (PO200 to PO205) is cleared and the current target position's point number is then output.
CHAPTER2 CC-Link Unit (3) Outputting the corresponding point number by the point zone output function Zone outputs (ZONE 0, ZONE 1) are also explained here. PO 203 (23) PO 202 (22) PO 201 (21) PO 200 (20) m-No. is output as binary value PO200 to 203 (Target position's point number outputs 200 to 203) PO 203 (23) PO 202 (22) PO 201 (21) PO 200 (20) OFF OFF OFF OFF Point output (point m) PO 203 (23) PO 202 (22) PO 201 (21) PO 200 (20) n-No.
CHAPTER2 CC-Link Unit (2) (3) (4) (5) Outputs the corresponding point number through PO200 to PO203 since the current robot position is within the point zone output range (Pm ± OUT valid position range). ZONE 0 and ZONE 1 output signals are still off since the robot does not yet enter the zone output range. As with (1), all the target position's point number outputs PO200 to PO203, ZONE 0 signal and ZONE 1 output signal are off.
CHAPTER2 CC-Link Unit (4) Outputting the corresponding point number by the movement point zone output function Zone outputs (ZONE 0) are also explained here.
CHAPTER2 CC-Link Unit (3) (4) The corresponding point number P6 is output to PO200 through PO203 (P201, P202 are on; P200, P203 are off) because the robot is within the P6 ± OUT valid position range (point zone output range), and because P6 is the movement point. ZONE 0 remains off at this time because the robot is not within the specified zone output range. The ZONE 0 output turns on because the robot is within the specified zone output range (P900 to P901).
CHAPTER2 CC-Link Unit 2-10 Robot language The robot language expanded by using in the CC-Link unit. 2-10-1 MOVF Function: Format: Example: Moves until the specified DI or SI No. is input. MOVF MOVF 1,2,1 This command moves the robot towards P1, ends movement when D12 turns ON, and proceeds to the next step. Explanation: MOVF is used when searching for the target position with sensors, etc.
CHAPTER2 CC-Link Unit 2-10-2 JMPF Function: Jumps to the specified label of the specified program when the jump condition input matches the value that was set. Format: JMPF
CHAPTER2 CC-Link Unit 2-10-3 JMPB Function: Jumps to the specified label when the specified general-purpose input or memory input or serial general-purpose input is on (or off). Format: JMPB
CHAPTER2 CC-Link Unit 2-10-5 WAIT Function: Waits until the specified general-purpose input or memory input or serial general-purpose input sets to the specified status. Format: WAIT Example: WAIT 5,1 Waits until DI5 sets to ON. Explanation: The WAIT command adjusts the timing according to the status of the general-purpose input or memory input or serial general-purpose input.
CHAPTER2 CC-Link Unit 2-11 Emulated Serialization on parallel DIO This is a function to directly send the input from the master sequencer (PLC) to the external parallel I/O, or to directly send an external parallel I/O input to a master sequencer (PLC). An I/O port set for this function, can be controlled by the master sequencer (PLC), independently of the robot program so outputs can be handled as if from a separate remote I/O station. This function is selected on the HPB, and can be set for any I/O.
CHAPTER2 CC-Link Unit 1) Press F3 (SYS) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to switch to the function display. When the function display [SYS] appears, then press F2 (OPT). select menu 1SAFE2OPT 3UTL 4next 3) Press F4 (next) to switch the function display. To directly send the external parallel I/O input to the master sequencer (PLC) press F1 (D→SO).
CHAPTER2 CC-Link Unit 2-12 Remote command When the remote register is used, the message command can be issued directly from the sequencer (PLC). The high-ranked commands such as MOVD command (movement command which directly specifies the position coordinates), which must use RS-232C unit conventionally, can be easily executed. The method to use these commands is explained in this section. 2-12-1 Remote command specifications The following functions are assigned to the remote register.
CHAPTER2 CC-Link Unit 2-12-2 Remote command & status value list The remote command code and status code are expressed in the hexadecimal mode. Remote Command Remote Command (RWwn+1, RWwn) 0000xxxx 0001xxxx Meaning of command The command of the code xxxx is executed. The command of the code xxxx is executed with the current position information indicated at RWrn+4 to RWrn+7.
CHAPTER2 CC-Link Unit No. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 28. 29. 30. 31. 32.
CHAPTER2 CC-Link Unit 2.
CHAPTER2 CC-Link Unit 3. Utility No. 1. 2. 3. 4. Remote Command (RWwn) Command option Command details register Option Code 0301 Execution program No. switching Program number RWwn+2 RWwn+2 Task number 0302 Execution task No. switching Parameter number RWwn+2 0303 Parameter data write Parameter data RWwn+5, RWwn+4 RWwn+2 Point number 0304 Point data write RWwn+3 Axis RWwn+5, X axis data RWwn+4 RWwn+7, Y axis data RWwn+6 Command response response register 4. Special commands No. 1. 2.
CHAPTER2 CC-Link Unit 2-12-3 Remote command details (robot operation) (1) Return-to-origin execution .................................................... Code 0101 The return-to-origin operation of all axes or specified axis is executed, or the return-to-origin status is judged. If the search system is selected for the origin-point detection system, the return-to-origin operation is executed, and if the mark system is selected, the return-to-origin status is judged.
CHAPTER2 CC-Link Unit ! CAUTION In return-to-origin of the stroke end origin system, do not stop return-to-origin operation during origin detection (mechanical limit in contact). The alarm stop results from the overload of the controller, and it is necessary to turn ON the power supply again. ! CAUTION If return-to-origin of the stroke end origin system is inevitably repeated, provide an interval of 5 seconds or more between the repeated operations.
CHAPTER2 CC-Link Unit (2) Program reset ......................................................................... Code 0102 Return the step of the program to the 1st step of the head program, and turn OFF all DO0 to DO12*1, SO200 to SO231 and memory I/O. Moreover, also clear the point variable "P" to 0. (Do not clear the counter variables "C" and "D".
CHAPTER2 CC-Link Unit (3) Automatic operation start ...................................................... Code 0103 The program is executed to the final step. In the multi task program, all tasks are executed. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Example) Transmission example 1: Automatic operation is started.
CHAPTER2 CC-Link Unit (4) Step operation start ............................................................... Code 0104 The program is executed by one step. In the multi task program, the task selected at the time is executed. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Example) Transmission example 1: The step operation is started.
CHAPTER2 CC-Link Unit (5) Servo status change .............................................................. Code 0105 The servo of all axes or specified axis is turned ON and OFF. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 (Details) Axis: Status: RWwn+3 Status RWwn+2 Axis RWrn+3 RWrn+2 0 means all axes, 1 means X axis and 2 means Y axis. On dual-axis controllers, all axes are also specified when 3 is set.
CHAPTER2 CC-Link Unit (6) JOG movement (inching) ....................................................... Code 0106 The specified axis moves in the specified direction at the stroke shown with the following formula. Movement stroke = 1 × (Teach movement data (%)*/100 (mm) RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 (Details) Axis: Direction: RWwn+3 Direction RWwn+2 Axis RWrn+3 RWrn+2 1 means X axis, and 2 means Y axis.
CHAPTER2 CC-Link Unit (7) JOG movement ....................................................................... Code 0107 The specified axis continues moving in the specified direction at the movement speed shown with the following formula until the interlock input is OFF or it reaches the software limit.
CHAPTER2 CC-Link Unit (8) Direct position specification movement execution ............ Code 0108 It moves to the specified coordinate position. RWwn+7 RWwn+6 Y axis position Command option RWwn+5 RWwn+4 X axis position RWwn+3 Speed RWwn+2 Axis RWrn+7 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 RWrn+6 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis. On dual-axis controllers, all axes are also specified when 3 is set. On single-axis controllers, 0 or 1 alone can be specified.
CHAPTER2 CC-Link Unit (9) Position specification movement execution ....................... Code 0109 The specified axis moves the position of the data of the point No. specified with the number. RWwn+7 RWwn+6 RWrn+7 RWrn+6 Command option RWwn+5 RWwn+4 Speed RWwn+3 Point number RWwn+2 Axis Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis. On dual-axis controllers, all axes are also specified when 3 is set.
CHAPTER2 CC-Link Unit (10) Movement stroke specification movement execution ............................................................. Code 010A The specified axis moves from the current position by the data of the point number specified. RWwn+7 RWwn+6 RWrn+7 RWrn+6 Command option RWwn+5 RWwn+4 Speed RWwn+3 Point number RWwn+2 Axis Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis.
CHAPTER2 CC-Link Unit (11) General-purpose input response movement execution ............................................................. Code 010B Until the conditions of DI/SI input are established, the specified axis continues moving to the specified point position. When the DI/SI conditions are established, the robot stops and the command is normally ended. Even if any DI/SI condition is not established, the command is normally ended at the step where it reaches the target point.
CHAPTER2 CC-Link Unit (12) Pallet work position specification movement execution ............................................................. Code 010C It moves to the pallet work position specified with the matrix. RWwn+7 RWwn+6 RWrn+7 RWrn+6 Command option RWwn+5 RWwn+4 Speed RWwn+3 Pallet work position RWwn+2 Axis Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis.
CHAPTER2 CC-Link Unit (13) Position specification arch motion definition .................... Code 010D The arch motion of the position specification is defined. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWwn+3 Specified position RWwn+2 Axis RWrn+3 RWrn+2 (Details) Axis: It is the execution axis number of the arch motion. 1 means X axis, and 2 means Y axis.
CHAPTER2 CC-Link Unit (14) Distance specification arch motion definition .................... Code 010E The arch motion of the distance specification is defined. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWwn+3 Specified distance RWwn+2 Axis RWrn+3 RWrn+2 (Details) Axis: It is the execution axis number of the arch motion. 1 means X axis, and 2 means Y axis.
CHAPTER2 CC-Link Unit (15) General-purpose output or memory output status change .............................................. Code 010F ON/OFF control of the general-purpose output or memory output is performed.
CHAPTER2 CC-Link Unit (16) General-purpose input or memory input wait ..................... Code 0110 It waits until the specified general-purpose input or memory input comes into the specified state.
CHAPTER2 CC-Link Unit (17) Specified time waiting ............................................................ Code 0111 It waits for the specified time alone. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Time RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Time: It can be specified in the range of 1 to 65535 in the 10 millisecond units. (Example) Transmission example 1: It waits for 1 second.
CHAPTER2 CC-Link Unit (18) Matrix definition ...................................................................... Code 0112 The matrix is defined. RWwn+7 RWwn+6 RWrn+7 RWrn+6 Command option RWwn+5 RWwn+4 Pallet number Command response RWrn+5 RWrn+4 RWwn+3 Line number RWwn+2 Array number RWrn+3 RWrn+2 (Details) Array number, Line number: A value of 1 to 255 can be applied to each matrix. Pallet number: It is the inherent number of 0 to 31 for the matrix discrimination.
CHAPTER2 CC-Link Unit (19) Movement matrix specification. ............................................ Code 0113 The movement matrix is specified with the pallet work position specification movement execution command (code: 010C). RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Pallet number RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Pallet number: It is the inherent number of 0 to 31 for matrix discrimination.
CHAPTER2 CC-Link Unit (20) Point variable P definition ..................................................... Code 0114 The point variable P is set. Command option RWwn+7 RWwn+6 RWwn+5 RWwn+4 RWwn+3 RWwn+2 Point number RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Point number: A value of 0 to 999 can be specified. (Example) Transmission example 1: The point variable P is set to 100.
CHAPTER2 CC-Link Unit (21) Addition of specified value to point variable P ................... Code 0115 The specified value is added to the point variable P. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Addition value RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Addition value: A value of 1 to 999 can be specified. (Example) Transmission example 1: 10 is added to the point variable P.
CHAPTER2 CC-Link Unit (22) Subtraction of specified value from point variable P .............................................................. Code 0116 The specified value is subtracted from the point variable P. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Subtraction value RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Subtraction value: A value of 1 to 999 can be specified. (Example) Transmission example 1: 10 is subtracted from the point variable P.
CHAPTER2 CC-Link Unit (23) Arrangement element specification of counter arrangement variable C ....................................... Code 0117 The arrangement elements of the counter arrangement variable C used are specified. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Arrangement element No. RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Arrangement element No.
CHAPTER2 CC-Link Unit (24) Counter arrangement variable C specification .................... Code 0118 The counter value is set at the counter arrangement variable C specified with the arrangement element specification command (code 0117). RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Counter value RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Counter value: A value of 0 to 65535 can be specified.
CHAPTER2 CC-Link Unit (25) Addition of specified value to counter arrangement variable C ....................................... Code 0119 The specified value is added to the counter arrangement variable C specified with the arrangement element specification command (code 0117). RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Addition value RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Addition value: A value of 1 to 65535 can be specified.
CHAPTER2 CC-Link Unit (26) Subtraction of specified value from counter arrangement variable C ................................. Code 011A The specified value is subtracted from the counter arrangement variable C specified with the arrangement element specification command (code 0117). RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Subtraction value RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Addition value: A value of 1 to 65535 can be specified.
CHAPTER2 CC-Link Unit (27) Counter variable D definition ............................................... Code 011B The counter variable D is set. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Counter value RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Counter value: A value of 0 to 65535 can be specified. (Example) Transmission example 1: 200 is set to the counter variable D.
CHAPTER2 CC-Link Unit (28) Addition of specified value to counter variable D .............. Code 011C The specified value is added to the counter variable D. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Addition value RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Addition value: A value of 1 to 65535 can be specified. (Example) Transmission example 1: 10 is added to the counter variable D.
CHAPTER2 CC-Link Unit (29) Subtraction of specified value from counter variable D ........................................................ Code 011D The specified value is subtracted from the counter variable D. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Subtraction value RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Addition value: A value of 1 to 65535 can be specified. (Example) Transmission example 1: 10 is subtracted from the counter variable D.
CHAPTER2 CC-Link Unit (30) Shift execution of position data ............................................ Code 011E The position data is shifted by the specified point data. It is valid until this code is executed again or the program reset is applied. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Point number RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Point number: It is the inherent number which is assigned to a total of 1000 points of 0 to 999.
CHAPTER2 CC-Link Unit (31) Linear interpolation movement execution ........................... Code 011F It moves to the position of the data of the specified point number in the linear interpolation mode. RWwn+7 RWwn+6 RWrn+7 RWrn+6 Command option RWwn+5 RWwn+4 Speed RWwn+3 Point number RWwn+2 Axis Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Axis: In the linear interpolation movement, 0: All axes alone can be assigned.
CHAPTER2 CC-Link Unit (32) Circular interpolation movement execution ........................ Code 0120 The circular interpolation movement which passes the specified point is executed. If the point specification number is n, it moves on the circular locus on which the current position is the start point, the point n is passed, and the point n+1 is the end point.
CHAPTER2 CC-Link Unit ! CAUTION This command is invalid for single-axis controllers. ! CAUTION The applicable radius is max. 1000mm and min. 2mm. ! CAUTION The SCARA robot, etc. which do not operate in the cartesian coordinates cannot be moved in the circular interpolation mode.
CHAPTER2 CC-Link Unit 2-12-4 Remote command details (data handling) (1) Current position read ............................................................. Code 0201 The current positions of all axes or specified axes are read. RWwn+6 Command option RWwn+5 RWwn+4 RWrn+7 RWrn+6 Y axis position Command response RWrn+5 RWrn+4 X axis position RWwn+7 RWwn+3 RWwn+2 Axis RWrn+3 RWrn+2 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis.
CHAPTER2 CC-Link Unit (2) Current program number read .............................................. Code 0202 The execution program number is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Program number (Details) Program number: It is the inherent number of 0 to 99 assigned to each program. (Example) Transmission example 1: The execution program is read.
CHAPTER2 CC-Link Unit (3) Current step number read ..................................................... Code 0203 The current step number is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Step number (Details) Step number: It is the inherent value of 1 to 255 assigned to each step. (Example) Transmission example 1: The execution step number is read.
CHAPTER2 CC-Link Unit (4) Current task number read ..................................................... Code 0204 The task number currently selected is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Task number (Details) Task number: It is the inherent number of 0 to 3 assigned to each task. (Example) Transmission example 1: The execution task number is read.
CHAPTER2 CC-Link Unit (5) Current point No. read ........................................................... Code 0205 The point number currently selected is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Point number (Details) Point number: It is the inherent value of 0 to 999 assigned to each point. (Example) Transmission example 1: The current point number is read.
CHAPTER2 CC-Link Unit (6) ROM version number read .................................................... Code 0206 The controller system version value is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Version value (Details) Version value: It is the system version which is possessed by the controller. If the version is V13.30, 1330 (=532 (hexadecimal)) is indicated.
CHAPTER2 CC-Link Unit (7) Number of axes read .............................................................. Code 0207 The total number of operable axes is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Axis number (Example) Transmission example 1: The total number of axes is read. RWwn+7 RWwn+6 RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWwn+1 0000 0000 0000 0000 0000 0000 0000 RWwn 0207 Response example 1: 2 axes are operable.
CHAPTER2 CC-Link Unit (8) Emergency stop status check ............................................... Code 0208 The status of the emergency stop is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Emergency stop (Details) Emergency stop: 1 means the emergency stop status, and 0 means that the emergency stop is canceled. (Example) Transmission example 1: The status of the emergency stop is read.
CHAPTER2 CC-Link Unit (9) Servo status check ................................................................. Code 0209 The servo statuses of all axes or specified axes are read. When all axes are specified, the result becomes 1 only if the servos of all axes are on. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Axis RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Servo status (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis.
CHAPTER2 CC-Link Unit (10) Return-to-origin status check .............................................. Code 020A It reads that the return-to-origin is completed in all axes or specified axes. In thee all-axis specification mode, the result becomes 1 only when all axes are completely returned to the origin.
CHAPTER2 CC-Link Unit (11) Service mode status check .................................................. Code 020B The service mode status is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Status (Details) Status: 1 means that the servo mode is valid, and 0 means that it is invalid. (Example) Transmission example 1: The service mode status is read.
CHAPTER2 CC-Link Unit (12) Operation mode check .......................................................... Code 020C The robot status is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Operation mode (Details) Operation mode: 0: Stop status 1: The program is being executed with the communication of HPB, personal computer , etc. 2: The program is being executed with I/O command.
CHAPTER2 CC-Link Unit (13) Matrix definition content read .............................................. Code 020D The matrix definition content is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWwn+3 RWwn+2 Pallet number RWrn+3 Line number RWrn+2 Array number (Details) Pallet number: It is the inherent number of 0 to 31 for matrix discrimination. Array number, Line number: It is the value of 1 to 255.
CHAPTER2 CC-Link Unit (14) Currently specified matrix number read ............................. Code 020E The pallet number of the currently specified matrix is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Pallet number (Details) Pallet number: It is the inherent number of 0 to 31 for matrix discrimination. Array number, Line number: It is the value of 1 to 255.
CHAPTER2 CC-Link Unit (15) Current point variable P read ................................................ Code 020F The point variable P is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Point number (Details) Point number: It is the inherent number assigned to the point of 0 to 999. (Example) Transmission example 1: The point variable P is read.
CHAPTER2 CC-Link Unit (16) Arrangement element number read of currently specified C ................................................. Code 0210 The element number of the counter arrangement variable C currently specified is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Element No. (Example) Transmission example 1: The element number of the counter arrangement variable C is read.
CHAPTER2 CC-Link Unit (17) Counter arrangement variable C read .................................. Code 0211 The value of the counter arrangement variable C of the specified element number is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Element No. RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Counter value (Details) Element No.: The number specifies the arrangement element in the range of 0 to 31. (Example) Element No.
CHAPTER2 CC-Link Unit (18) Current counter variable D read ........................................... Code 0212 The value of the counter variable D is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Counter value (Example) Transmission example 1: The value of the counter variable D is read. RWwn+7 RWwn+6 RWwn+5 RWwn+4 RWwn+3 RWwn+2 RWwn+1 0000 0000 0000 0000 0000 0000 0000 RWwn 0212 Response example 1: The element No.
CHAPTER2 CC-Link Unit (19) Current shift data read ........................................................... Code 0213 The currently set shift data is read. RWwn+6 Command option RWwn+5 RWwn+4 RWrn+7 RWrn+6 Y axis position Command response RWrn+5 RWrn+4 X axis position RWwn+7 RWwn+3 RWwn+2 RWrn+3 RWrn+2 (Details) Axis position: The shift data is indicated (unit: 0.01mm). When the robot is set at the rotary axis, the unit of the position is 0.01 degrees.
CHAPTER2 CC-Link Unit (20) General-purpose input and memory input status read ..................................................... Code 0214 The status of the general-purpose input or memory input is read.
CHAPTER2 CC-Link Unit (21) General-purpose output and memory output status read ................................................... Code 0215 The status of the general-purpose output or memory output is read.
CHAPTER2 CC-Link Unit (22) Specified parameter data read .............................................. Code 0216 The specified parameter data is read. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Parameter number RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 Parameter value (Details) Parameter number: The inherent number assigned to each parameter is 0 to 63 for single-axis controllers, and is 0 to 127 for dual-axis controllers.
CHAPTER2 CC-Link Unit (23) Specified point data read ....................................................... Code 0217 The specified point data is read. RWwn+6 Command option RWwn+5 RWwn+4 RWrn+7 RWrn+6 Y axis position Command response RWrn+5 RWrn+4 X axis position RWwn+7 RWwn+3 RWwn+2 Point number RWrn+3 RWrn+2 (Details) Point number: It is the inherent number of 0 to 999 assigned to each point. (Example) Transmission example 1: Data of P254 is read.
CHAPTER2 CC-Link Unit 2-12-5 Remote command details (utilities) (1) Execution program number switching ................................. Code 0301 The execution program number is switched. If the program reset is hereafter executed, it will return to the 1st step of the program selected here. When this command is issued, the program reset will be applied.
CHAPTER2 CC-Link Unit (2) Execution task number switching. ....................................... Code 0302 The execution task number is switched. If the step operation is hereafter executed, the program of the task selected here will be executed as one step. RWwn+7 RWwn+6 Command option RWwn+5 RWwn+4 RWwn+3 RWwn+2 Task number RWrn+7 RWrn+6 Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Task number: It is the inherent number of 0 to 3 assigned to each task.
CHAPTER2 CC-Link Unit (3) Parameter data write .............................................................. Code 0303 Data is written into the specified parameter. RWwn+7 RWwn+6 RWrn+7 RWrn+6 Command option RWwn+5 RWwn+4 Parameter data Command response RWrn+5 RWrn+4 RWwn+3 RWwn+2 Parameter number RWrn+3 RWrn+2 (Details) Parameter number: The inherent number assigned to each parameter is 0 to 63 for single-axis controllers, and is 0 to 127 for dual-axis controllers.
CHAPTER2 CC-Link Unit (4) Point data write ....................................................................... Code 0304 The data is written into the specified point. RWwn+7 RWwn+6 Y axis position RWrn+7 RWrn+6 Command option RWwn+5 RWwn+4 X axis position RWwn+3 Axis RWwn+2 Point number Command response RWrn+5 RWrn+4 RWrn+3 RWrn+2 (Details) Point number: It is the inherent number of 0 to 999 assigned to each point. Axis: 0 means all axes, 1 means X axis and 2 means Y axis.
CHAPTER2 CC-Link Unit 2-12-6 Remote command details (Special commands) (1) No execution (status clear) ................................................... Code 0000 The status is cleared to 0000 for the command ready (remote command acceptable status). (2) Initialization of response register ......................................... Code 0401 The command option register is copied to the response register. If 0000 (hexadecimal) is set to RWwn+2 to RWwn+7, the response will be initialized.
CHAPTER2 CC-Link Unit 2-12-7 Status details When the controller receives the command, the relevant process will be executed, and the result (status) will be informed to the master sequencer (PLC) side via RWrn. The meanings indicated with the statuses are described in this section. Code 0000 .............................................................................. Command ready It indicates that the remote command is not executed and can be newly received.
CHAPTER2 CC-Link Unit 2-12-8 Current position indication mode The current position indication mode is selected by setting 0001 to RWwn+1. In the current position indication mode, the current position of the robot is always output to RWrn+4 to RWrn+7 regardless of the execution status or no-execution status of the remote command. The position of the robot can be always grasped by selecting the current position indication mode.
CHAPTER2 CC-Link Unit MEMO If the robot position cannot be judged due to the incomplete origin position status, cable breakage, etc., the robot position will not be determined. 2-12-9 Sending/receiving example The sending/receiving example is shown when the direct position specification movement execution (code 0108). (Values are expressed in the hexadecimal mode.
CHAPTER2 CC-Link Unit 2-13 Other operations 2-13-1 Serial I/O display Serial I/O (input/output) status can be displayed on the screen. Both initial screen and OPRT screen are used for display. 1) Press F4 (MON) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Since the parallel input/output state continues displayed, press DIO here.
CHAPTER2 CC-Link Unit 5) 6) 7) Press DIO (above in 4), and the screen will be switched to the remote register mode. Each remote register will be displayed in the hexadecimal mode. (Each register is indicated with 4 characters.) The top row displays the statuses of RWwn+3, RWwn+2, RWwn+1 and RWwn from the left. The 2nd row indicates the statuses of RWwn+7, RWwn+6, RWwn+5 and RWwn+4 from the left. The 3rd row indicates the statuses of RWrn+3, RWrn+2, RWrn+1 and RWrn from the left.
CHAPTER2 CC-Link Unit 10) Press F1 (SI01) to display the RY(n), RY(n+1) and RX(n), RX(n+1) status. Press F2 (SI02) to display the RY(n+2), RY(n+3), and RX(n+2), RX(n+3). Press F3 (WIO) to display the status of the remote register. 11) Continue displaying the status of each serial I/O. If F1 (SI01) was pressed above in step 10), then the RY(n), RY(n+1), RX(n), RX(n+1) status is displayed from the upper row. [OPRT-STEP] 100 0: 0 001:MOVA 254,100 [ 0.00, 0.
CHAPTER2 CC-Link Unit 2-13-2 Manual control of general-purpose output The serial general-purpose output can be manually controlled from HPB. 1) Press F1 (EDIT) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F2 (PNT). [MENU] select menu 1PGM 2PNT 3UTL 3) Press F2 (TCH) or F3 (DTCH). [EDIT-PNT] The teaching play back screen is explained in the subsequent steps.
CHAPTER2 CC-Link Unit 2-14 Error Message Regarding CC-Link system, the following error message is added. Message Error No. Cause 38 Remedy net link error connection was forcibly disconnected because an error occurred in the network connection. Remedy the network connection error, and then restart.
CHAPTER2 CC-Link Unit 2-15 Troubleshooting Check the following items if any problems occur during operation. Also, refer to “Troubleshooting” in the controller instruction manual and always refer to the section on troubleshooting in the master station sequencer (PLC) instruction manual. If the following items do not eliminate the problem, promptly contact your Yamaha dealer or Yamaha for assistance. No.
CHAPTER2 CC-Link Unit No. 3 Symptom Causes Checkpoints Remedy 1) Error occurred on • Check RX(n+3)B status, and check if it • Check for any problems with noise or Program the CC-Link was possibly set to OFF. stops by itself the wiring specifications, and system during during eliminate factors causing errors on the communication. automatic CC-Link system. operation. • Referring to “2-5-1 Validating the 2) Controller is • If the program stops by itself even defective.
CHAPTER2 CC-Link Unit 2-16 Specifications Spec. Item Model CC-Link Unit Controller models SRCP/SRCD/ERCX/SRCX/DRCX series controllers CC-Link version Ver. 1.10 Remote station type Remote device station Stations used 2 fixed stations Station No. setting 1 to 63 (set from HPB) Communication speed setting 10M/5M/2.
Revision record Manual version Issue date Description Ver. 5.00 Oct. 2009 Addition of I/O assignment function. Addition of customize function for END output timing in execution of dedicated I/O command. Caution was added to "2-6 Sequencer (master station) settings". Clerical error corrections, etc. Ver. 5.01 Jun. 2011 The description regarding "Warranty" was changed. Ver. 5.02 Jul. 2012 The description regarding "Warranty" was changed.
