Yamaha SRCD Manual do Utilizador descarregar pdf (Página 35)

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.

(2) Check that RX(n+3)8 is set to ON, and then set RY(n+3)8 to ON from the master

station sequencer (PLC).

(3) After checking that RX(n+3)8 is set to ON, the controller turns RX(n+3)8 OFF, and

turns RX(n+3)B ON.

(4) Check that RX(n+3)8 is set to OFF, and then set RY(n+3)8 to OFF from the master

station sequencer (PLC). The actual data can now be sent and received.

■ The handshake operation is a process always necessary for normal communication

between the controller and the master station sequencer (PLC). The remote READY

output turns ON when the handshake is performed correctly. The robot sets to emer-

gency stop if this handshake operation is not performed, and then robot cannot oper-

ate.

■ The robot always sets to servo-off when the controller power is turned on. To operate

the robot, first perform the handshake operation, and then cancel emergency stop

while referring to “2-8-2 Dedicated input command execution” and then run the

SERVO (servo recovery) command.

1 2 ... 30 31 32 33 34 35 36 37 38 39 40 ... 147 148

Sem comentários

Yamaha SRCD Manual do Utilizador Página 35