Omron SCARA YRC Series User Manual
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Omron SCARA YRC Series User Manual

Omron SCARA YRC Series User Manual

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Cat. No. I153E-EN-01
SCARA Robots
ZX-T Series
YRC Series
DeviceNet
USER´S MANUAL

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Summary of Contents for Omron SCARA YRC Series

  • Page 1 Cat. No. I153E-EN-01 SCARA Robots ZX-T Series YRC Series DeviceNet USER´S MANUAL...
  • Page 3 Introduction Thank you for purchasing the DeviceNet compatible module. This DeviceNet compatible module is an option module that allows the OMRON robot controller YRC to be connected as a DeviceNet system slave module. The robot controller explained in this manual refers to the YRC robot controller.
  • Page 4 Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON’s test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
  • Page 5 Safety Precautions (Always read before starting use) Always read this manual, the robot controller user's manual and programming manual before using this product. Take special care to safety, and correctly handle the product. The cautions given in this manual are related to this product. Refer to the robot controller user's manual for details on the cautions to be taken with the robot controller system using this product.
  • Page 6 [Precautions for design] WARNING • REFER TO THE DEvICENET sYsTEM MAsTER MODULE UsER's MANUAL AND THIs MANUAL FOR DETAILs ON THE sTATE OF THE DEvICENET sYsTEM AND ROBOT CONTROLLER WHEN A COMMUNICATION ERROR OCCURs WITH THE DEvICENET sYsTEM, ETC. CONFIGURE AN INTERLOCk CIRCUIT IN THE sEQUENCE PROGRAM sO THAT THE sYsTEM, INCLUDING THE ROBOT CONTROLLER WILL WORk sAFELY UsING THE COMMUNICATION sTATUs INFORMATION.
  • Page 7 [Precautions for wiring] WARNING • ALWAYs sHUT OFF ALL PHAsEs OF THE POWER sUPPLY ExTERNALLY BEFORE sTARTING INsTALLATION OR WIRING WORk. FAILURE TO sHUT OFF ALL PHAsEs COULD LEAD TO ELECTRIC sHOCks OR PRODUCT DAMAGE. • ALWAYs INsTALL THE TERMINAL COvERs ENCLOsED WITH THE PRODUCT BEFORE TURNING ON THE POWER OR OPERATING THE PRODUCT AFTER INsTALLATION OR WIRING WORk.
  • Page 8 This manual does not guarantee the implementation of industrial rights or other rights, and does not authorize the implementation rights. OMRON shall not be held liable for any problems regarding industrial rights that occur through the use of the contents given in this manual.

  • Page 9: Table Of Contents

    General Contents Chapter 1 OUTLINE Features Mechanism Names of each part on the DeviceNet compatible module Assignment of DeviceNet compatible I/O shift of DeviceNet system connection status and robot controller status Chapter 2 CONNECTION Confirming the DeviceNet compatible module settings setting to the DeviceNet system specification controller saving the robot controller data Installing the DeviceNet compatible module...
  • Page 10 Referring to communication data 3-11 Referring to the data from the programming box 3-11 Chapter 4 TROUBLEsHOOTING Items to confirm before starting up DeviceNet system Meanings of LEDs on DeviceNet compatible module Troubleshooting Robot controller front panel LED confirmation Programming box error display confirmation DeviceNet compatible module LED confirmation Confirmation from master module Error messages relating to DeviceNet...
  • Page 11 Chapter 1 OUTLINE Contents Features Mechanism Names of each part on the DeviceNet compatible module Assignment of DeviceNet compatible I/O shift of DeviceNet system connection status and robot controller status...

  • Page 13: Features

    1. Features 1. Features The DeviceNet system is a system used to connect the robot controller or scattered input/output Chapter modules, etc., with dedicated cables, and to control these modules from the master module. The DeviceNet system allows wiring to be reduced. Master module Controls the entire DeviceNet system.

  • Page 14: Mechanism

    2. Mechanism 2. Mechanism The mechanism of communication is explained in this section to provide an understanding of Chapter how the robot controller and master module operate via the DeviceNet system. ON/OFF information Master module Robot controller 1- The robot controller's ON/OFF information is sent to the master module via the network (DeviceNet system cable).

  • Page 15: Names Of Each Part On The Devicenet Compatible Module

    3. Names of each part on the DeviceNet compatible module 3. Names of each part on the DeviceNet compatible module The part names of the DeviceNet compatible module installed in the robot controller are Chapter described in this section. The DeviceNet compatible module is installed into an optional slot in the robot controller.

  • Page 16: Assignment Of Devicenet Compatible I/O

    4. Assignment of DeviceNet compatible I/O 4. Assignment of DeviceNet compatible I/O The table below shows the correspondence of the robot controller's serial I/O to the I/O data Chapter (channel) on the DeviceNet. The number of channels assigned to the DeviceNet compatible module can be set to either 24 channels each or 2 channels each of I/O by robot controller parameter.
  • Page 17 4. Assignment of DeviceNet compatible I/O ● Using Input 2CH / Output 2CH Serial output Serial input (Robot controller → Master module) (Master module → Robot controller) Chapter Robot controller Master module Robot controller Master module Port No. Channel No. Port No.
  • Page 18 PLC instruction manuals for details. Chapter Example: When fixed assignment is applied to fixed assignment area 1 while using a programmable controller (OMRON CJ1G-CPU42H) and a DeviceNet unit (OMRON CJ1W-DRM21). Output-area CH (n) = 3200 + MAC ID...

  • Page 19: Shift Of Devicenet System Connection Status And Robot Controller Status

    5. Shift of DeviceNet system connection status and robot controller status 5. Shift of DeviceNet system connection status and robot controller status Always start the DeviceNet system specification robot controller in the servo OFF state after the Chapter power is turned ON. 1- Normal state of DeviceNet system connection when robot controller power is turned Robot Master module...
  • Page 20 5. Shift of DeviceNet system connection status and robot controller status * The signals in the DeviceNet system are not sent or received. * The "DeviceNet Link Error" is added to the error history in the robot controller. Chapter * If the connection to the DeviceNet system shifts from the normal state to the erroneous state, the DeviceNet system connection must be returned to the normal state.
  • Page 21 5. Shift of DeviceNet system connection status and robot controller status 4- Transmission from DeviceNet system erroneous connection state to DeviceNet correct connection state when robot controller power is turned ON Chapter Robot Robot Master module Master module controller controller Robot Master module controller...
  • Page 23 Chapter 2 CONNECTION Contents Confirming the DeviceNet compatible module settings 2-1 setting to the DeviceNet system specification controller 2-2 saving the robot controller data Installing the DeviceNet compatible module Response when starting the robot controller setting the DeviceNet compatible module setting the MAC ID setting the communication speed Noise measures...

  • Page 25: Confirming The Devicenet Compatible Module Settings

    1. Confirming the DeviceNet compatible module settings 1. Confirming the DeviceNet compatible module settings When using the DeviceNet system specification robot controller, the DeviceNet compatible module's MAC ID and communication speed setting can be confirmed from a programming box (PB). Chapter •...

  • Page 26: Setting To The Devicenet System Specification Controller

    2. Setting to the DeviceNet system specification controller 2. Setting to the DeviceNet system specification controller When connecting the DeviceNet compatible module to an existing robot controller, the DeviceNet compatible module must be installed in the robot controller. Check the DeviceNet system specifications with the procedure given in section 1.

  • Page 27: Setting The Devicenet Compatible Module

    3. Setting the DeviceNet compatible module 3. Setting the DeviceNet compatible module To connect the DeviceNet system specification controller to the DeviceNet system, the MAC ID and communication speed must be set with the rotary switch on the DeviceNet compatible module.

  • Page 28: Setting The Communication Speed

    3. Setting the DeviceNet compatible module CAUTION • MAkE sURE THAT THE sETTING Is NOT DUPLICATED WITH OTHER sETTINGs. • NEvER DIRECTLY TOUCH THE CONDUCTIvE sECTIONs OR ELECTRONIC PARTs OTHER THAN THE ROTARY sWITCH ON THE DEvICENET COMPATIBLE MODULE. Chapter •...
  • Page 29 3. Setting the DeviceNet compatible module WARNING WHEN sETTING THE MAC ID, COMPLETELY sHUT OFF THE POWER sUPPLIED TO THE ROBOT CONTROLLER. [Procedures] Chapter 1. Confirm the communication speed for the robot controller in the DeviceNet system. The communication speed must be set between 125k and 500kbps. The correspondence of the communication speed and switch is shown below.

  • Page 30: Noise Measures

    4. Noise measures 4. Noise measures Two ferrite cores must be mounted on the input power cable when connecting to the DeviceNet system. Mounting the ferrite core Chapter Mount two ferrite cores onto the input power cable connected to the input power connector on the front panel of the robot controller.

  • Page 31: Connecting To The Devicenet System

    5. Connecting to the DeviceNet system 5. Connecting to the DeviceNet system The DeviceNet system cable must be connected to the DeviceNet compatible module in order to connect to the DeviceNet system. Chapter Cable terminal V- (Black) CAN L (Blue) SHIELD (-) CAN H (White) V+ (Red)

  • Page 32: Testing The Line From The Master Module

    5. Connecting to the DeviceNet system CAUTION • sECURELY INsTALL THE DEvICENET sYsTEM CABLE. • CAREFULLY CARRY OUT THE WORk TO AvOID APPLYING ExCEssIvE FORCE TO THE DEvICENET CABLE. • UsE A CRIMP TERMINAL TO CRIMP-CONNECT EACH WIRE END OF THE Chapter DEvICENET sYsTEM CABLE, sO THAT THE CABLE DOEs NOT CAUsE AN OPEN- CIRCUIT FAULT.

  • Page 33: Parameter Setting For Devicenet Serial I/O Board

    6. Parameter setting for DeviceNet serial I/O board 6. Parameter setting for DeviceNet serial I/O board The following functions are enabled or disabled by setting the parameters for the DeviceNet serial I/O board. Parameter Meaning Chapter [YRC] Enables or disables the DeviceNet compatible module. Board condition When set to "vALID"...

  • Page 34: Parameter Setting For Devicenet Serial I/O Board

    6. Parameter setting for DeviceNet serial I/O board Parameter setting for DeviceNet serial I/O board [Procedure] 1) Press the (PARAM) key in "sYsTEM" mode to enter "sYsTEM>PARAM" mode. Chapter 2) Press the (OP. BRD) key in "sYsTEM>PARAM" mode to enter the option board parameter setting mode.
  • Page 35 6. Parameter setting for DeviceNet serial I/O board 4) select the parameter with the cursor (↑/↓) keys. v 1.23M ＳＹＳＴＥＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ＞ＳＥＬＥＣＴ      Ｖ８．６３                                         １．ｂｏａｒｄ ｃｏｎｄｉｔｉｏｎ ＶＡＬＩＤ   ２．ｒｅｍｏｔｅ ｃｍｄ ／ ＩＯ ｃｍｄ（ＳＩ０５） ＶＡＬＩＤ Chapter   ３．Ｏｕｔｐｕｔ ＭＳＧ ｔｏ ＳＯＷ（１） ＩＮＶＡＬＩＤ   ４．ＩＯ ｓｉｚｅ                   Ｌａｒｇｅ      ＥＤＩＴ    ＪＵＭＰ 5) Press the (EDIT) key. v 1.23M ＳＹＳＴＥＭ＞ＰＡＲＡＭ＞ＯＰ．ＢＲＤ＞ＳＥＬＥＣＴ      Ｖ８．６３                                         １．ｂｏａｒｄ ｃｏｎｄｉｔｉｏｎ...
  • Page 37 Chapter 3 COMMUNICATION Contents state when robot controller power is turned ON Communication with master module Receiving data Transmitting data Direct connection by emulated serialization on parallel DIO Emulated serialization setting on parallel DIO Referring to communication data 3-11 Referring to the data from the programming box 3-11...

  • Page 39: State When Robot Controller Power Is Turned On

    1. State when robot controller power is turned ON 1. State when robot controller power is turned ON The DeviceNet system specification robot controller always starts operation in servo OFF state when the power turned ON. 1- When connection to DeviceNet system is correctly established. The following conditions must be satisfied to correctly connect to the DeviceNet system: •...
  • Page 40 1. State when robot controller power is turned ON When sAFE mode is enabled, service mode input signal is made valid with DI (02) in sAFETY connector unless the Board condition (external 24v monitor control) of system parameters is set invalid. service mode input signal in the DeviceNet system cannot be invalidated when sAFE mode is enabled, so change the service mode setting of system parameters.

  • Page 41: Communication With Master Module

    2. Communication with master module 2. Communication with master module The method for communicating with the master module by using the robot program when the DeviceNet system is correctly connected is explained in this section. Receiving data The master module's output channel data is read via the serial input ports of the robot controller. The table below shows the correspondence of the master module's output channels and the robot Chapter controller's serial input ports.
  • Page 42 2. Communication with master module CAUTION • ALWAYs REFER TO THE PLC MANUAL AND CHECk THE sETTINGs FOR COMMUNICATION WITH THE MAsTER MODULE. NOTE The IO size can be set by option board parameter. Refer to section 6 of chapter 2 for more details. Chapter When reading the bit information from the master module output channel No.

  • Page 43: Transmitting Data

    2. Communication with master module Example: To read the (n+2CH) and (n+3CH) double word data into variable C when the IO size is set to "Large" C = sID (2) ......*The sIW (2) and sIW (3) data will be assigned to variable C as a decimal.
  • Page 44 2. Communication with master module ● When IO size is set to "Small" Master module Robot controller intput device No. serial output port No. (mCH).07 to 00 sO0(7 to 0) (mCH).15 to 08 sO1(7 to 0) (m+1CH).07 to 00 sO2(7 to 0) (m+1CH).15 to 08 sO3(7 to 0) Chapter...
  • Page 45 2. Communication with master module When writing the robot controller word information into the master module's input channel No., write the following command in the robot program. Assignment statement Example: To write 512 into (m+2CH) as word data when the IO size is set to "Large" sOW (2) = 512 .......

  • Page 46: Direct Connection By Emulated Serialization On Parallel Dio

    3. Direct connection by emulated serialization on parallel DIO 3. Direct connection by emulated serialization on parallel DIO The robot controller's parallel input data can be transferred to the serial output data regardless of the robot program. Likewise, the robot controller's serial input data can be transferred to the parallel output data By using this function, a sensor or relay connected to the parallel I/O of the robot controller can be used like a device connected to the DeviceNet master module.
  • Page 47 3. Direct connection by emulated serialization on parallel DIO valid keys and submenu functions in this mode are as follows. Valid keys Menu Function Cursor keys selects sIO parameters. (↑/↓) EDIT sets sIO parameters. JUMP Jumps to specified sIO parameter. NOTE Chapter When the port specified by sIO is identical with the port used by the program, the output results...
  • Page 48 3. Direct connection by emulated serialization on parallel DIO 2. Direct connection from DI n ( ) to SO n ( ) Parallel port input can be directly connected to serial port output. The relation of the parallel port and serial port that can be connected is as follows. Input device such as valve DI port →...

  • Page 49: Referring To Communication Data

    4. Referring to communication data 4. Referring to communication data The ON/OFF information exchanged with the master module can be referred to using the programming box (PB). Note that the PB display update interval is longer than the DeviceNet data update interval, so if the ON/OFF interval is short, accurate information may not be displayed.
  • Page 50 4. Referring to communication data 3) Press the key on the PB once more to check the status of sI input ports 10 to 15. DISPLAY 4) Press the key on the PB twice more to check the status of sO input ports 0 to 7. DISPLAY 5) Press the key on the PB once more to check the status of sO input ports 10 to...
  • Page 51 Chapter 4 TROUBLESHOOTING Contents Items to confirm before starting up DeviceNet system 4-1 Meanings of LEDs on DeviceNet compatible module 4-2 Troubleshooting Robot controller front panel LED confirmation Programming box error display confirmation DeviceNet compatible module LED confirmation Confirmation from master module Error messages relating to DeviceNet...

  • Page 53: Items To Confirm Before Starting Up Devicenet System

    1. Items to confirm before starting up DeviceNet system 1. Items to confirm before starting up DeviceNet system Confirm the following items before starting up the DeviceNet system. Confirmation details Check Is the DeviceNet compatible module accurately connected? (Refer to Chapter 2 section 2 or 3.) Is the robot controller set to the DeviceNet system specifications? (Refer to Chapter 2 section 1.) Are the DeviceNet compatible module MAC ID and communication speed correctly set?

  • Page 54: Meanings Of Leds On Devicenet Compatible Module

    2. Meanings of LEDs on DeviceNet compatible module 2. Meanings of LEDs on DeviceNet compatible module Chapter Front of the unit The LEDs on the DeviceNet compatible module express the following statuses. Use these for confirmation when an error occurs. Name Color State...

  • Page 55: Troubleshooting

    3. Troubleshooting 3. Troubleshooting If trouble occurs in the connection with the robot controller while starting up the DeviceNet system or during operation, check the following items in listed order. Robot controller front panel LED confirmation Programming box error display confirmation DeviceNet compatible module LED confirmation Chapter Confirmation from master module...

  • Page 56: Programming Box Error Display Confirmation

    3. Troubleshooting Programming box error display confirmation [Confirmation item 1] <Confirmation details> • "DeviceNet Link Error", "DeviceNet Hardware Error" or "DeviceNet setting Fault" is displayed on the programming modules. • An addition has been made to the error history. • Check the error history with the "sYsTEM> DIAGNOs > HIsTORY" mode. <Cause>...

  • Page 57: Devicenet Compatible Module Led Confirmation

    3. Troubleshooting DeviceNet compatible module LED confirmation [Confirmation item 1] <Confirmation details> • The LED display on the DeviceNet compatible module is not "Ms: Green" and "Ns: Green". <Cause> • An error has occurred in the DeviceNet system connection. • Refer to table in section 2 for the meanings of the LED displays. <Countermeasures>...

  • Page 58: Error Messages Relating To Devicenet

    4. Error messages relating to DeviceNet 4. Error messages relating to DeviceNet This section describes error messages relating to DeviceNet compatible units. For other messages, refer to robot controller user's manuals. When an error occurs, an error message appears on the message line (2nd line) of the PB screen. 12.1 : Emg.stop on Code : &H0C01...

  • Page 59: Chapter 5 Specifications

    4. Error messages relating to DeviceNet 12.16 : DeviceNet link error Code : &H0C10 Meaning/Cause : a. Error in cable for DeviceNet system. b. Wrong MacID and communication speed setting for DeviceNet system. c. Power supply for communication is not supplied. d.
  • Page 61 Chapter 5 SPECIFICATIONS Contents Profile When IO size is set to "Large" When IO size is set to "small" Details of input/output signals Dedicated input/output signal timing chart 5-11 servo ON and emergency stop 5-11 AUTO mode changeover, program reset and program execution 5-12 stopping with program interlock 5-14...

  • Page 63: Profile

    1. Profile 1. Profile CAUTION • ExPLANATIONs ARE GIvEN BAsED ON THE CHANNELs FOR THE OMRON MAsTER MODULE. REFER TO THE REsPECTIvE MANUALs WHEN UsING OTHER MAsTER MODULE BRANDs. NOTE The IO size can be set by option board parameter. Refer to section 6 of chapter 2 for more details.
  • Page 64 1. Profile Slave → Master Master → Slave Channel Channel Signal name Signal name sO(20) sI(20) General-purpose output General-purpose input sO(27) sI(27) (m+17CH) (n+17CH) sO(30) sI(30) General-purpose output General-purpose input sO(37) sI(37) sO(40) sI(40) General-purpose output General-purpose input sO(47) sI(47) (m+18CH) (n+18CH) sO(50)
  • Page 65 1. Profile ● Word input/output Slave → Master Master → Slave Channel No. Signal name Channel No. Signal name (mCH) sOW(0) Dedicated output (nCH) sIW(0) Dedicated input (m+1CH) sOW(1) Dedicated output (n+1CH) sIW(1) Dedicated input (m+2CH) sOW(2) General-purpose output (n+2CH) sIW(2) General-purpose input sOD(2)

  • Page 66: When Io Size Is Set To "Small

    1. Profile When IO size is set to "Small" ● Bit input/output Slave → Master Master → Slave Channel Channel Signal name Signal name Emergency stop input status sO(00) sI(00) Emergency stop input output sO(01) CPU_Ok status output sI(01) servo ON input sO(02) servo ON status output sI(02)

  • Page 67: Details Of Input/Output Signals

    2. Details of input/output signals 2. Details of input/output signals CAUTION • ExPLANATIONs ARE GIvEN BAsED ON THE CHANNELs FOR THE OMRON MAsTER MODULE. REFER TO THE REsPECTIvE MANUALs WHEN UsING OTHER MANUFACTURERs' MAsTER MODULEs. • THE NUMBER OF OCCUPIED CHANNELs DIFFERs DEPENDING ON THE IO sIZE sETTING (LARGE OR sMALL).
  • Page 68 2. Details of input/output signals Channel No. Signal name Details Large Small (m+17CH)0 (m+1CH)0 sO(20) General-purpose output (m+17CH)7 (m+1CH)7 sO(27) (m+17CH)8 (m+1CH)8 sO(30) General-purpose output turns ON/OFF when value is General-purpose output assigned to sO port, or sET/REsET command or OUT (m+17CH)15 (m+1CH)15 sO(37)

  • Page 69: Details Of Input/Output Signals

    2. Details of input/output signals Channel No. Signal name Details Large Small IO command Turn from OFF to ON to execute IO command. (n+16CH)5 (nCH)5 sI(05) execution trigger Always turn ON after IO command is set to general- input purpose input. Turn ON to execute sequence program in the robot sequence control (n+16CH)8...
  • Page 70 2. Details of input/output signals Channel No. Signal name Details Large Small Used for "absolute reset" or "absolute reset / return-to- origin" depending on parameter (DI17 mode) setting. • When set to "ABs" (absolute reset) Turn ON to perform absolute reset of robot. Absolute reset is performed when this input is switched from OFF to ON, except for axes that use mark method for return-to-origin.
  • Page 71 2. Details of input/output signals NOTE • When the IO size is set to "small", only sI(20) to sI(37) of general-purpose inputs are available. • When the YRC controller is used with a robot whose axis configuration includes absolute type, incremental type and/or semi-absolute type axes, and if sI(17) is used for "absolute reset / return- to-origin", then absolute reset is performed on the absolute reset axis each time return-to-origin is performed on the incremental type and/or semi-absolute type axes.
  • Page 72 3. Dedicated input/output signal timing chart ● Word output Channel No. Name Details Large Small (mCH) sOW(0) Used as the remote command's status area. Dedicated input (m+1CH) sOW(1) Used as the remote command's error code area. (m+2CH) sOW(2) sOD(2) (m+3CH) sOW(3) (m+4CH) sOW(4)

  • Page 73: Dedicated Input/Output Signal Timing Chart

    3. Dedicated input/output signal timing chart 3. Dedicated input/output signal timing chart Servo ON and emergency stop (m+16CH)0:SO ( 00 ) Emergency stop input status output (m+16CH)1:SO ( 01 ) CPU_OK status output (m+16CH)2:SO ( 02 ) Servo ON status output Chapter (m+16CH)3:SO ( 03 ) Alarm status output...

  • Page 74: Auto Mode Changeover, Program Reset And Program Execution

    3. Dedicated input/output signal timing chart Servo ON process from emergency stop status f) Emergency stop input ON is input g) Emergency stop input status output OFF is output h) servo ON input ON is input i) Alarm status output OFF is output j) servo ON status output ON is output k) After confirming that servo ON status output is ON, servo ON input OFF is input * The servo is OFF when the controller power is turned ON.
  • Page 75 3. Dedicated input/output signal timing chart CAUTION • THIs ExPLANATION UsEs THE CHANNEL NUMBERs WHICH ARE AvAILABLE WHEN THE IO sIZE Is sET TO "LARGE". NOTE THAT THE CHANNEL NUMBERs DIFFER WHEN THE IO sIZE Is sET TO "sMALL". • PROvIDE AN INTERvAL OF 100Ms OR MORE WHEN TURNING THE DEDICATED INPUT FROM THE MAsTER MODULE TO THE CONTROLLER ON AND OFF.

  • Page 76: Stopping With Program Interlock

    3. Dedicated input/output signal timing chart Stopping with program interlock (m+16CH)8:SO ( 10 ) AUTO mode status output (m+16CH)9:SO ( 11 ) Return-to-origin complete status output (m+16CH)11:SO ( 13 ) Robot program execution status output (n+16CH)9:SI ( 11 ) Interlock input Chapter (n+16CH)10:SI ( 12 ) Robot program start...
  • Page 77 3. Dedicated input/output signal timing chart * The program also stops when emergency stop input OFF is input. At this point, emergency stop input status ON and alarm status output ON are output, and servo ON status output OFF is output. To re-execute the program, servo ON process is required. * When sAFE mode is enabled, dedicated inputs other than sI (00) and sI (11) might be disabled depending on service mode parameter setting unless service mode input signal is set to ON with sI (02) in the DeviceNet system.

  • Page 78: Sample Program

    * The PLC circuit is a simple circuit that executes the selected robot program when emergency stop is canceled. CAUTION ExPLANATIONs ARE GIvEN BAsED ON THE CHANNELs FOR THE OMRON MAsTER MODULE. REFER TO THE REsPECTIvE MANUALs WHEN UsING OTHER MAsTER MODULE BRANDs.
  • Page 79 4. Sample program [Robot program data assignment] * Variables used 1st unit : : Point No. in pallet 2nd unit : : Point No. in pallet * Points used 1st unit : P100 : Point above workpiece supply P101 : 1st point above pallet P108 : 8th point above pallet P121...
  • Page 80 4. Sample program [PLC data assignment] In this example, the first unit MAC ID is designated as "1" and the second unit MAC ID as "25". The PLC output channel is allocated "3200" while the input channel is allocated "3300". Unit error (1510CH) (1512CH)
  • Page 81 4. Sample program MAC ID25 (3225CH) 2nd unit's sIW(0) (3226CH) 2nd unit's sIW(1) : Word information (3240CH) 2nd unit's sIW(15) 2nd unit's sI(00) : Emergency stop input 2nd unit's sI(01) : servo ON input 2nd unit's sI(02) : service mode input 2nd unit's sI(03) : 2nd unit's sI(04) : 2nd unit's sI(05) : IO command execution trigger input...
  • Page 82 4. Sample program MAC ID1 (3301CH) 1st unit's sOW(0) (3302CH) 1st unit's sOW(1) : Word information (3316CH) 1st unit's sOW(15) 1st unit's sO(00) : Emergency stop input status output 1st unit's sO(01) : CPU_Ok status output 1st unit's sO(02) : servo ON status output 1st unit's sO(03) : Alarm status output 1st unit's sO(04) : 1st unit's sO(05) :...
  • Page 83 4. Sample program MAC ID25 (3325CH) 2nd unit's sOW(0) (3326CH) 2nd unit's sOW(1) : Word information (3340CH) 2nd unit's sOW(15) 2nd unit's sO(00) : Emergency stop input status output 2nd unit's sO(01) : CPU_Ok status output 2nd unit's sO(02) : servo ON status output 2nd unit's sO(03) : Alarm status output 2nd unit's sO(04) : 2nd unit's sO(05) :...
  • Page 84 4. Sample program [Robot program] 1st unit's YRC 2nd unit's YRC 'INIT ROUTINE 'INIT ROUTINE REsET sO2() REsET sO2() REsET sO4() REsET sO4() REsET DO4() REsET DO4() A=101 B=201 'MAIN ROUTINE 'MAIN ROUTINE MOvE P,P100,Z=0 MOvE P,P200,Z=0 GOsUB *PICk GOsUB *PICk *sT1: *sT2: MOvE P,P[A],Z=0...
  • Page 85 4. Sample program [PLC program] 1510.00 W0.00 000000 (000000) a003 UNIT ERR W0.01 a006 3217.00 Set emergency stop input W0.00 000001 for first module ON (000003) Set emergency stop input for first module ON 3241.00 3217.09 Set interlock input W0.01 000002 Chapter for first module ON...
  • Page 86 4. Sample program 3342.04 3218.04 000010 (000047) 3342.05 3218.05 000011 (000049) 3218.06 3342.06 000012 (000051) User application 3342.07 3218.07 000013 (000053) 3342.08 3218.08 000014 (000055) Chapter 3218.09 3342.09 000015 (000057) 3342.10 3218.10 000016 (000059) 3218.11 3342.11 000017 (000061) 3218.12 3342.12 000018 (000063) 3218.13...
  • Page 87 4. Sample program 3241.10 START 3341.08 3341.12 3341.11 AUTO PRG RESET PRG GO 3318.00 3242.00 000023 (000098) 3318.01 3242.01 000024 (000100) 3242.02 3318.02 000025 (000102) 3242.03 3318.03 000026 (000104) Chapter 3242.04 3318.04 000027 (000106) 3242.05 3318.05 000028 (000108) 3242.06 3318.06 000029 (000110) 3242.07...
  • Page 88 4. Sample program 000039 (005) (000130) 000040 (001) (000131) Chapter 5-26...

  • Page 89: Devicenet Compatible Module Specifications

    5. DeviceNet compatible module specifications 5. DeviceNet compatible module specifications Model DeviceNet Unit Spec. Item Controller model YRC robot controller Conforms to DeviceNet volume 1 Release 2.0 specification volume 2 Release 2.0 Device Profile Name Generic Device (Device Type Number 0) Number of channels used *1) When IO size is "Large"...

  • Page 90: Devicenet Specifications

    ● General Device Data volume 1 Release2.0 Conforms to DeviceNet Specification volume 2 Release2.0 Vendor Name YAMAHA MOTOR CO, LTD, OMRON EUROPE, B.v. Device Profile Name Generic Device(Device Type Number 0) Product Code Product Revision ● DeviceNet Physical Conformance Data...
  • Page 91 Product type Product code Revision Chapter Attributes status (bits supported) bit0 only serial number each unit Product name OMRON ROBOT YRC state Configuration Consistency value Heartbeat Interval DeviceNet Services Parameter Options Services Reset none Get_Attribute_single none ● Message Router Object(0x02)
  • Page 92 6. DeviceNet specifications ● DeviceNet Object (0x03) Object Class Description Value Limit Attributes Revision DeviceNet Services Parameter Options Services Get_Attribute_single none Object Instance Description Value Limit MAC ID Baud rate Chapter Bus-off counter Attributes Allocation information MAC ID switch changed Baud rate switch changed MAC ID switch value Baud rate switch value...
  • Page 93 6. DeviceNet specifications ● Connection Object(0x05) Object Class Attributes None supported Services None supported Total Active Connections Possible Object Instance 1 Description Information Explicit Message Instance Type Max Instance:1 Section Production Trigger Cyclic Chapter Transport Type server Transport Class Description Value Limit state Instance type...
  • Page 94 6. DeviceNet specifications Object Instance 2 Description Information Polled I/O Instance Type Max Instance:1 Section Production Trigger Cyclic Transport Type server Transport Class Description Value Limit state Instance type Transport class trigger Produced connection ID Consumed connection ID Chapter Initial comm. Characteristics Produced connection size Attributes Consumed connection size...
  • Page 95 6. DeviceNet specifications Object Instance 3 Description Information Bit strobed I/O Instance Type Max Instance:1 Section Production Trigger Cyclic Transport Type server Transport Class Description Value Limit state Instance type Transport class trigger Produced connection ID Consumed connection ID Chapter Initial comm.
  • Page 97 Chapter 6 APPENDIX Contents Term definition EDs files...
  • Page 99 1. Term definition 1. Term definition 1. DeviceNet DeviceNet is a registered trademark of ODvA (Open DeviceNet vendor Association). 2. SAFE mode setting When the sAFE mode setting is enabled, service mode input is made valid so that safety functions such as operating speed limits in MANUAL mode can be used. The sAFE mode setting is determined at the time of shipping.
  • Page 100 $ Compatible I/O Type Mask "", $ Name string $ Connection Path size "20 04 24 65 30 03", $ Connection Path ""; $ Help string * EDs files are included on the OMRON manual CD-ROM. Use them as needed.
  • Page 101 $ Compatible I/O Type Mask "", $ Name string $ Connection Path size "20 04 24 01 30 03", $ Connection Path ""; $ Help string * EDs files are included on the OMRON manual CD-ROM. Use them as needed.
  • Page 102 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I153E-EN-01 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous revision. Revision code Date Revised content...

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