Yamaha RCX Series User Manual page 20

5. Shift of CC-Link system connection status and robot controller status
* Service mode input signal cannot be invalidated with SI (02) when SAFE mode is
enabled, so change the service mode parameter setting in SYSTEM > PARAM
mode. In this case, take full precautions to prevent improper settings that might
Chapter
lead to a hazardous situation.
1
* When the connection to the CC-Link system is correctly recovered, the system will
automatically return to the CC-Link system.
* The "CC-Link Communication Error" has been added to the error history in the
robot controller.
(A standby state for up to 2.5 seconds will occur to check the communication.)
r Transmission from CC-Link system erroneous connection state to CC-Link correct
connection state when robot controller power is turned ON
controller
controller
• CC-Link system emergency stop/interlock signals change to valid state
• Emergency stop terminal in SAFETY connector is valid.
• Interlock signal in STD. DIO connector is valid unless the Board condition (external
24V monitor control) of system parameters is set invalid. (RCX40/141/142)
• Interlock signal in SAFETY connector is valid. (RCX221/222)
• When the Board condition (external 24V monitor control) of system parameters is
left valid while SAFE mode is enabled, service mode input signal is made valid
with DI (02) in SAFETY connector (RCX40/141/142)
• When SAFE mode is enabled, service mode input signal is made valid with DI (02)
in SAFETY connector. (RCX221/222)
* The signals in the CC-Link system can be sent and received.
* When the connection to the CC-Link system shifts to the normal state, the
initialization process must be carried out with the master station PLC when
connecting to the CC-Link system.
* When service mode parameter setting in SYSTEM > PARAM mode has been
changed while SAFE mode is enabled, make the service mode parameter setting
again. In this case, take full precautions to prevent improper settings that might
lead to a hazardous situation.
* The CC-Link system will return when the CC-Link system connection is recovered
to the normal state.
1-8
Robot Master station
PLC
Robot Master station
PLC
Robot Master station
controller PLC