YASKAWA MOTOMAN Series Instructions Manual
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YASKAWA MOTOMAN Series Instructions Manual

Cc-link ie field communications function
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See also: Instruction Manual
YRC1000 OPTIONS
CC-Link IE Field
COMMUNICATIONS FUNCTION
INSTRUCTIONS
FOR Q81BD-J71GF11-T2 MADE BY MITSUBISHI ELECTRIC Co., Ltd.
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR'S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000 operator's manual above corresponds to specific usage. Be sure to use the appropriate manual.
The YRC1000 operator's manual above consists of "GENERAL" and "SUBJECT SPECIFIC".
The YRC1000 alarm codes above consists of "MAJOR ALARMS" and "MINOR ALARMS".
178943-1CD
0
MANUAL NO.
HW1483854
1/53

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  • Page 1 YRC1000 OPTIONS CC-Link IE Field COMMUNICATIONS FUNCTION INSTRUCTIONS FOR Q81BD-J71GF11-T2 MADE BY MITSUBISHI ELECTRIC Co., Ltd. Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000 INSTRUCTIONS YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC) YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
  • Page 2 • YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.
  • Page 3 HW1483854 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Indicates an imminently hazardous DANGER situation which, if not avoided, will result in death or serious injury.
  • Page 4 HW1483854 NOTICE • Do not use or keep the board in the following environmental conditions. – Where exposed to direct sunshine – Where vibration or impact occurs – Where high humidity exists – Where a strong magnetic field exists – Where much dust exists –...
  • Page 5 HW1483854 DANGER • Before operating the manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. – Press the emergency stop buttons on the front door of the YRC1000, on the programming pendant, on the external control device, etc.
  • Page 6 HW1483854 WARNING • Do not touch the inside of the panel for 5 minutes after the power is turned OFF. The remaining charged voltage in the capacitor may cause an electric shock or an injury. • Be sure to close the door and install the protection cover while the power is turned ON.
  • Page 7 HW1483854 CAUTION • Make sure that there is no foreign matter such as metal chips on the board. In case of malfunction, etc. it may result in an injury or damage the board. • Make sure that there is no damage or deflection of parts on the  board.
  • Page 8 HW1483854 Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables. In this manual, the equipment is designated as follows.

  • Page 9: Table Of Contents

    HW1483854 Contents 1 Outline ............................1-1 1.1 System Configuration ......................1-1 2 Hardware Specifications ......................... 2-1 2.1 External View of the J71GF11-T2 Board ................2-1 2.2 J71GF11-T2 Specifications ....................2-2 2.3 Communication Specifications................... 2-3 3 Mounting the J71GF11-T2 Board ....................3-1 3.1 Opening the Front Door of the YRC1000 ................

  • Page 10: Outline

    HW1483854 Outline System Configuration Outline This manual describes the CC-Link IE Field board Q81BD-J71GF11-T2 (hereafter J71GF11-T2) (manufactured by Mitsubishi Electric Corporation) to be used in the YRC1000. The application of the J71GF11-T2 board enables the exchange of general-purpose I/O data and register data between a CC-Link IE Field device and the YRC1000.

  • Page 11: Hardware Specifications

    HW1483854 Hardware Specifications External View of the J71GF11-T2 Board Hardware Specifications External View of the J71GF11-T2 Board Number Name Description Operation LEDs Display the operation status of the CC-Link IE Field network board. Port 1 connector for the CC-Link IE Field network connection Port 2 connector for the CC-Link IE Field network connection...

  • Page 12: J71Gf11-T2 Specifications

    HW1483854 Hardware Specifications J71GF11-T2 Specifications J71GF11-T2 Specifications Items Specifications Interface to external CC-Link IE Field device Board mounting PCI Express slot in the YRC1000 position Error indicator LED indicators Number of Maximum number of I/O points transmission I/O Input: 2048 Output: 2048 points Maximum number of I/O registers Input: 276 Output: 276 (*when allocate the maximum number, removing error code output...

  • Page 13: Communication Specifications

    HW1483854 Hardware Specifications Communication Specifications Communication Specifications Items Specifications Transmission speed 1Gbps Communication method Token Passing Transmission channel Star/Line/Ring/Mixture of Star and Line Station type Local station Max station number 254 (1 master station and 253 slave stations) MAX station number for each network: 121(1 master station and 120 slave stations) CC-Link IE Field is not compatible with CC-Link.

  • Page 14: Mounting The J71Gf11-T2 Board

    HW1483854 Mounting the J71GF11-T2 Board Mounting the J71GF11-T2 Board DANGER • Before wiring, be sure to turn OFF the power supply and put up a warning sign, such as “DO NOT TURN ON THE POWER”. Failure to observe this warning may result in an electric shock or an injury.

  • Page 15: Opening The Front Door Of The Yrc1000

    HW1483854 Mounting the J71GF11-T2 Board Opening the Front Door of the YRC1000 Opening the Front Door of the YRC1000 Mount the J71GF11-T2 board in the following manner. Open the front door of YRC1000. (1) Turn the door lock on the front face of the YRC1000 clockwise for 90 °...

  • Page 16: Mounting The J71Gf11-T2 Board On The Yrc1000

    HW1483854 Mounting the J71GF11-T2 Board Mounting the J71GF11-T2 Board on the YRC1000 Mounting the J71GF11-T2 Board on the YRC1000 1. Remove the riser card (JANCD-ABB02-E, JANCD-ABB04-E) from the CPU rack. 2. Insert the J71GF11-T2 board into the PCI Express slot of the riser card, then securely tighten the J71GF11-T2 board with the screws.

  • Page 17: Closing Front Door Of The Yrc1000

    HW1483854 Mounting the J71GF11-T2 Board Closing Front Door of the YRC1000 Closing Front Door of the YRC1000 1. Close the front door of YRC1000. (1) Close the door gently. (2) Turn the door lock on the front face of the YRC1000 counterclock- wise for 90 °...

  • Page 18: O Signal Allocation

    HW1483854 I/O Signal Allocation Setting of Optional Board and I/O Module I/O Signal Allocation Setting of Optional Board and I/O Module In order to use the J71GF11-T2 board on the YRC1000, perform the setting of the optional board and I/O module in the following procedure. Before setting the optional board and I/O module;...
  • Page 19 HW1483854 I/O Signal Allocation Setting of Optional Board and I/O Module 4. Select {SETUP}. – The SETUP display appears. 5. Select "OPTION BOARD". – The OPTION BOARD display appears. HW1483854 19/53...
  • Page 20 HW1483854 I/O Signal Allocation Setting of Optional Board and I/O Module 6. Select "J71GF11-T2 ". – The J71GF11-T2 setup display appears. – Set the items on the display. Explanation of Setup Items Q81BDJ71GF11-T2  Sets whether to use the J71GF11-T2 board. Set “USED”. ...
  • Page 21 HW1483854 I/O Signal Allocation Setting of Optional Board and I/O Module REMOTE REGISTER INPUT ALLOCATION  Sets the first number of the YRC1000 M-register when the remote regis- ter input data of the CC-Link IE Field is allocated. Set the number from 0 to 556. REMOTE REGISTER OUTPUT ALLOCATION ...
  • Page 22 HW1483854 I/O Signal Allocation Setting of Optional Board and I/O Module 8. Select "YES". – The IO MODULE display appears. – Although the message “Select ‘Safety Board Flash Reset.’” appears, keep performing setting without following the message. 9. Press [ENTER]. –...
  • Page 23 HW1483854 I/O Signal Allocation Setting of Optional Board and I/O Module 10. Press [ENTER]. – The confirmation dialog box appears. 11. Select {YES}. – Press “YES” if the display corresponds to the current mounted status of the I/O modules. The I/O module setting is updated, and the IO MODULE window changes to the EXTERNAL IO SETUP window.

  • Page 24: External I/O Setting

    HW1483854 I/O Signal Allocation External I/O Setting External I/O Setting 1. The EXTERNAL IO SETUP window appears. 2. Select {AUTO} or {MANUAL} in the ALLOCATION MODE. – The selection menu appears after selecting {AUTO} or {MANUAL}. If the allocation mode is changed from {MANUAL} to {AUTO}, the set allocation data is discarded.
  • Page 25 HW1483854 I/O Signal Allocation External I/O Setting 3. Select the allocation mode to set up. – Select {AUTO} to allocate I/O signal allocation automatically. Select {MANUAL} to allocate I/O signal allocation manually. – The selected allocation mode is set up. 4.
  • Page 26 HW1483854 I/O Signal Allocation External I/O Setting 5. Select the external I/O signal number (at the change source) to be changed. (In the setting example, select “#20060”.) – The select menu appears. 6. Select {MODIFY], and input the external input signal number (at the change destination) to be changed.
  • Page 27 HW1483854 I/O Signal Allocation External I/O Setting 8. Press {ENTER]. – The allocation window of the external output signal appears. 9. Select/modify the number of the external output signal same as the external input signal. – Repeat select/modify until it becomes the desired allocation to set 10.
  • Page 28 HW1483854 I/O Signal Allocation External I/O Setting 12. Set the security mode to the “SAFETY MODE”. 13. Select {FILE} - {INITIALIZE} under the main menu. – The initialize window appears. 14. Select “Safety Board FLASH Reset”. – The confirmation dialog box appears. 15.

  • Page 29: Transmitting Data

    HW1483854 I/O Signal Allocation Transmitting Data Transmitting Data The data to be transmitted from the J71GF11-T2 board to inside of the YRC1000 is not only the I/O data from the external device connected to the CC-Link IE Field, but also the status of the J71GF11-T2 board. Therefore, inside the YRC1000, 8 points (1 byte) for both input and output are reserved for the status of the J71GF11-T2 board beside the area for the digital data.

  • Page 30: Yrc1000 I/O Allocation Example (For Handling)

    HW1483854 I/O Signal Allocation Transmitting Data 4.3.1 YRC1000 I/O Allocation Example (For Handling) Note1) The following example is for the standard setting. When change the allocation of the external output signal or the concurrent ladder program, the allocation changes in accordance with the changes. Note2) As for the input data/output data of JANCD-AIO01-E (standard I/O board), refer to YRC1000 INSTRUCTIONS MANUAL for more details.
  • Page 31 HW1483854 I/O Signal Allocation Transmitting Data 30150 to 30157 10120 to 10127 (OT0089 to OT0096) Output data (9) 30160 to 30167 10130 to 10137 (OT0097 to OT0104) Output data (10) 30170 to 30177 10140 to 10147 (OT0105 to OT0112) Output data (11) 30180 to 30187 10150 to 10157 (OT0113 to OT0120) Output data (12) 30190 to 30197...

  • Page 32: Yrc1000 I/O Allocation Example (For Except Handling)

    HW1483854 I/O Signal Allocation Transmitting Data 4.3.2 YRC1000 I/O Allocation Example (For Except Handling) Note1) The following example is for the standard setting. When change the allocation of the external output signal or the concurrent ladder program, the allocation changes in accordance with the changes. Note2) As for the input data/output data of JANCD-AIO01-E (standard I/O board), refer to YRC1000 INSTRUCTIONS MANUAL for more details.
  • Page 33 HW1483854 I/O Signal Allocation Transmitting Data 30140 to 30147 10120 to 10127 (OT0089 to OT0096) Output data (8) 30150 to 30157 10130 to 10137 (OT0097 to OT0104) Output data (9) 30160 to 30167 10140 to 10147 (OT0105 to OT0112) Output data (10) 30170 to 30177 10150 to 10157 (OT0113 to OT0120) Output data (11) 30180 to 30187...

  • Page 34: 4.3.3 Board Status

    HW1483854 I/O Signal Allocation Transmitting Data 4.3.3 Board Status [J71GF11-T2 board status] The first one byte (20060 to 20067 in the allocation example above) of the input data of the J71GF11-T2 allocated to the external input signal indicates the board status of the J71GF11-T2. Signal Contents 2xxx0 to 2xxx3...
  • Page 35 HW1483854 I/O Signal Allocation Transmitting Data  Register the User Alarm 1. Change the security mode to the “Management Mode”. 2. Select the {I/O ALARM} from the {IN/OUT} in the main menu. 3. The I/O alarm (user) window appears. HW1483854 4-18 35/53...
  • Page 36 HW1483854 I/O Signal Allocation Transmitting Data 4. Move the cursor over the desired No. to register, and press [SELECT]. – The window changes to the character string entry window. 5. Enter the I/O alarm name. 6. Press [ENTER]. – The entered alarm is registered. HW1483854 4-19 36/53...
  • Page 37 HW1483854 I/O Signal Allocation Transmitting Data 7. Register the other alarms. – Repeat the same procedures to register the alarm to use. HW1483854 4-20 37/53...
  • Page 38 HW1483854 I/O Signal Allocation Transmitting Data  IO Allocation and the Ladder Program Create the ladder program to alert the alarm by using the following signals when the optional board detects an error. External input Signal Description 20066 Optional board status (IO communication status) 20067 Optional board status...
  • Page 39 HW1483854 I/O Signal Allocation Transmitting Data The ladder program (the figure of the ladder) Creating the following ladder allows to alert the alarm according to the status error signals of the optional board. #20067 #40220 #20066 #40221 #20067 #40222 #70017 #70017 #40223 #40224...

  • Page 40: Plc Setting

    HW1483854 PLC Setting Master setting PLC Setting In order to use CC-Link IE field communication function, perform the setting of the external device as master station. Refer to the following example for setting of PLC (made by Mitsubishi Electric Co.,Ltd.). In this case, perform the setting by using the version 1.90U of “GX Works2 (made by Mitsubishi Electric Co.,Ltd.)”.
  • Page 41 HW1483854 PLC Setting Master setting 4. Perform the setting of parameter. Select [Parameter] - [Network Parameter] - [Ethernet / CC IE Field] of the project tree. Then the setting window of network parameter. Perform the setting of unit1 depending on the user’s network environment.
  • Page 42 HW1483854 PLC Setting Master setting 6. Select [Network Operation Settings] in the network parameter setting window in step4 to set the network operation. After setting, select [End]. 7. Select [Refresh Parameters] in the network parameter setting window in step4 to set the refresh parameters. The following setting is an example.
  • Page 43 HW1483854 PLC Setting Master setting 9. After setting, select [Check] - [End]. 10. Connect the PC with the PLC by using the Ethernet cable or USB cable. Select {Connection Destination} - {Connection1} under the navigation menu on the right of figure and click {PLC Direct Coupled Setting}.
  • Page 44 HW1483854 PLC Setting Master setting 12. Select the {Connection Test}, then the connection test is started. If the following error occurs, confirm the contents of error message. If the error is not cleared, open the network connection under Control Panel. And invalidate the corresponding network port during connecting with PLC, then validate it again.

  • Page 45: Io Confirmation

    HW1483854 PLC Setting IO Confirmation 15. Confirm that the write to PC is completed as below, then select {Close]. 16. Open the cover on the upper side of connector which is connected with the Ethernet cable and move the switch to “RESET” to reset PLC. After confirming that the LED of PLC is OFF, move the switch to “RUN”.

  • Page 46: Setting Of Star/ Line, Ring Connection And Create Radder Program

    HW1483854 PLC Setting Setting of Star/ Line, Ring Connection and create radder program Setting of Star/ Line, Ring Connection and create radder program Perform the following settings when connecting multiple devices and changing the connection method (Star connection/Line connection/Ring connection). 1.
  • Page 47 HW1483854 PLC Setting Setting of Star/ Line, Ring Connection and create radder program 3. Select {Program Setting} - {Scan Program} under the project tree, then right click and select {Add New Data}. Then confirm the setting and select {OK}. 4. Write the ladder program under the Scan Program to check the communication.
  • Page 48 HW1483854 PLC Setting Setting of Star/ Line, Ring Connection and create radder program 5. Select {Online} - {Write to PLC} and check the box “Program (Program File)”, then select {Execute}. HW1483854 48/53...

  • Page 49: Block Data Assurance Per Station

    HW1483854 PLC Setting Block Data Assurance per Station Block Data Assurance per Station Perform the setting to assure the data consistency. 1. Select {Parameter} - {Network Parameter} - {Ethernet / CC IE Field}. 2. Select {Network Configuration Settings}. 3. Select {Supplementary Setting}. HW1483854 5-10 49/53...
  • Page 50 HW1483854 PLC Setting Block Data Assurance per Station 4. Check the box {Block Data Assurance per Station}. 5. Close the setting window and select {Online} - {Write to PLC}. Then confirm that the following check box of parameter is checked and select {Execute}.

  • Page 51: Error Indication

    HW1483854 Error Indication LED Indicators Error Indication LED Indicators LEDs are provided on the front of the J71GF11-T2 board to indicate the status of CC-Link IE Field communications. Name Contents and Remedy Indicate the CC-Link IE Field operation status. The LED lightning status is indicated in two modes: the RUN LED is Lit or Unlit and the RUN LED is Flashing.
  • Page 52 HW1483854 Error Indication LED Indicators Name Contents and Remedy (2) When the RUN LED is Flashing Status Contents Remedy name Either one of the following errors Flashing has occurred. Check the ERR.LED and RD LED.) ERR. A PCI Express bus error has Turn OFF the power of YRC1000 •...
  • Page 53 FOR Q81BD-J71GF11-T2 MADE BY MITSUBISHI ELECTRIC Co., Ltd. HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion )

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