Yamaha RCX series User manual

User’s Manual ENGLISH E
E78-Ver. 1.08
CC-Link
YAMAHA NETWORK BOARD RCXseries

INTRODUCTION
1
Introduction
Thank you for purchasing the CC-Link compatible module. This CC-Link compatible
module is an option module that enables connection of the YAMAHA robot controller
RCX series as a CC-Link system remote device station. The CC-Link compatible module
with label is compatible with CC-Link Ver.1.10. CC-Link compatible modules
without the CC-Link label are compatible with Ver.1.00. The robot controller explained
in this manual refers to the RCX series. This manual describes the flow of operations from
wiring the CC-Link compatible module to programming, and includes setting examples.
For details on other devices such as connecting the master station PLC and PLC
programming, refer to the manual for the respective product. Refer to the controller user's
manual and programming manual supplied with the YAMAHA robot controller for details
on operating the robot controller and on the robot program.

SAFETY PRECAUTIONS (ALWAYS READ BEFORE STARTING USE)
2
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.
* The safety precautions are ranked as "WARNING" and "CAUTION" in this manual.
wWARNING
FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SERIOUS INJURY OR
DEATH TO THE OPERATOR OR PERSON SERVICING THE PRODUCT.
cCAUTION
Failure to follow CAUTION instructions may result in injury to the operator or person
servicing product, or damage to the product or peripheral equipment.
nNOTE
Explains the key point in the operation in a simple and clear manner.
Note that some items described as "CAUTION" may lead to serious results depending on
the situation. In any case, important information that must be observed is explained.
Store this manual where it can be easily referred to, and make sure that it is delivered to
the end user.
CC-Link is a registered trademark of CC-Link partner association.
The CC-Link compatible module provided with a label is compatible with CC-
Link Ver.1.10.

SAFETY PRECAUTIONS (ALWAYS READ BEFORE STARTING USE)
3
[Precautions for design]
wWARNING
• REFER TO THE CC-LINK SYSTEM MASTER MODULE USER’S MANUAL AND THIS
MANUAL FOR DETAILS ON THE STATE OF THE CC-LINK SYSTEM AND ROBOT
CONTROLLER WHEN A COMMUNICATION ERROR OCCURS WITH THE CC-LINK
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.
• THE SAFETY CONNECTOR OF THE ROBOT CONTROLLER HAS AN EMERGENCY STOP
TERMINAL TO TRIGGER EMERGENCY STOP. USING THIS TERMINAL, PREPARE A
PHYSICAL INTERLOCK CIRCUIT SO THAT THE SYSTEM INCLUDING THE ROBOT
CONTROLLER WILL WORK SAFETY.
cCAUTION
• The control line and communication cable must not be bound with or placed
near the main circuit or power line. Separate these by at least 100mm. Failure to
observe this could lead to malfunctions caused by noise.
• The dedicated input of STD.DIO connector provided on the RCX40/141/142
controllers will be disabled except for an interlock signal (DI 11). When the
Board condition (external 24V monitor control) of system parameters is set
invalid, the interlock signal (DI 11) will also be disabled. On the RCX221/222, the
dedicated input of STD.DIO connector will be disabled, but the interlock signal (DI
11) in SAFETY connector enabled.
[Precautions for installation]
wWARNING
• ALWAYS CRIMP, PRESS-FIT OR SOLDER THE CONNECTOR WIRE CONNECTIONS WITH
THE MAKER-DESIGNATED TOOL, AND SECURELY CONNECT THE CONNECTOR TO
THE MODULE.
• 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.
cCAUTION
• Use the robot controller within the environment specifications given in the
manual. Use in an environment outside the environment specification range
could lead to electric shocks, fires, malfunctioning, product damage or
deterioration.
• Install the CC-Link compatible module into the robot controller, and securely fix
with screws.
• Never directly touch the conductive sections or electronic parts other than the
rotary switch on the CC-Link compatible module.
• Never directly touch the conductive sections or electric parts inside the
controller.
• Accurately connect each connection cable connector to the mounting section.
Failure to observe this could lead to malfunctions caused by a connection fault.

SAFETY PRECAUTIONS (ALWAYS READ BEFORE STARTING USE)
4
[Precautions for wiring]
wWARNING
• 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. FAILURE TO INSTALL THE TERMINAL COVER COULD LEAD TO
MALFUNCTIONS.
cCAUTION
• Tighten the terminal screws within the specified torque range. A loose terminal
screw could lead to short-circuiting or malfunctioning. If the terminal screw is
too tight, short-circuiting or malfunctioning could occur due to screw damage.
• Make sure that foreign matter, such as cutting chips or wire scraps, do not enter
the robot controller.
• The communication cables connected to the CC-Link compatible module must
be placed in a conduit or fixed with a clamp. If the cable is not placed in a
conduit or fixed with a clamp, the module or cable could be damaged by the
cable shifting, movement or unintentional pulling leading to malfunctioning
caused by an improper cable connection.
• Do not disconnect the communication cable connected to the CC-Link
compatible module by pulling on the cable section. Loosen the screws on the
connector, and then disconnect the cable. Pulling on the cable fixed with
screws could lead to module or cable damage, or malfunctioning caused by
an improper cable connection.

SAFETY PRECAUTIONS (ALWAYS READ BEFORE STARTING USE)
5
[Precautions for starting and maintenance]
wWARNING
• DO NOT TOUCH THE TERMINALS WHILE THE POWER IS ON. FAILURE TO OBSERVE
THIS COULD LEAD TO MALFUNCTIONING.
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE
CLEANING OR TIGHTENING THE TERMINAL SCREWS. FAILURE TO SHUT OFF ALL
PHASES COULD LEAD TO ELECTRIC SHOCKS, PRODUCT DAMAGE OR
MALFUNCTIONING. A LOOSE SCREW COULD LEAD TO DROPPING, SHORT-
CIRCUITING OR MALFUNCTIONING. IF THE SCREW IS TOO TIGHT, SHORT-
CIRCUITING OR MALFUNCTIONING COULD OCCUR DUE TO SCREW DAMAGE.
• NEVER DISASSEMBLE OR MODIFY ANY OF THE ROBOT CONTROLLER MODULES.
FAILURE TO OBSERVE THIS COULD LEAD TO TROUBLE, MALFUNCTIONING, INJURIES
OR FIRES.
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE
INSTALLING OR REMOVING THE CC-LINK COMPATIBLE MODULE. FAILURE TO SHUT
OFF ALL PHASES COULD LEAD TO ROBOT CONTROLLER TROUBLE OR
MALFUNCTIONING.
• WHEN USING THE ROBOT CONTROLLER WITH THE CC-LINK COMPATIBLE MODULE
MOUNTED, ALWAYS MOUNT THE ENCLOSED FERRITE CORE FOR NOISE MEASURES
ON THE POWER CABLE AS CLOSE TO THE ROBOT CONTROLLER AS POSSIBLE.
FAILURE TO MOUNT THIS FERRITE CORE COULD LEAD TO MALFUNCTIONING
CAUSED BY NOISE.
cCAUTION
If the master station PLC and robot controller are simultaneously turned on, the
CC-Link system may not operate correctly. Always first turn on the master PLC
before turning on the robot controller.
[Precautions for disposal]
cCAUTION
Dispose of this product as industrial waste.
This manual does not guarantee the implementation of industrial rights or other
rights, and does not authorize the implementation rights. YAMAHA shall not be held
liable for any problems regarding industrial rights that occur through the use of the
contents given in this manual.
2007 YAMAHA MOTOR CO., LTD.

WARRANTY
6
Warranty
The YAMAHA robot and/or related product you have purchased are warranted against the
defects or malfunctions as described below.
Warranty description:
If a failure or breakdown occurs due to defects in materials or workmanship in the
genuine parts constituting this YAMAHA robot and/or related product within the warranty
period, then YAMAHA will repair or replace those parts free of charge (hereafter called
"warranty repair").
Warranty Period:
The warranty period ends when any of the following applies:
(1)After 18 months (one and a half year) have elapsed from the date of shipment
(2)After one year has elapsed from the date of installation
(3)After 2,400 hours of operation
Exceptions to the Warranty:
This warranty will not apply in the following cases:
(1)Fatigue arising due to the passage of time, natural wear and tear occurring during
operation (natural fading of painted or plated surfaces, deterioration of parts subject
to wear, etc.)
(2)Minor natural phenomena that do not affect the capabilities of the robot and/or
related product (noise from computers, motors, etc.).
(3)Programs, point data and other internal data that were changed or created by the
user.
Failures resulting from the following causes are not covered by warranty repair.
1) Damage due to earthquakes, storms, floods, thunderbolt, fire or any other natural or
man-made disasters.
2) Troubles caused by procedures prohibited in this manual.
3) Modifications to the robot and/or related product not approved by YAMAHA or
YAMAHA sales representatives.
4) Use of any other than genuine parts and specified grease and lubricants.
5) Incorrect or inadequate maintenance and inspection.
6) Repairs by other than authorized dealers.
YAMAHA MOTOR CO., LTD. MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES,
INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY
PARTICULAR PURPOSE. THE WARRANTY SET FORTH ABOVE IS EXCLUSIVE AND IS
IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES, INCLUDING WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR WARRANTIES ARISING
FROM A COURSE OF DEALING OR USAGE OF TRADE.
YAMAHA MOTOR CO., LTD. SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE
EQUIPMENT AND YAMAHA MOTOR CO., LTD. SHALL NOT BE LIABLE FOR ANY
CONSEQUENTIAL DAMAGES (WHETHER ARISING FROM CONTRACT, WARRANTY,
NEGLIGENCE OR STRICT LIABILITY). YAMAHA MOTOR CO., LTD. MAKES NO
WARRANTY WHATSOEVER WITH REGARD TO ACCESSORIES OR PARTS NOT SUPPLIED
BY YAMAHA MOTOR CO., LTD.

i
GENERAL CONTENTS
General Contents
Chapter 1 OUTLINE
1. Features 1-1
2. Mechanism 1-2
3.
Names of each part on the CC-Link compatible module 1-3
4. Assignment of CC-Link compatible I/O 1-4
5.
Shift of CC-Link system connection status and robot controller status 1-6
Chapter 2 CONNECTION
1. Confirming the CC-Link compatible module settings 2-1
2.
Setting to the CC-Link system specification controller 2-2
2.1 Saving the robot controller data 2-2
2.2 Installing the CC-Link compatible module 2-2
2.3 Response when starting the robot controller 2-2
3. Setting the CC-Link compatible module 2-3
3.1 Setting the station No. 2-3
3.2 Setting the communication speed 2-4
4. Noise measures 2-6
4.1 Mounting the ferrite core 2-6
5. Connecting to the CC-Link system 2-7
5.1 Connecting to the cable terminal to the controller 2-7
5.2 Testing the line from the master station PLC 2-8
6. Parameter setting for CC-Link serial I/O board 2-9
6.1 Parameter setting for CC-Link serial I/O board 2-10
Chapter 3 COMMUNICATION
1. State when robot controller power is turned ON 3-1
2.
Initial process for connecting to CC-Link system 3-3
2.1 Initial data process 3-3
3. Communication with master station PLC 3-4
3.1 Receiving data 3-4
3.2 Transmitting data 3-6

GENERAL CONTENTS
ii
4. Direct connection by emulated serialization on parallel DIO 3-8
4.1 Emulated serialization setting on parallel DIO 3-8
5. Referring to communication data 3-11
5.1 Referring to the data from the programming unit 3-11
Chapter 4 TROUBLESHOOTING
1. Items to confirm before starting up CC-Link system 4-1
2.
Meanings of LEDs on CC-Link compatible module 4-2
3. Troubleshooting 4-3
3.1 Robot controller front panel LED confirmation 4-3
3.2 Programming unit error display confirmation 4-4
3.3 CC-Link compatible module LED confirmation 4-5
3.4 Confirmation from master station PLC 4-6
4. Error messages relating to CC-Link 4-7
Chapter 5 SPECIFICATIONS
1. Profile 5-1
2. Details of remote input/output signals 5-4
3. Dedicated input/output signal timing chart 5-8
3.1 Initial data process for CC-Link connection 5-8
3.2 Servo ON and emergency stop 5-9
3.3
AUTO mode changeover, program reset and program execution 5-10
3.4 Stopping with program interlock 5-11
4. Sample program 5-13
5. CC-Link compatible module specifications 5-20
Chapter 6 APPENDIX
1. Term definition 6-1

Chapter 1 OUTLINE
Contents
1. Features 1-1
2. Mechanism 1-2
3.
Names of each part on the CC-Link compatible module 1-3
4. Assignment of CC-Link compatible I/O 1-4
5.
Shift of CC-Link system connection status and robot controller status 1-6

1-1
Chapter
1
OUTLINE
1. Features
1. Features
CC-Link is the abbreviation of Control & Communication Link. The CC-Link system
connects the robot controller and dispersed input/output modules with dedicated cables,
and controls these modules from the master station PLC. The CC-Link system allows
wiring to be reduced.
Master station
Station that controls entire CC-Link system.
The PLC master module corresponds to this.
Remote device station
Station controlled by master station in CC-Link
system. The robot controller corresponds to this.
Remote I/O station
Station controlled by master
station in CC-Link system.
CC-Link is a registered trademark of CC-Link partner association.
The CC-Link compatible module provided with a label is compatible with CC-
Link Ver.1.10.
nNOTE
The dedicated input of STD.DIO connector provided on the RCX40/141/142
controllers will be disabled except for an interlock signal (DI 11). When the Board
condition (external 24V monitor control) of system parameters is set invalid, the
interlock signal (DI 11) will also be disabled. On the RCX221/222, the dedicated
input of STD.DIO connector will be disabled, but the interlock signal (DI 11) in
SAFETY connector enabled.
[Wiring saving]
One dedicated cable (4-wire) is used to connect the robot controller and PLC. This allows
the entire system wiring to be reduced.
[Emulated serialization on parallel DIO]
By making the robot controller’s internal settings without using a robot program, the
various I/O devices, such as the sensors and relays mounted on the robot controller’s
parallel I/O can be controlled from the PLC as if they were CC-Link system I/O devices.
cCAUTION
An emergency stop terminal for hardwire is provided in SAFETY connector on the
robot controller. In the case of the RCX40/141/142, when the CC-Link system is
used while STD. DIO is not used (external DC 24V power supply is not used), the
Board condition (external 24V monitor control) of system parameters must be set
invalid. If it is left valid, the STD. DIO interlock signal is enabled causing an error in
the robot operation commands.

1-2
Chapter
1
OUTLINE
2. Mechanism
The mechanism of communication is explained in this section to provide an understanding
of how the robot controller and PLC operate via the CC-Link system.
:
@
ON/OFF information
Master station
PLC
Robot controller
qThe robot controller’s ON/OFF information is sent to the master station PLC via the
network (CC-Link system cable).
wThe master station PLC’s ON/OFF information is sent to the robot controller via the
network (CC-Link system cable).
* The robot controller monitors the ON/OFF information at a 10ms cycle.
* The ON/OFF information consists of 16 points each of dedicated I/O points, 96
points each of general-purpose I/O points as bit information, and two words each
of dedicated I/O words, 14 words each of general-purpose I/O words as word
information.
If the following is executed with the robot program in the robot controller, the bit
information will be sent to the master station PLC via the CC-Link system by q.
SO (20) = 1
Conversely, if the following is executed with the robot program, the bit information
received from the master station PLC via the CC-Link system will be monitored by w,
and will wait for the ON information.
WAIT SI (20) = 1
If the following is executed with the robot program in the robot controller, the word
information will be sent to the master station PLC via the CC-Link system by q.
SOW (2) = 256
Conversely, if the following is executed with the robot program, the word information
received from the master station PLC via the CC-Link system will be substituted in
integer variable A% by w.
A% = SIW (3)
2. Mechanism

1-3
Chapter
1
OUTLINE
3. Names of each part on the CC-Link compatible module
The part names of the CC-Link compatible module installed in the robot controller are
described in this section. The CC-Link compatible module is installed into an optional slot
in the robot controller.
@
=
;
.
:
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
Front of the unit
qCC-Link system cable terminals
These terminals are used to connect the CC-Link system cable. Each of the four
terminals has a meaning, so do not make miswiring. These terminals are "DA", "DB",
"DG" and "SLD" from the top.
wTransmission monitor LED
The status in the CC-Link system is indicated with ON, OFF and flickering status of
four LEDs. These terminals are "RUN", "ERRL", "SD" and "RD" from the top.
eStation No. setting switch (LSB: 1st digit)
This is the rotary switch for setting the robot controller station No. in the CC-Link
system. The 1st digit of the station No. is set with this switch.
rStation No. setting switch (MSB: 2nd digit)
This is the rotary switch for setting the robot controller station No. in the CC-Link
system. The 2nd digit of the station No. is set with this switch.
tCommunication speed switch (BPS)
This is the rotary switch for setting the CC-Link system’s communication speed.
3. Names of each part on the CC-Link compatible module

1-4
Chapter
1
OUTLINE
4. Assignment of CC-Link compatible I/O
The I/O expressions used in the robot controller’s program language and the I/O
expressions for the remote device stations differ. The correspondence is shown below.
Output from robot controller Input to robot controller
Program language Remote device station Program language Remote device station
SOW(0)*3RWr0 SIW(0)*3RWw0
SOW(1)*3RWr1 SIW(1)*3RWw1
SOD(2) SOW(2) RWr2 SID(2) SIW(2) RWw2
SOW(3) RWr3 SIW(3) RWw3
SOD(4) SOW(4) RWr4 SID(4) SIW(4) RWw4
SOW(5) RWr5 SIW(5) RWw5
SOD(6) SOW(6) RWr6 SID(6) SIW(6) RWw6
SOW(7) RWr7 SIW(7) RWw7
SOD(8) SOW(8) RWr8 SID(8) SIW(8) RWw8
SOW(9) RWr9 SIW(9) RWw9
SOD(10) SOW(10) RWrA SID(10) SIW(10) RWwA
SOW(11) RWrB SIW(11) RWwB
SOD(12) SOW(12) RWrC SID(12) SIW(12) RWwC
SOW(13) RWrD SIW(13) RWwD
SOD(14) SOW(14) RWrE SID(14) SIW(14) RWwE
SOW(15) RWrF SIW(15) RWwF
SO0(7~0)*1RXn7~RXn0 SI0(7~0)*1RYn7~RYn0
SO1(7~0)*1RXnF~RXn8 SI1(7~0)*1RYnF~RYn8
SO2(7~0) RX(n+1)7~RX(n+1)0 SI2(7~0) RY(n+1)7~RY(n+1)0
SO3(7~0) RX(n+1)F~RX(n+1)8 SI3(7~0) RY(n+1)F~RY(n+1)8
SO4(7~0) RX(n+2)7~RX(n+2)0 SI4(7~0) RY(n+2)7~RY(n+2)0
SO5(7~0) RX(n+2)F~RX(n+2)8 SI5(7~0) RY(n+2)F~RY(n+2)8
SO6(7~0) RX(n+3)7~RX(n+3)0 SI6(7~0) RY(n+3)7~RY(n+3)0
SO7(7~0) RX(n+3)F~RX(n+3)8 SI7(7~0) RY(n+3)F~RY(n+3)8
SO10(7~0) RX(n+4)7~RX(n+4)0 SI10(7~0) RY(n+4)7~RY(n+4)0
SO11(7~0) RX(n+4)F~RX(n+4)8 SI11(7~0) RY(n+4)F~RY(n+4)8
SO12(7~0) RX(n+5)7~RX(n+5)0 SI12(7~0) RY(n+5)7~RY(n+5)0
SO13(7~0) RX(n+5)F~RX(n+5)8 SI13(7~0) RY(n+5)F~RY(n+5)8
SO14(7~0) RX(n+6)7~RX(n+6)0 SI14(7~0) RY(n+6)7~RY(n+6)0
SO15(7~0) RX(n+6)F~RX(n+6)8 SI15(7~0) RY(n+6)F~RY(n+6)8
------------ RX(n+7)F~RX(n+7)0*2------------ RY(n+7)F~RY(n+7)0*2
n: Address assigned to master module with station No. setting
n= (station No. - 1) x 2
Caution)
*1: Has a meaning in the robot controller’s internal process as a dedicated input/output. This cannot be
used as a general-purpose input/output in the robot program.
*2: This area is reserved for the CC-Link system.
*3: Has a meaning in the robot controller’s internal process as a dedicated command region. This
cannot be used as a general-purpose input/output in the robot program.
4. Assignment of CC-Link compatible I/O

1-5
Chapter
1
OUTLINE
nNOTE
• SIW(n) and SOW(n) are handled as numerical data of word with no sign.
SID(n) and SOD(n) are handled as numerical data of double words with a sign.
• The dedicated input of STD.DIO connector provided on the RCX40/141/142
controllers will be disabled except for an interlock signal (DI 11). When the
Board condition (external 24V monitor control) of system parameters is set
invalid, the interlock signal (DI 11) will also be disabled. On the RCX221/222, the
dedicated input of STD.DIO connector will be disabled, but the interlock signal
(DI 11) in SAFETY connector enabled.
An example of the flow of the I/O information in the robot controller (remote device
station) is shown below. The buffer memory in the master station used to store the I/O
information differs according to the PLC type and station No, etc. Refer to the PLC manual
for details.
X17F to X100
D115 to D100
E7h to E0h
2EFh to 2E0h
FROM
TO
RX(n+7)F to RXn0
RWrF to RWr0
RY(n+7)F to RYn0
RWwF to RWw0
Y17F to Y100
D135 to D120
167h to 160h
1EFh to 1E0h
PLC CPU
(A1SHCPU)
Master station
(A1SJ61BT11)
Robot controller
Automatic update
Remote input Remote input
4. Assignment of CC-Link compatible I/O

1-6
Chapter
1
OUTLINE
5. Shift of CC-Link system connection status and robot controller status
Always start the CC-Link system specification robot controller in the servo OFF state
after the power is turned ON.
qNormal state of CC-Link system connection when robot controller power is turned
ON
Robot
controller
Master station
PLC
•Emergency stop/interlock signals in CC-Link system are valid
•When SAFE mode is enabled, service mode input signal is made valid with SI (02)
in the CC-Link system.
•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 are sent and received.
* Always initialize with the master station PLC when connecting to the CC-Link
system.
wShift from CC-Link system normal connection state to CC-Link system erroneous
connection state
Robot
controller
Master station
PLC
Robot
controller
Master station
PLC
Robot
controller
Master station
PLC
or
•Emergency stop input turns off with SI (00) in the robot controller.
•Service mode input turns off with SI (02) in the robot controller.
•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)
5. Shift of CC-Link system connection status and robot controller status

1-7
Chapter
1
OUTLINE
•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 are not sent or received.
* The "CC-Link Communication Error" is added to the error history in the robot
controller.
* If the connection to the CC-Link system shifts from the normal state to the
erroneous state, the CC-Link system connection must be returned to the normal
state.
* The CC-Link system will return when the CC-Link system connection is recovered
to the normal state.
eCC-Link system erroneous connection state due to following factors when robot
controller power is turned ON
•Connection to CC-Link system not possible
•Error in master station PLC
Robot
controller
Master station
PLC
Robot
controller
Master station
PLC
•Emergency stop/interlock signals in CC-Link system are invalid
•When SAFE mode is enabled, service mode input signal is made valid with SI (02)
in the CC-Link system.
•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 on the CC-Link system cannot be exchanged.
* As opposed to the state given in w, in this state, the emergency stop state by SI (00)
is not attained in the controller, so the robot can be operated from the
programming unit. (The robot controller can be started independently when setting
up the system, etc.)
5. Shift of CC-Link system connection status and robot controller status

1-8
Chapter
1
OUTLINE
* 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
lead to a hazardous situation.
* 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.)
rTransmission from CC-Link system erroneous connection state to CC-Link correct
connection state when robot controller power is turned ON
Robot
controller
Master station
PLC
Robot
controller
Master station
PLC
Robot
controller
Master station
PLC
•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.
5. Shift of CC-Link system connection status and robot controller status