YASKAWA MOTOMAN Series User manual

MANUAL NO.
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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”.
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DANGER
• This manual explains the CC-Link IE Field board Q81BD-J71GF11-
T2 (manufactured by Mitsubishi Electric Corporation) of the
YRC1000 system. Read this manual carefully and be sure to
understand its contents before handling the YRC1000. Any matter,
including operation, usage, measures, and an item to use, not
described in this manual must be regarded as "prohibited" or
"improper".
• General information related to safety are described in “YRC1000
INSTRUCTIONS (RE-CTO-A221) 1. Safety”. To ensure correct
and safe operation, carefully read “YRC1000 INSTRUCTIONS (RE-
CTO-A221) 1. Safety”.
CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from
unauthorized modification of its products. Unauthorized
modification voids the product warranty.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• 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.
•• If your copy of the manual is damaged or lost, contact a
YASKAWA representative to order a new copy. The representatives
are listed on the back cover. Be sure to tell the representative the
manual number listed on the front cover.
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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”.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
DANGER
Indicates an imminently hazardous
situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
CAUTION
Indicates a hazardous situation,
which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE
NOTICE is the preferred signal word
to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION".
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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
– Where a sudden change in the temperature occurs
– Where corrosive gases occur
– Where condensation occurs
Improper usage of the board may damage the board.
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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.
– Disconnect the safety plug of the safety fence.
(when in the play mode and the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the
obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may result in personal injury caused
by unintended manipulator movement.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching
operation within the P-point maximum envelope of the manipulator:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may result in personal injury caused
by improper or unintended manipulator movement.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Injury may result if any person should enter the P-point maximum
envelope of the manipulator during operation. Immediately press an
emergency stop button whenever there is a problem. The emergency
stop buttons are located on the front panel of the YRC1000 and on the
right of the programming pendant.
• Read and understand the Explanation of the Warning Labels in the
YRC1000 Instructions before operating the manipulator.
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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.
Failure to observe this warning may result in a fire or an electric shock.
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the YRC1000 after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in fire or electric shock.
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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.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
Malfunction, caused by an incorrect setting, may result in an injury or
damage the board.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
NOTICE
• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.
• No shock to the board.
The shock may damage the board.
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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.
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
Equipment Manual Designation
YRC1000 controller YRC1000
YRC1000 programming pendant Programming pendant
Cable between the manipulator and the
controller Manipulator cable
Equipment Manual Designation
Programming
Pendant Character Keys /Symbol Keys The keys which have characters or its symbol printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys
/Numeric Keys [Axis Key] and [Numeric Key] are generic names for the keys for axis operation and
number input.
Keys pressed
simultaneously When two keys are to be pressed simultaneously, the keys are shown with a
“+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
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Contents
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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 .......................................................................... 3-2
3.2 Mounting the J71GF11-T2 Board on the YRC1000........................................................... 3-3
3.3 Cable Connection .............................................................................................................. 3-3
3.4 Closing Front Door of the YRC1000.................................................................................. 3-4
4 I/O Signal Allocation........................................................................................................................ 4-1
4.1 Setting of Optional Board and I/O Module.........................................................................4-1
4.2 External I/O Setting............................................................................................................ 4-7
4.3 Transmitting Data ............................................................................................................ 4-12
4.3.1 YRC1000 I/O Allocation Example (For Handling)............................................... 4-13
4.3.2 YRC1000 I/O Allocation Example (For Except Handling)................................... 4-15
4.3.3 Board Status....................................................................................................... 4-17
5 PLC Setting..................................................................................................................................... 5-1
5.1 Master setting .................................................................................................................... 5-1
5.2 IO Confirmation.................................................................................................................. 5-6
5.3 Setting of Star/ Line, Ring Connection and create radder program................................... 5-7
5.4 Block Data Assurance per Station................................................................................... 5-10
6 Error Indication................................................................................................................................ 6-1
6.1 LED Indicators ................................................................................................................... 6-1
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1 Outline
1.1 System Configuration
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1Outline
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. The J71GF11-T2
board is designed only as a local station and cannot be used as a master
station.
1.1 System Configuration
The following diagram shows an example of the configuration of a system
with an J71GF11-T2 board.
CC-Link IE Field is a registered trademark of the CLPA (CC-Link Partner
Association).
CC-Link IE Field
Master Station
External PLC (Sequencer)
CC-Link IE Field
Remote I/O Station
I/O Unit
CC-Link IE Field Cable
YRC1000
CC-Link IE Field
Local Station
J71GF11-T2
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2 Hardware Specifications
2.1 External View of the J71GF11-T2 Board
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2 Hardware Specifications
2.1 External View of the J71GF11-T2 Board
Number Name Description
1 Operation LEDs Display the operation status of the CC-Link IE Field
network board.
2 P1 Port 1 connector for the CC-Link IE Field network
connection
3 P2 Port 2 connector for the CC-Link IE Field network
connection
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2 Hardware Specifications
2.2 J71GF11-T2 Specifications
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2.2 J71GF11-T2 Specifications
For the details of output error codes, refer to the following manual of
MITSUBISHI ELECTRIC Co., Ltd.
“CC-Link IE Field Network Interface Board User’s Manual (For SW1DNC-
CCIEF-B)”
Items Specifications
Interface to external
device CC-Link IE Field
Board mounting
position PCI Express slot in the YRC1000
Error indicator LED indicators
Number of
transmission I/O
points
Maximum number of I/O points
Input: 2048 Output: 2048
Maximum number of I/O registers
Input: 276 Output: 276 (*when allocate the maximum number, removing error code output
from 560 general purpose M-register of the YRC1000 system)
Error code output The error code generated last is output to the specified M-register.
(The clear operation is not executed for the error code. To clear the error code, turn the
power of the YRC1000 system OFF then back ON.)
Transient
Transmission
(communications of
messages etc.)
The YRC1000 system is not applicable.
CSP+
(CC-Link family
system profile)
The YRC1000 system is not applicable.
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2 Hardware Specifications
2.3 Communication Specifications
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2.3 Communication Specifications
For the details of communication specifications, refer to “CC-Link IE Field
Network Cable Instruction Manual” issued by the CC-Link Partner
Association.
*http://www.cc-link.org/jp/support/material/index.html
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)
NOTE
CC-Link IE Field is not compatible with CC-Link.
Use the network devices (switching hub/cable) for CC-Link
IE Field corresponding to 1Gbps.
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3 Mounting the J71GF11-T2 Board
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3 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.
• 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.
Failure to observe this warning may result in a fire or an electric shock.
CAUTION
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• 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.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
Malfunction, caused by an incorrect setting, may result in an injury or
damage the board.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.
• No shock to the board.
The shock may damage the board.
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3 Mounting the J71GF11-T2 Board
3.1 Opening the Front Door of the YRC1000
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3.1 Opening the Front Door of the YRC1000
Mount the J71GF11-T2 board in the following manner.
1. Open the front door of YRC1000.
(1) Turn the door lock on the front face of the YRC1000 clockwise for
90 ° with a coin or a flat tip screwdriver.
Fig. 3-1: Door Unlock
(2) With the door locks turned clockwise for 90 °, turn the main switch
handle to the “OFF” position, and open the door slowly.
Fig. 3-2: Open The Door "OFF" Position (Horizontal)
Clockwise
Flat Tip Screwdriver
Door Lock
YRC1000
Main power supply switch
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3 Mounting the J71GF11-T2 Board
3.2 Mounting the J71GF11-T2 Board on the YRC1000
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3.2 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.
3. Mount the riser card in the CPU rack.
Fig. 3-3: (Mounting Example) When the J71GF11-T2 Board is Inserted
into Option: Slot1 of JANCD-ABB02E
3.3 Cable Connection
1. Connect the CC-Link IE Field dedicated cable to the J71GF11-T2
board connector (both P1 and P2 are applicable).
Fix with a screw
Option: Slot1 Option: Slot2
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3 Mounting the J71GF11-T2 Board
3.4 Closing Front Door of the YRC1000
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3.4 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 ° .
Fig. 3-4: Lock The Door
WARNING
Make sure to close the door and close all the door locks of the
YRC1000 whenever it is used, except for maintenance.
Failure to observe this instruction may cause the ingress of dust, dirt, or
water, which may result in electric shock and/or mechanical failure.
Counter
Clockwise
Flat Tip
Screwdriver
Door Lock
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4 I/O Signal Allocation
4.1 Setting of Optional Board and I/O Module
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4 I/O Signal Allocation
4.1 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;
1. Make sure that the power supply of the YRC1000 is turned OFF.
2. Insert the J71GF11-T2 board into the PCI Express slot on the
YRC1000. For the board mounting, refer to chapter 3 “Mounting the
J71GF11-T2 Board” .
1. Turn ON the power supply while pressing [MAIN MENU].
– The main menu appears.
2. Set the security mode to the “MANAGEMENT MODE”.
3. Select {SYSTEM} under the main menu
– The sub menu appears.
SUPPLE
-MENT
Set the optional board and I/O module in the management
mode.
In the operation mode and the editing mode, the settings are
for reference only.
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4 I/O Signal Allocation
4.1 Setting of Optional Board and I/O Module
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4. Select {SETUP}.
– The SETUP display appears.
5. Select "OPTION BOARD".
– The OPTION BOARD display appears.
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4 I/O Signal Allocation
4.1 Setting of Optional Board and I/O Module
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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”.
SLAVE OR MASTER
Displays the board operation mode. This setting can not be changed.
I/O SIZE
Sets the size of input/output (units: byte) to transmit and receive data.
Set the multiple of 2 from 2 to 256.
NETWORK NUMBER
Sets the network number of CC-Link IE Field network.
Set the number from 1 to 239.
STATION NUMBER
Sets the CC-Link IE Field network station number.
Set the number from 1 to 120.
ERROR CODE ALLOCATION
Sets the YRC1000 M-register number to be the output destination when
output the error code of CC-Link IE Field network.
Set the number from 0 to 599.
For the details of output error codes, refer to the following manual of
MITSUBISHI ELECTRIC Co., Ltd.
“CC-Link IE Field Network Interface Board User’s Manual (For
SW1DNC-CCIEF-B)”
REMOTE REGISTER
Sets whether to allocate the remote register of CC-Link IE Field network
to the YRC1000 M-register.
When allocate it, set “ENABLE”.
REMOTE REGISTER SIZE
Sets the allocation number of remote register of CC-Link IE Field net-
work to the YRC1000 M-register. The same number set here can be
allocated for both input and output.
Set the multiple of 4 from 4 to 276.
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