Yamaha Robotics Robot Controller CC-Link Unit Manuel d'utilisateur télécharger pdf (Page 14)

Outline

1-2

2. Mechanism

The mechanism of communication is explained in this section to provide an understand-

ing of how the robot controller and PLC operate via the CC-Link system.

ON/OFF information

Master station

PLC

Robot

controller

q The robot controller’s ON/OFF information is sent to the master station PLC via the

network (CC-Link system cable).

w The master station PLC’s ON/OFF information is set 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 dedi-

cated 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 infor-

mation 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 re-

ceived 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 inte-

ger variable A% by w.

A% = SIW (3)

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Yamaha Robotics Robot Controller CC-Link Unit Manuel d'utilisateur Page 14