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3-1
3
Communication
1. State when robot controller power is turned ON
The CC-Link system specification robot controller always starts operation in servo OFF
state when the power turned ON.
q When connection to CC-Link system is correctly established.
The following conditions must be satisfied to correctly connect to the CC-Link sys-
tem:
• The CC-Link system cable must be physically connected
• The station No. and communication speed must be correctly set
• The master station PLC must be operating correctly
When the robot controller is correctly connected to the CC-Link system, the normal
state will be indicated with the LEDs on the CC-Link compatible module.
At this time, the emergency stop signal and interlock signal in the CC-Link system
will be valid, so these signals must be turned ON with the initial data process.
The emergency stop terminal in SAFETY connector is always kept valid. The inter-
lock signal in STD. DIO connector is also valid unless the external 24V monitor con-
trol setting in SYSTEM > PARAM mode is set invalid.
When SAFE mode is enabled, service mode input signal is made valid with SI (02) in
the CC-Link system. When the external 24V monitor control setting in SYSYEM
>PARAM mode is left valid while SAFE mode is enabled, service mode input signal
is also made valid with DI (02) in SAFETY connector.
w When connection to CC-Link system is incorrectly established
The following causes can be considered a correct connection with the CC-Link sys-
tem cannot be established:
• The CC-Link system cable is not physically connected
• The station No. or communication speed is set incorrectly
• The master station PLC is not operating correctly
When the robot controller is incorrectly connected to the CC-Link system, the error
state will be indicated with the LEDs on the CC-Link compatible module. Note that if
the master station PLC is not operating correctly, nothing will appear on the LEDs.
The emergency stop signal and interlock signal in the CC-Link system are invalid in
this case, so the robot controller can be operated independently. However, if the cor-
rect state has been established even once after the robot controller power was turned
ON, the robot controller’s emergency stop state cannot be canceled without correctly
connecting to the CC-Link system.
The emergency stop terminal in SAFETY connector is always kept valid. The inter-
lock signal in STD. DIO connector is also valid unless the external 24V monitor con-
trol setting in SYSTEM > PARAM mode is set invalid.
When the external 24V monitor control in SYSYEM >PARAM mode is left valid
while SAFE mode is enabled, service mode input signal is made valid with DI (02) in
SAFETY connector.
Service mode input signal in the CC-Link system cannot be invalidated when SAFE
mode is enabled, so change the service mode setting in SYSTEM > PARAM mode. In
this case, take full precautions to prevent improper settings that might lead to a haz-
ardous situation.
* For meanings of LED display, see Chapter 4 in this manual.