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CHAPTER2 CC-Link Unit
Remote Register
Status
Reserved
Command response
-
0
0
0
0
RWrn
RWrn+1
RWrn+2
RWrn+3
RWrn+4
RWrn+5
RWrn+6
RWrn+7
Execution command
Command option
RWwn
RWwn+1
RWwn+2
RWwn+3
RWwn+4
RWwn+5
RWwn+6
RWwn+7
OUTPUT (Remote→Master) INPUT (Master→Remote)
Address Description Address DescriptionDefault Default
n: Value determined by station number settin
g
.
*For details on the remote register, refer to "2-12 Remote Command".
2-7-2 Dedicated command inputs
Dedicated command inputs are inputs from the sequencer (PLC) to the controller for
performing specific processing such as origin return or servo recovery. To accept these
inputs, the READY, BUSY, and Lock signals must be set as follows:
■ READY : ON
■ BUSY : OFF
■ LOCK : ON
If the above conditions are not satisfied, then dedicated command inputs cannot be ac-
cepted. For example, when the BUSY signal is on, this means that the controller is al-
ready executing a dedicated command, so other dedicated commands are ignored if they
are input. When the LOCK signal is off, no other commands can be accepted since
interlock was triggered.
(As an exception, the reset command is executed if only the BUSY output conditions are
met. The servo recovery command is executed if the BUSY conditions are met and all
emergency stop inputs to the emergency stop circuit are cancelled.)
A dedicated command input is accepted when the dedicated command input is switched
from OFF to ON (at the instant the contact point closes). Whether the controller accepts
the command or not can be checked by monitoring the BUSY signal.
Note that dedicated command inputs cannot be used as data in a program.
!
CAUTION
The dedicated command inputs explained below must always be pulse inputs. In
other words, they must be turned off (contact open) when the BUSY signal turns
on.
If a dedicated command input is not turned off, then the BUSY signal will not turn
OFF even when the command has ended normally. This means that the next com-
mand cannot be accepted.
- User’s Manual 1
- INTRODUCTION 3
- Contents 5
- Cautions To Ensure Safety 7
- 1-1 Basic safety points 8
- 1-6 Warranty 11
- CC-Link Unit 13
- 2-1 CC-Link unit features 14
- 2-2 CC-Link system concept 15
- 2-3 CC-Link cable connections 16
- 2-4 Parallel I/O connector 17
- 2-5-2 Setting the station No 20
- 2-7 I/O information 23
- Specifying a point number 29
- 2-7-4 Interlock (LOCK) 30
- 2-7-6 Service mode (SVCE) 31
- 2-7-8 Dedicated outputs 32
- 2-7-11 Remote READY 34
- 2-7-12 Error flag 34
- 2-8 Timing chart 35
- Dedicated 36
- 2-8-5 When an alarm is issued 42
- 2-9-2 I/O assignment list 45
- DescriptionValue 48
- OUT valid position 48
- Positioning-completed pulse 48
- 2-9-4 I/O signal descripion 49
- Axis selection example 50
- 2-9-5 Timing chart 54
- 30ms or more 30ms or more 58
- 2-10 Robot language 64
- 2-10-2 JMPF 65
- 2-10-3 JMPB 66
- 2-10-4 DO 66
- 2-10-5 WAIT 67
- Emulated serialization 68
- 2-12 Remote command 70
- Remote Command 71
- 1. Robot movement 71
- 2. Data handling 73
- 3. Utility 74
- 4. Special commands 74
- RWwn+6 RWwn+5 95
- RWwn+3 RWwn+2 95
- Point number 95
- CHAPTER2 CC-Link Unit 100
- 2-12-7 Status details 137
- 2-13 Other operations 140
- 2-14 Error Message 144
- 2-15 Troubleshooting 145
- 2-16 Specifications 147
- User's Manual 148
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