安川XRC控制器CC Link用户手册

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"CC Link (XFB04) User's manual.pdf是安川XRC控制器的用户手册，专注于介绍如何使用CC-LINK通信协议与板卡的配合操作。这份英文文档由Motoman公司提供，详细阐述了相关的设定和使用方法。手册的版权属于Motoman, Inc.，并提醒读者未经许可不得复制或传播。手册内容可能随产品改进而更新，YASKAWA Electric Manufacturing是MOTOMAN的注册商标。此外，手册鼓励用户完成在线调查以提供对技术文档的反馈。" 本文档详细介绍了CC Link(XFB04)在Motoman XRC控制器中的应用，主要包含以下几个关键知识点： 1. **CC-Link通信协议**：CC-Link（Control and Communication Link）是一种开放式、实时的工业以太网通信标准，广泛应用于自动化设备间的高速通信。它允许设备间快速交换数据，支持远程I/O、运动控制和信息通信等多种功能。 2. **Motoman XRC控制器**：Motoman是Yaskawa Electric Corporation的一个品牌，专注于机器人技术和自动化解决方案。XRC控制器是一款高性能的机器人控制器，能够与各种设备连接，通过CC-Link协议实现复杂的控制任务。 3. **XFB04板卡**：XFB04是用于实现CC-Link通信的硬件板卡，该板卡使得XRC控制器能接入CC-Link网络，与网络中的其他设备进行数据交互和控制指令的传输。 4. **安全指南**：手册中的“SAFETY”章节详细列出了操作和维护控制器时的安全注意事项，包括电气安全、机械安全以及操作人员的安全防护措施，确保用户在使用过程中遵循正确的操作规程。 5. **板卡操作和设定说明**：“XFB04 BOARD INSTRUCTIONS”部分提供了板卡的安装、接线、配置和故障排查的步骤，帮助用户正确设置和使用CC-Link通信接口。 6. **技术支持和反馈**：Motoman鼓励用户对其提供的技术文档提供反馈，通过指定的在线调查链接，用户可以分享对技术手册的满意度和改进建议，以促进文档质量的持续提升。这份用户手册作为Motoman XRC控制器和CC-Link通信的综合指南，旨在帮助用户充分理解和有效利用系统功能，实现高效、安全的自动化生产环境。通过深入学习和实践手册中的内容，用户将能够熟练掌握CC-Link通信技术，并优化其在实际应用中的性能。

SAFETY

CC Link (XFB04) User’s Manual 2-4

MOTO

MAN

2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The

following suggestions are intended to supplement, but not replace, existing federal,

local, and state laws and regulations. Additional safety measures for personnel and

equipment may be required depending on system installation, operation, and/or

location. Installation tips are as follows:

• Be sure that only qualiﬁed personnel familiar with national codes, local

codes, and ANSI/RIA R15.06 safety standards are permitted to install the

equipment.

• Identify the work envelope of each robot with ﬂoor markings, signs, and

barriers.

• Position all controllers outside the robot work envelope.

• Whenever possible, install safety fences to protect against unauthorized entry

into the work envelope.

• Eliminate areas where personnel might get trapped between a moving robot

and other equipment (pinch points).

• Provide sufﬁcient room inside the workcell to permit safe teaching and

maintenance procedures.

2.6 Programming Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,

supervisors, and anyone working near the robot must become familiar with the

operation of this equipment. All personnel involved with the operation of the

equipment must understand potential dangers of operation. Programming tips are

as follows:

• Any modiﬁcations to PART 1 of the MRC controller PLC can cause severe

personal injury or death, as well as damage to the robot! Do not make any

modiﬁcations to PART 1. Making any changes without the written

permission of Motoman will

VOID YOUR WARRANTY!

• Some operations require standard passwords and some require special

passwords. Special passwords are for Motoman use only.

YOUR

WARRANTY WILL BE VOID

if you use these special passwords.

• Back up all programs and jobs onto a ﬂoppy disk whenever program changes

are made. To avoid loss of information, programs, or jobs, a backup must

always be made before any service procedures are done and before any

changes are made to options, accessories, or equipment.

• The concurrent I/O (Input and Output) function allows the customer to

modify the internal ladder inputs and outputs for maximum robot

performance. Great care must be taken when making these modiﬁcations.

Double-check all modiﬁcations under every mode of robot operation to

ensure that you have not created hazards or dangerous situations that may

damage the robot or other parts of the system.

• Improper operation can result in personal injury and/or damage to the

equipment. Only trained personnel familiar with the operation, manuals,

electrical design, and equipment interconnections of this robot should be

permitted to operate the system.

SAFETY

MOTO

MAN 2-5 CC Link (XFB04) User’s Manual

• Inspect the robot and work envelope to be sure no potentially hazardous

conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place.

• Check the E-STOP button on the teach pendant for proper operation before

programming.

• Carry the teach pendant with you when you enter the workcell.

• Be sure that only the person holding the teach pendant enters the workcell.

• Test any new or modiﬁed program at low speed for at least one full cycle.

2.7 Operation Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,

supervisors, and anyone working near the robot must become familiar with the

operation of this equipment. All personnel involved with the operation of the

equipment must understand potential dangers of operation. Operation tips are as

follows:

• Be sure that only trained personnel familiar with the operation of this robot,

the operator's manuals, the system equipment, and options and accessories

are permitted to operate this robot system.

• Check all safety equipment for proper operation. Repair or replace any non-

functioning safety equipment immediately.

• Inspect the robot and work envelope to ensure no potentially hazardous

conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Ensure that all safeguards are in place.

• Improper operation can result in personal injury and/or damage to the

equipment. Only trained personnel familiar with the operation, manuals,

electrical design, and equipment interconnections of this robot should be

permitted to operate the system.

• Do not enter the robot cell while it is in automatic operation. Programmers

must have the teach pendant when they enter the cell.

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is

not in use.

• This equipment has multiple sources of electrical supply. Electrical

interconnections are made between the controller, external servo box, and

other equipment. Disconnect and lockout/tagout all electrical circuits before

making any modiﬁcations or connections.

• All modiﬁcations made to the controller will change the way the robot

operates and can cause severe personal injury or death, as well as damage the

robot. This includes controller parameters, ladder parts 1 and 2, and I/O

(Input and Output) modiﬁcations. Check and test all changes at slow speed.

SAFETY

CC Link (XFB04) User’s Manual 2-6

MOTO

MAN

2.8 Maintenance Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,

supervisors, and anyone working near the robot must become familiar with the

operation of this equipment. All personnel involved with the operation of the

equipment must understand potential dangers of operation. Maintenance tips are

as follows:

• Do not perform any maintenance procedures before reading and

understanding the proper procedures in the appropriate manual.

• Check all safety equipment for proper operation. Repair or replace any non-

functioning safety equipment immediately.

• Improper operation can result in personal injury and/or damage to the

equipment. Only trained personnel familiar with the operation, manuals,

electrical design, and equipment interconnections of this robot should be

permitted to operate the system.

• Back up all your programs and jobs onto a ﬂoppy disk whenever program

changes are made. A backup must always be made before any servicing or

changes are made to options, accessories, or equipment to avoid loss of

information, programs, or jobs.

• Do not enter the robot cell while it is in automatic operation. Programmers

must have the teach pendant when they enter the cell.

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is

not in use.

• Be sure all safeguards are in place.

• Use proper replacement parts.

• This equipment has multiple sources of electrical supply. Electrical

interconnections are made between the controller, external servo box, and

other equipment. Disconnect and lockout/tagout all electrical circuits before

making any modiﬁcations or connections.

• All modiﬁcations made to the controller will change the way the robot

operates and can cause severe personal injury or death, as well as damage the

robot. This includes controller parameters, ladder parts 1 and 2, and I/O

(Input and Output) modiﬁcations. Check and test all changes at slow speed.

• Improper connections can damage the robot. All connections must be made

within the standard voltage and current ratings of the robot I/O (Inputs and

Outputs).

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