GEM4-NSTC-01 Robot Manualokura.pro.tok2.com/manuals/GEN4/GEN4(E)-(1)NSTC-01...Robot Palletizer. It should be useful not only to beginners who are using an Okura Palletizer for the

GEM4-NSTC-01 Robot Manual

Interface with PLC

History

Version(Date) Descriptions Pages 01（2010.10.1） First edition 01（2011.2.1） Revised (reviewed composition)

Introduction Thank you for purchasing a model from the Okura Robot Palletizer A series. This manual is a guidebook to help you safely and correctly use your A Series

Robot Palletizer. It should be useful not only to beginners who are using an Okura Palletizer for the first time, but also to experienced users, who can use this Manual to reconfirm their knowledge. Please read this Manual carefully and use the Palletizer with a clear understanding of its content.

NOTE Unauthorized reproduction of part or all of the content of this manual is forbidden.

The content of this manual is subject to future change without prior notice.

Safety Instructions Each A Series Robotic Palletizer is equipped with a variety of protective features. However, an increased level of safety results when these safety precautions are constantly reviewed and consistently followed with a separate manual of “Safetey”.

IMPORTANT The safety instructions with left sign of IMPORTANT throughout this manual are enforcement or warning that if not correctly operated or handled, you may be seriously injured or killed. Be sure to follow those safety instructions.

IMPORTANT Only AUTHORIZED PERSONNEL can operate, maintain the robot or work on programming. The definition of “AUTHORIZED PERSON” is that the only personnel who can operate the robot and/or robot system, are those who have enough knowledge or experience of robot operation and have also been trained to operate the robot. They must also have been authorized by the employer.

Table of Contents

1. CONFIGURATION OF PERIPHERAL CONTROL 1-1

1.1. TYPE OF ROBOT CONTROL ··········································································· 1-1 1.2. PLC STANDARD INTERFACE WITH ‘X/Y’·················································· 1-3 1.3. PLC STANDARD INTERFACE WITH ‘M+D’ ················································ 1-4

2. EXTERNAL INPUTS OUTPUT CONNECTION 2-1

2.1. CONNECTION ON TERMINAL········································································ 2-1 2.2. HAND INPUT OUTPUT SIGNALS··································································· 2-9 2.3. EMERGENCY STOP INPUT··········································································· 2-10

3. INPUT OUTPUT DATA MEMORIES 3-1

3.1. CONFIGURATION·························································································· 3-1 3.2. PLC STANDARD INTERFACE ······································································· 3-4 3.3. PLC EXPANSION INTERFACE ········································································· 3-22

4. CENTRONIX COMMUNICATION 4-41

4.1. PURPOSE OF USING CENTRONIX COMMUNICATION ······························ 4-42 4.2. CENTRONIX COMMUNICATION START TIMING ······································· 4-43 4.3. RELATIONSHIP WITH PLC STANDARD INTERFACE SETTING UP ··········· 4-44 4.4. NAME AND MEANING OF SIGNALS DURING COMMUNICATION············· 4-45 4.5. SEND/RECEIVE TIMING IN CENTRONIX COMMUNICATION ·················· 4-46 4.6. TIME CONSTRAINTS IN CENTRONIX COMMUNICATION ························· 4-48 4.7. DETAILS OF ROBOT → PLC DATA ···························································· 4-49 4.8. DETAILS OF PLC → ROBOT DATA ···························································· 4-66

1. Configuration of peripheral control

1.1. Type of robot control There are six types of robot control available.

Select the type to meet the system and set up on screes of [System registration], [Controller data] and [External PLC communication setting].

Required boards

Ext

PLC

com

munica

tion

setting (1

/2)：

PLC stan

dard

in

terface

Ext.

PLC

com

munica

tion

setting (1

/2) ：

PLC

expan

sion

interface

Ext. PLC

com

munica

tion PLC

settin

g

(2/2

)：

Fieldbus

com

munica

tion

Type o

f contro

l

①RC502

（*3）

M+D Data memory

Disable A

（*5）

B

①RC502

X/Y Disable Disable

（*5）

C

Disable

①ABCC-CCLINK

M+D CC-link

D Centronix Disable X/Y ①RC502

②RC502

（*5）

Centronix CC-link M+D E ①

ABCC-CCLINK

F ①

ABCC-CCLINK

M+D Data memory

CC-link

Ext PLC

Built-in PLC

Through Built-in

PLC

Peripheral

control?

Use

No

Yes（*1）

See sections [1.3.2][3.2.2][3.3.1]

See sections [1.2][3.2.1]

See sections [1.3.1][3.2.2]

See sections [1.3.1][3.2.2][4]

See sections [1.2][3.2.1][4]

See sections [1.3.1][3.2.2][3.3.2]

Need # of picks &

turns?

Fieldbus

START Which PLC selects program?

No

No

Yes

（*2）

Use

Fieldbus

No

1-1

(*1) For example of multi-picking, station needs to be controlled in parallel with stacking.

Product information can be obtained through [PLC expansion interface]. (*2) Control type through Built-in PLC

Built-in PLC allows you to directly view data of devices so much easier to control robot. It is easier as well when external PLC is in use because memories are shared through

Fieldbus and be via Built-in PLC. (*3)RC512 is added on depending on the number of peripheral equipment. (*5)Fieldbus can be employed for other purposes than robot control.

1-2

1.2. PLC Standard Interface with ‘X/Y’ ‘Setting up External PLC to communicate’

‘PLC standard interface’ = ‘X/Y’

‘PLC Expansion Interface’ = ‘Disable’ or ‘Centronix’

‘Fieldbus communication’ = ‘Disable’

Interfacing through I/O board (RC502),

Extern

al PLC

I/O board

RC502(1st)

Spare inputs/outputs

* Required numbers of RC502 boards - One board : Up to (2)-Stations / (2)-Pallets without Centronix communication - Two boards : Up to (4)-Stations / (6)-Pallets - Three boards: Up to (4)-Stations / (14)-Pallets

* Numbers of external inputs/outputs on (2)-RC502 boards

Numbers No. Type Descriptions Inputs Output

Connection type

1 Universal input/outputs

Use freely 50 14 Connector terminal

2 Exclusive inputs/outputs

Exclusive Use 34 54 Connector terminal

3 Hand inputs/outputs

Basically use for hand control.

Output:Y00 - Y03 Inputs: X00 - X03

(Those are normally used in robot sequence logic.)

4 4 Connector(CN33) around robot wrist link

* Hand-output relays at manual operation mode are as follows: Hand 1-3 are Y(outputs4 above), Hand 4-9 are M(M6132-M6137). When Hand 4-9 are output to ‘Y’, ‘M’ is directly output to ‘Y’ by Built-in PLC.

I/O board

RC502(2nd)

Inputs40 Outputs32

Inputs4 Outputs4

Motors

Magnetic valves

Limit switches

Photo-sensors

I/O board

RC502(3rd)

CPU board

RC501

Hand

Safety board

RC506

Inputs 4 Outputs 3(TB7)

Outputs32 Inputs40

Outputs32 Inputs40

1-3

1.3. PLC Standard Interface with ‘M+D’

1.3.1. Controlled by external PLC through Fieldbus ‘Setting up External PLC communication’

‘PLC Standard interface’= ‘M+D’

‘PLC Expansion interface’ = ‘Disable’, ‘Centronix’ or ‘Data memory’

‘Fieldbus’ = Other than ‘Disable’

‘Setting up remove devices’

Remote outputs(RY)=M6000 Remote inputs(RX)=M5000

Remote register(RWw)=D6000 Remote register(RWr)=D5000

Interfacing on shared memories of ‘M’ and ‘D’ through fieldbus board.


Shared memories Input126+16words Outputs126+16words *Depending on type of fieldbus or setting conditions.

Inputs 4 Outputs 3 (TB7)

Extern

al PLC

Fieldbus board

Hand

Motors

Magnetic valves

Limit switches

Photo-sensors

CPU board

RC501

Safety board

RC506

Danger Enforcement

Any signal related to safety is prohibited to be on fieldbus.

It may fail to detect in case of communication error.

Numbers No. Type Descriptions Inputs Outputs

Connection type

1 Universal inputs/outputs

Use freely 4 3 Connector terminal(TB7)

２ Hand input/output



(Those are normally used in robot sequence logic.)


* Hand-output relays at manual operation mode are as follows: Hand 1-3 is Y(outputs4 above), Hand 4-9 is M(M6132-M6137). When Hand 4-9 is output to ‘Y’, ‘M’ is directly output to ‘Y’ by Built-in PLC.

1-4

1.3.2. Controlled by External PLC not through Fieldbus ‘Setting up External PLC communication’

‘PLC Standard interface’= ‘M+D’

‘PLC Expansion interface’ = ‘Data memory’

‘Fieldbus’ = Other than ‘Disable’

See a separate ‘Operation manual for OXPA-PLC’ for Built-in PLC.


Inputs40 Outputs32

Inputs40 Outputs32

Inputs4 Outputs4

I/O board

RC502(1st)

I/O board

RC502(2nd)

I/O board

RC502(3rd)

Hand

Safety board

RC506

Inputs40 Outputs32

Inputs 4 Outputs 3(TB7)

CPU board

RC501

Photo-sensors

Limit switches

Magnetic valves

Motors

* Numbers of external inputs/outputs on (1)-RC502 board

Numbers No. Type Descriptions

Inputs Output

s Connection type

1 Universal inputs/outputs

Use freely (used by both robot

programs and built-in PLC)

44

※ (124)

35

※ (99)

Connector terminals

２ Hand inputs/outputs



(Those can be used in robot sequence and built-in PLC. Normally used in robot program only.)


※Adding 2nd and/or 3rd RC502 allow to increase universal inputs/outputs up to max 124 inputs and 99 outputs.

* Hand-output relays at manual operation mode are as follows: Hand 1-3 is Y(outputs4 above), Hand 4-9 is M(M6132-M6137). When Hand 4-9 is output to ‘Y’, ‘M’ is directly output to ‘Y’ by Built-in PLC.

1-5

2. External Inputs Output Connection

2.1. Connection on terminal External inputs/outputs are connected to connector terminals (TB1 – 7).

P24 N24 P24 N24 P24 N24

CN１

RC502

1st

CN4 CN3

CN１

RC502

2nd

CN4 CN3

CN１

RC502

3rd

CN4 CN3

TB2 (Input -

40)

TB1 (Output-

32)

TB4 (Input-

40)

TB3 (Output-

32)

TB6 (Input-4

0) (Output-

32)

TB5

2-1

CN33 - For hand

TB7

Limit switch

Universal (4)-inputs/(4)-outputs

E/S (Guarding, Door switch)

RC506

TB2 Terminal

No. 1st

Board TB4 Terminal

No. 2nd Board

１Ｘ０８１Ｘ３０

2 Ｘ０９ 2 Ｘ３１ 3 Ｘ０A 3 Ｘ３２

4 Ｘ０B 4 Ｘ３３

5 Ｘ０C 5 Ｘ３４

6 Ｘ０D 6 Ｘ３５

7 Ｘ０E 7 Ｘ３６

8 Ｘ０F 8 Ｘ３７

9 P２４ 9 P２４

10 N２４ 10 N２４

11 Ｘ１０ 11 Ｘ３８

12 Ｘ１１ 12 Ｘ３９

13 Ｘ１２ 13 Ｘ３A

14 Ｘ１３ 14 Ｘ３B

15 Ｘ１４ 15 Ｘ３C

16 Ｘ１５ 16 Ｘ３D

17 Ｘ１６ 17 Ｘ３F

18 Ｘ１７ 18 Ｘ３F

19 P２４ 19 P２４

20 N２４ 20 N２４

21 Ｘ１８ 21 Ｘ４０

22 Ｘ１９ 22 Ｘ４１ 23 Ｘ１A 23 Ｘ４２

24 Ｘ１B 24 Ｘ４３

25 Ｘ１C 25 Ｘ４４

26 Ｘ１D 26 Ｘ４５

27 Ｘ１E 27 Ｘ４６

28 Ｘ１F 28 Ｘ４７

29 P２４ 29 P２４

30 N２４ 30 N２４

31 Ｘ２０ 31 Ｘ４８

32 Ｘ２１ 32 Ｘ４９

33 Ｘ２２ 33 Ｘ４A

34 Ｘ２３ 34 Ｘ４B

35 Ｘ２４ 35 Ｘ４C

36 Ｘ２５ 36 Ｘ４D

37 Ｘ２６ 37 Ｘ４E

38 Ｘ２７ 38 Ｘ４F

39 P２４ 39 P２４ 40 N２４ 40 N２４

A

B

2-2

TB2 Terminal

No. 1st

Board TB4 Terminal

No. 2nd

Board 41 Ｘ２８ 41 Ｘ５０

42 Ｘ２９ 42 Ｘ５１

43 Ｘ２A 43 Ｘ５２

44 Ｘ２B 44 Ｘ５３

45 Ｘ２C 45 Ｘ５４

46 Ｘ２D 46 Ｘ５５

47 Ｘ２E 47 Ｘ５６

48 Ｘ２F 48 Ｘ５７

49 P２４ 49 P２４

50 N２４ 50 N２４

A B

TB6 Terminal

No. 3rd

Board TB6 Terminal

No. 3rd

Board 1 Ｘ５８ 26 Ｘ６Ｄ

2 Ｘ５９ 27 Ｘ６Ｅ 3 Ｘ５A 28 Ｘ６Ｆ

4 Ｘ５B 29 P２４

5 Ｘ５C 30 N２４

6 Ｘ５D 31 Ｘ７０

7 Ｘ５E 32 Ｘ７１

8 Ｘ５F 33 Ｘ７２

9 P２４ 34 Ｘ７３

10 N２４ 35 Ｘ７４

11 Ｘ６０ 36 Ｘ７５

12 Ｘ６１ 37 Ｘ７６

13 Ｘ６２ 38 Ｘ７７

14 Ｘ６３ 39 P２４

15 Ｘ６４ 40 N２４

16 Ｘ６５ 41 Ｘ７８

17 Ｘ６６ 42 Ｘ７９

18 Ｘ６７ 43 Ｘ７A

19 P２４ 44 Ｘ７B

20 N２４ 45 Ｘ７C

21 Ｘ６８ 46 Ｘ７D

22 Ｘ６９ 47 Ｘ７E 23 Ｘ６Ａ 48 Ｘ７F

24 Ｘ６Ｂ 49 P２４

25 Ｘ６Ｃ 50

N２４

C

C

2-3

＊ N24 is internally connected to that on CN1 inside board. ＊ stands for ‘Being Assigned’ when PLC standard interface is set to ‘X/Y’.

2-4

TB1 Terminal

No. 1st

Board TB3 Terminal

No. 2nd

Board

１ Y０８１ Y２８ 2 Y０９ 2 Y２９

3 Y０Ａ 3 Ｙ２Ａ

4 Ｙ０Ｂ 4 Ｙ２Ｂ

5 Ｙ０Ｃ 5 Ｙ２Ｃ

6 Ｙ０Ｄ 6 Ｙ２Ｄ

7 Ｙ０Ｅ 7 Ｙ２Ｅ

8 Ｙ０Ｆ 8 Ｙ２Ｆ

9 Ｙ１０ 9 Ｙ３０

10 Ｙ１１ 10 Ｙ３１

11 Y１２ 11 Y３２

12 Y１３ 12 Y３３

13 Ｙ１４ 13 Ｙ３４

14 Ｙ１５ 14 Ｙ３５

15 Ｙ１６ 15 Ｙ３６

16 Ｙ１７ 16 Ｙ３７

17 Ｙ１８ 17 Ｙ３８

18 Ｙ１９ 18 Ｙ３９

19 Ｙ１Ａ 19 Ｙ３Ａ

20

Ｙ１Ｂ 20 Ｙ３Ｂ

21 Y１Ｃ 21 Y３Ｃ

22 Y１Ｄ 22 Y３Ｄ

23 Y１Ｅ 23 Y３Ｅ

24 Y１Ｆ 24 Y３Ｆ

25 Y２０ 25 Y４０

26 Y２１ 26 Y４１

27 Y２２ 27 Y４２

28 Y２３ 28 Y４３

29 Y２４ 29 Y４４

30 Y２５ 30 Y４５

31 Y２６ 31 Y４６

32 Y２７ 32 Y４７

P24 P24

TB1 Terminal

No. 1st

Board TB3 Terminal

No. 2nd

Board

33 Ｎ２４ 33 Ｎ２４ 34 Ｐ２４ 34 Ｐ２４

35 Ｎ２４ 35 Ｎ２４

36 Ｐ２４ 36 Ｐ２４

37 Ｎ２４ 37 Ｎ２４

38 Ｐ２４ 38 Ｐ２４

39 Ｎ２４ 39 Ｎ２４

40 Ｐ２４ 40 Ｐ２４

2-5

TB5 Terminal

No. 3rd

Board TB5 Terminal

No. 3rd

Board

1 Y４８ 21 Y５Ｃ 2 Y４９ 22 Y５Ｄ 3 Y４Ａ 23 Y５Ｅ

4 Y４Ｂ 24 Y５Ｆ 5 Y４Ｃ 25 Y６０

6 Y４Ｄ 26 Y６１ 7 Y４Ｅ 27 Y６２ 8 Y４Ｆ 28 Y６３

9 Y５０ 29 Y６４ 10 Y５１ 30 Y６５

11 Y５２ 31 Y６６

12 Y５３ 32 Y６７

13 Y５４ 33 Ｎ２４

14 Y５５ 34 Ｐ２４

15 Y５６ 35 Ｎ２４

16 Y５７ 36 Ｐ２４

17 Y５８ 37 Ｎ２４

18 Y５９ 38 Ｐ２４

19 Y５Ａ 39 Ｎ２４

20 Y５Ｂ 40 Ｐ２４

＊ N24 is internally connected to that on CN1 inside board. ＊ stands for ‘Being Assigned’ when PLC standard interface is set to ‘X/Y’.

P24

Input current 5mA～6.5mA

7.2K

3K

24v 100mA Max 1.1volt drop at Output ON

4.7K

LED

3.3K Input terminal

P24

P24 Output terminal N24

2-6

Spare input/output on RC506A (4)-Inputs and (3)-outputs on RC506A are available.

No. Signals

１ＰＥＳ１１ 2 ＰＥＳ２１ 3 ＰＥＳ１２ 4 ＰＥＳ２２ 5 ＰＳＥ１１

2-7

6 ＰＳＥ２１ 7 ＰＳＥ１２ 8 ＰＳＥ２２ 9 ＰＤＳ１１

１０ＰＤＳ１２

１１ＰＤＳ２１

１２ＰＤＳ２２

１３ＲＥＳＥＴ－Ｐ

１４ＴＥＭＰ

１５ＲＥＳＥＴ

１６ＴＥＭＰ－Ｎ

１７ＲＭＴ－ＯＮ－Ｐ

１８ＰＦＢ１

１９ＲＭＴ－ＯＮ

２０ＰＦＢ２

２１ X04 ＩＮ１

２２ Y04 ＯＵＴ１

２３ X05 ＩＮ２

２４ Y05 ＯＵＴ２

２５ X06 ＩＮ３

２６ Y06 ＯＵＴ３

２７ X07 ＩＮ４

２８ Y07 ＯＵＴ４

２９ＭＣ－Ｐ

３０ＸＲＵＮ

３１Ｐ２４

３２Ｎ２４

３３Ｐ２４

３４Ｎ２４

３５Ｐ２４

３６Ｎ２４

３７Ｐ２４

３８Ｎ２４

３９Ｐ２４

４０Ｎ２４

E/S

Entrance detection

Door switch


P24

N24

(Note)

Be careful about source type of outputs on RC506B.

Input circuit diagram Output circuit diagram

510

0.2A

Input current 5mA～6.9mA

24V 100mA Max 1.1 volt drop at output ON

15V

7.2K

3K

22K

10.5K

3.3K

P24 P24

Output terminal

Input terminal

N24

2-8

2.2. Hand input output signals Inputs/outputs for hand are always assigned as X for input and Y for output whichever memory SW1-5 is set.

Input/output signals are connected to/from connector (CN33) on wrist link of arm.

Type Signals Descriptions Relays CN33

Spare: S3 3

Spare: S4 4

Spare: S5 13

Universal

Spare: CLS

Section 2.2 on Installation & Adjustment manual

14

Hand 1 open：SL1O Y00 5

Hand 1 close：SL1C Y01 6

Hand 2 open：SL2 Y02 7

Hand 3 open：SL3

Output signals by teaching pendant at manual mode and reserved by robot sequence program

Y03 8

Power (P24) 9

Hand 1 Lead switch HRS1

X00 10

Hand 2 Lead switch HRS2

Signals to be reserved by robot sequence program X01

11

Exclusive

Power(N24) 12

Spare: S1 X02 1

Universal

Spare: S2

Pre-assigned and connected to right relays X03

2

Frame grounding: FG 15

2-9

2.3. Emergency stop input The following E/S inputs are ready to use.

＊ Safety relay board RC506B (option) allows to configure redundant safety circuit.

＊ Standard safety relay board is RC506A. Since RC506A isn’t configured with redundant safety circuit, PES21-PES22, PDS21-PDS22 and PSE21-PSE22 need to be bridged when used.

＊ At memory SW1-7 ON, when sensor detects something, PLC is to send E/S signal to robot.

＊ Pressing abnormal reset button allows to reset it after sensor’s detection. If can’t reset it, cycle main power.

Numbers No. Type of E/S Descriptions

Inputs Outputs Connections

１ E/S switch Emergency stop 1 0 PES11 & PES12 (On TB7)

２ Door switch Safety 1 0 PDS11 & PDS12 (On TB7)

３ Entrance detection

Safety 1 0 PSE11 & PSE12 (On TB7)

TB7 is on back side of front door.

TB7

TB7

PDS11

PDS12

PDS21

PDS21

PSE11

PSE 12

PSE 21

PSE 21

Fig: TB7 location

TB7

PES11 PES12 PES21 PES22

Fig (a) Example of PES connection (b) PDS & PSE

2-10

3-1

3. Input output Data memories

3.1. Configuration

3.1.1. List

Symbol Descriptions Type Notati

on Numb

ers Start# End# At main power ON

X Input (*1) Hex 127 0 7Fh

Y Output (*1) " 103 0 67h Off

M User area Univer

sal " 2048 0 7FFh M0～6FF: Off

Others retentive

M System area_Input (*1) " 2047 5000h 57FFh Off

M System area_Output (*1) " 2047 6000h 67FFh “

M Supervisor area Exclusi

ve " 79 7000h 704Fh Retentive

D User area Univer

sal

Decimal

3000 1000 3999 D1000～2499 : zero

Others retentive

D System area_Input (*1) " 1000 5000 5999 Off

D System area_Output (*1) " 1000 6000 6999 “

D Supervisor area Exclusi

ve " 20 7000 7019 Retentive

(*1) See the next pages for memory map of system area.

Users can use relays (data memories) of system area_Universal.

3.1.2. System area [M]

3-2

Inputs PLC standard interface area M5000～M5070 [128bit] Universal area M5080～M50FF [128bit] PLC expansion interface area M5100～M57FF

Outputs PLC standard interface area M6000～M6070 [128bit] Universal area M6080～M60FF [128bit] PLC expansion interface area M6100～M67FF

Max numbers of bits Fieldbus can link with is 512. * Number of linking is depending on type of Fieldbus and/or its setting.

3.1.3. System area [D]

Input PLC expansion interface area 1 D5000～D5015 [16Word] Universal area D5016～D5095 [80Word] Reserved D5096～D5199 [104Word]

3-3

PLC expansion interface area 2 D5200～D5999 [500Word]

Output PLC expansion interface area 1 D6000～D6015 [16Word] Universal area M6016～M6095 [80Word] Reserved M6096～M6199 [104Word] PLC expansion interface area 2 M6200～M6999 [500Word] Pallet1 info: D6500～ Pallet2 info: D6534～ Pallet3 info：D6568～ ↓ Pallet14 info: D6942～

Max numbers of words Fieldbus can link with is 96. * Number of linking is depending on type of Fieldbus and/or its setting

3-4

3.2. PLC Standard Interface

3.2.1. [X/Y] Data communication between external PLC and robot is described from PLC side when external PLC is used.

１． Motor power ON enable signal Turn on motor-power-ON-enable signal (X1F) on conditions that the PLC has not abnormality in internal process and the motor-power-ON-enable signal from robot (Y1E) is turned on.

２． Start key signal

Robot controller starts (stops) operation on condition that operation signal (X1D) from PLC is turned on (off). If PLC has no abnormality in internal process and both operation key signal (Y20) and motor power switch (Y1A) are turned on, the operation signal (X1D) is turned on.

Retain the status even if motor power switch (Y1A) is turned off. (Unrelated with motor power status)

In automatic mode, operation key signal (Y1A) is not turned on even if start key is pressed on condition that motor power is not turned on.

３． Start of program When external PLC is used, the program is specified by ID-No. PLC sets ID-No. to start in X08 – X0E and turn ID-strobe (X0F) on. X0F is usually turned off with station loading enable ON (Y08- ) from robot.

４． Partial discharge

When discharging on controller, signal (Y22 for pallet 1…) corresponding to requested pallet No. is turned on for 500msec. PLC sets the ID-No. to X08 – X0E at rising timing of relay and turn partial discharge strobe (Y0F) on.

X0F is usually turned off with stacking complete (Y0A -) ON from robot.

５． Sequence reset

Only when memory switch 2-1 is turned on, sequence resetting allows to turn Y1F on for 500msec. Signal of first-layer-first product (Y0C-) is turned off for the number of pallets set at sys-para in pallet 1.

６． Conveyor manual operation

Whenever the type of conveyors is updated, selected data is sent through Centronix communication only when Centronix is selected. Forward-Up-Open manual strobe (Y13) is turned on while “Forward-Up-Open” button is being pressed and Reverse-Down-Close manual strobe (Y14) is turned on while “Reverse-Down-Close” button is being pressed.

７． Abnormality of PLC

When Centronix communication is selected, if error occurs or be detected in PLC, the error command is to be sent through Centronix. To turn X1E on allows to sound buzzer. {To detect the rising of buzzer stop (Y18) allows to turn it off.} At the same time, errors are displayed on POD screen and logged. However, the operation and motor power are not turned off by itself yet. PLC is to control how it should be.

3-5

Output signals

Relay Name At com

Descriptions

Y08 ‘Station loading enable1’

Y09 ‘Station loading enable2’

This is output signal to indicate robot completes to move up above station after picking products. This signal is to be usually turned on at step 4 and turned off at step 5 in robot sequence logic. PLC turns ‘Product on station’ OFF at its rising and lets next product come into station.

Y0A ‘Stacking complete 1’

Y0B ‘Stacking complete 2’

This is output signal to indicate robot completes to stack a full pallet. In regular robot sequence, using ENCHK command makes to turn it on at step 8 and turn it off at step 1. This signal in PLC allows to drive pallet conveyor to discharge a full pallet and bring a empty pallet in for next stacking.

Y0C Pallet-1.layer-1.product-1

Y0D Pallet-2.layer-1.product-1

[Standard usage of Okura Japan]

This is signal to be turned on at a step designated by user’s robot sequence during stacking for ‘layer 1. product 1’ and turned it off by OS at step 5. PLC has to stop robot at a step if optional sensor of ‘product on pallet’ is turned on during this signal on to avoid robot crash.

Y0E Robot operation cycle failure

Y0F Robot origin position

Y10 Station ON 1

Y11 Station ON 2

This signal is turned on when “Station ON x” in station on/off screen is turned on. It allows PLC to let product come in station x.

Y12 Internal operation

This is output signal when “Internal mode” is selected in program selection. It is usually used to prohibit next product to come into station. (Internal operation can make external strobe disable.)

Y13 Forward-Up-Open

manual strobe

This signal is turned on while pressing [FORWARD-UP-OPEN] key in conveyor operation menu. On PLC program this signal is used as a trigger to operate conveyors according to the previously transferred “Conveyor Nos” via Centronix.

Y14 Reverse-Down-Close

Manual strobe

This signal is turned on while pressing [REVERSE-DOWN-CLOSE] key in conveyor operation menu. On PLC program this signal is used as a trigger to operate conveyors according to the previously transferred “Conveyor Nos” via Centronix.

Y15 Robot abnormality When abnormality occurs this signal is turned on. On PLC turn off the operation signal (X1D) when this is received.

Y16 Automatic mode This signal is turned on when “Auto mode” is selected in main menu. On PLC forbid manual operation of conveyor when this signal is received.

Y17 Discharge in progress

This signal is turned on when discharge strobe (M5013) is received.

This signal is turned off when stacking complete signal is turned on in ENCHK command after one cycle operation at “arm move” selected

.

Y18 Stop buzzer

This signal is turned on when pressing alarm stop push button under the abnormal condition. On PLC program this signal is used to turn off the buzzer signal (X1E).

Y19 Motor power on This signal is turned on when motor power is ON.

3-6

Relay Name At com

Descriptions

Y1A Operation key signal

This signal is turned on while “START” key is being pressed.

On PLC program make operation logic to turn robot operation (X1D) on. (Sample logic: Pressing and holding “START” button for 5 sec allows to retain the circuit.)

Y1B Stop key signal This signal is turned on while “STOP” key is being pressed. On PLC turn off operation signal (X1D) when this signal is received.

Y1C Abnormal reset

push button ON

This signal is turned on while [Abnormal reset pushbutton] is being pressed. On PLC program reset “abnormality” retained when this signal is received.

Y1D Emergency stop button OFF

This signal is turned off at emergency stop.

Y1E Motor power ON enable This signal is turned on unless any error occurs at robot. On PLC program use this signal as one of the conditions to turn on “motor power ON enable” (X1F).

Y1F Sequence reset This signal is turned on when sequence resetting is executed. (Only when memory SW2-1 is turned on.)

Y20 Control power ON This signal is turned on while “motor power ON/OFF select switch” on control panel is positioned at neutral position.

Y21 Teaching pendant connection

Y22 Discharge request.pallet 1


This signal is turned on for 500msec when pallet No.is entered at “pallet discharge” screen. On PLC program output ID_No. and partial discharge strobe (X13).

Y24 Universal usage

Y25 R area 20

Y26 R area 21

Y27 R area 22

Those three bit data indicates by binary data in which area of R axis, designated by system parameter of robot, robot arm is. On PLC program, when stacking on floor, check if robot arm is going to move to the pallet of stacking completed to be taken out. Stop robot immediately if so.

Y28 Station loading enable on 3

Rdat0

Y29 Station loading enable on 4

Rdat1

This is output signal of moving up completed after robot has picked products up on station and have moved up to step 4. In a standard robot sequence, this is turned on at step 4 and turned off at step 5. On PLC program, this signal at rising is used to turn off the retained product on station and let next products come into station.

In case RMod(Y32) is turned on, these ports are switched over to data communication PLC can use.

Y2A ‘Stacking complete 1’ Rdat2

Y2B ‘Stacking complete 2’ Rdat3

Y2C ‘Stacking complete 3’ Rdat4

Y2D ‘Stacking complete 4’ Rdat5

Y2E ‘Stacking complete 5’ Rdat6

Y2F ‘Stacking complete 6’ Rdat7

This is output signal a full pallet stacking is completed. In a standard sequence, this is turned on at step 8 and turned off at step 9. On PLC program, this is used to turn on pallet conveyors to discharge a full pallet and convey a empty pallet. (exact same signal as Y0A / Y0B)

In case Rmod(Y32) is turned on, these ports are switched over to data communication PLC can use.

Y30 Station ON 3

Y31 Station ON 4

This signal is turned on when “Station ON x” in station

on/off screen is turned on. It allows PLC to let product

come in station x.

Y32 Rmod

I n case [Ext PLC Com Setup] in system parameter is set to [Centronix], this signal is turned on while data

transfer(Centronix) from robot controller to PLC is

being executed.

See section 2.2 for timing of data communication. Data communication gets started not at Pbsy on but at Pbsy off.

3-7

Relay Name At com

Descriptions

Y33 Rstb

While data communication in Centronix is executed between robot controller and PLC, this signal is used as a strobe to read. When this signal is turned on while Rmod is turned on, data communication can get started. This signal is turned off when PLC sends Rack to robot controller.

Y34 Rbsy

This signal is turned on when robot is BUSY with processing data through data communication.

On PLC program hold on switching over to Pmod or wait for next batch while this signal is turned on.

Y35 Rack

This is a response signal from robot controller while data communication through Centronix is executing from PLC to robot controller. On PLC program turn Pstb off when this is received.

Y36

Y37 Universal usage



Y3A Discharge request.pallet 5

Y3B Discharge request.pallet 6

This signal is turned on for 500msec when pallet number is entered at [Pallet discharge] screen. On PLC program output ID-No and Partial discharge strobe (X13) upon this signal.

Y3C

Y3D

Y3E

Y3F

Universal usage

Y40 Pallet-3.layer-1.product-1






Y44

Y45

Y46

Y47

Universal usage

Y48 ‘Stacking complete 7’

Y49 ‘Stacking complete 8’

Y4A ‘Stacking complete 9’

Y4B ‘Stacking complete 10’

Y4C ‘Stacking complete 11’

Y4D ‘Stacking complete 12’

Y4E ‘Stacking complete 13’

Y4F ‘Stacking complete 14’

This is output signal a full pallet stacking is completed. In a standard sequence, this is turned on at step 8 and turned off at step 9. On PLC program, this is used to turn on pallet conveyors to discharge a full pallet and convey a empty pallet.




This signal is turned on for 500msec when pallet number is entered at [Pallet discharge] screen. On PLC program output ID-No and Partial discharge strobe (X13) upon this signal.

3-8

Relay Name At com

Descriptions

Y53 Discharge

request.pallet10

Y54 Discharge

request.pallet11

Y55 Discharge

request.pallet12

Y56 Discharge

request.pallet13

Y57 Discharge

request.pallet14



Y5A Pallet-9.layer-1.product-1

Y5B Pallet-10.layer-1.product-1

Y5C Pallet-11.layer-1.product-1

Y5D Pallet-12.layer-1.product-1

Y5E Pallet-13.layer-1.product-1

Y5F Pallet-14.layer-1.product-1



Y60

Y61

Y62

Y63

Y64

Y65

Y66

Y67

Universal usage

3-9

Input signals Relay Name At com Descriptions

X08 ID No. Selection 20 X09 ID No. Selection 21 X0A ID No. Selection 22 X0B ID No. Selection 23 X0C ID No. Selection 24 X0D ID No. Selection 25

X0E ID No. Selection 2６

These binary data of seven bits designates which ID-No program to run. The timing to output this signal is when products per a pick are ready on station or partial discharge is retained.

Program is switched over at PGSEL on robot sequence.

The strobe to execute a program with ID_No to be set is (X0F) while that for partial discharge is (X13). This datal is to be output earlier than 0.3 sec before the above strobes are turned on.

X0F ID No. Strobe

This is strobe to let it read ID_No to start stacking. On PLC program turn this strobe on more than 0.3 sec after ID_No Selection is output.

In case this is turned on when PSGEL is executed in robot sequence, stacking for the program setup gets started. Turn it off when station loading enable (Y08 - ) is turned on.

X10 Number of pallet 20 X11 Number of pallet 21

X12 Number of pallet 22

In case [Pallet on floor] is selected in program parameter, whole stacking positions are shifted upward by the value of “ (# of pallets entered here) x (its thickness)”. These data is sucked up when a program is selected at PGSEL.

Number of pallets is expressed in binary data (3 bits).

0: No. of pallets 1

1: No. of pallets 2

2: No. of pallets 3

……..

7: No of pallets 8

X13 Partial discharge strobe

This is strobe to let it read the above ID_No for Partial discharge. On PLC program this strobe is output more than 0.3 sec after ID_No Selection is output.

In case this is turned on when PSGEL is executed in robot sequence, partial discharge for the program setup gets started. Turn it off when station loading enable (Y08 - ) is turned on.

X14 Stacking complete ACK

On PLC program this signal is turned on when stacking complete signal is turned on. Turn it off when stacking complete signal is turned off. This signal is shared among pallets.

X15 Station loading enable ACK

This signal is turned on when station loading enable is turned on and turned off when station loading enable is turned off. This is shared among pallets.

X16 X17

Universal

X18 ‘Pallet detection 1’


Turn it on when a pallet is at stacking location and turn it off when pallet detection sensor is off and/or during being discharged after completed.

Create robot sequence to wait at step 6 while this signal is turned off in a single layout. In a multi-stacking layout, however, make ID_No selection output only when this signal is turned on.

3-10

Relay Name At com Descriptions

X1A ‘Pallet being transferred 1’

X1B ‘Pallet being transferred 2’

Turn it off while a full pallet is being discharged or discharge detection sensor is being interrupted. Create robot sequence to wait at step 4 while this signal is turned off in a single layout. In a multi-stacking layout, however, make ID_No selection output only when this signal is turned on.

X1C External hold

This is a signal to temporarily stop moving.

On sequence, robot stops before executing adjacent new MOV command and re-executes commands when it is turned off.

X1D Operation

Robot gets started to run when it is turned on.

On PLC program configure the operation circuit to make this signal turn on by (Y1A) when [START] key on operation panel is pressed

X1E Buzzer

This is signal to make a alarm buzzer sound.

Buzzer sounds whenever any error in robot occurs regardless of the signal.

X1F Motor power on enable Enable to turn motor power on.

X20

X21

X22

X23

X28

X29

X2A

X2B

X2C

X2D

X2E

X2F

Universal usage

X30 ‘Pallet detection 3’ Pdat 0






On PLC program configure the logic since those ports are switched over to data communication in case Pmod (X40) is turned on.

X34 ‘Pallet being transferred 3’

Pdat 4


Pdat 5


Pdat 6


Pdat 7


On PLC program configure the logic since those ports are switched over to data communication in case Pmod (X40) is turned on.

X38

X39

X3A

Universal usage

X3B Universal usage

3-11


X3C

X3D

X3E

X3F

X40 Pmod

In case [Ext PLC Com Setup] in system parameter is set to

[Centronix], this signal is turned on while data

transfer(Centronix) from PLC to robot controller is

being executed.

X41 Pstb

While Pmod is turned on, robot controller gets started to read data in case this signal is turned on.

Make this signal output more than one scan time of period (about 30msec) in sequence after Pdat is output. Turn this off when robot sends to PLC ‘Rack’ of ‘data read complete’.

X42 Pbsy

This signal is turned on when PLC is BUSY with processing data through data communication.

On PLC program turn it on while PLC cannot make data communication.

X43 Pack This is a response signal from PLC that data from robot has been received by PLC. Turn this off when Rstb is turned off.

X44

X45

X46

X47

Universal usage



X4A ‘Pallet detection 9’

X4B ‘Pallet detection 10’

X4C ‘Pallet detection 11’

X4D ‘Pallet detection 12’

X4E ‘Pallet detection 13’

X4F ‘Pallet detection 14’












X58

X59

X5A

X5B

Universal usage

3-12


X5C

X5D

X5E

X5F

X60

X61

X62

X63

X64

X65

X66

X67

X68

X69

X6A

X6B

X6C

X6D

X6E

X6F

Universal usage

3-13

3.2.2. [M + D] It is described in the section that PLC processes the data transactions between PLC and robot.

１． Motor power ON enable signal Turn on the motor power ON enable signal (M501F) if motor power ON enable from robot (M601E) signal is turned on and also unless any error in internal process occurs inside PLC.

２． Start key signal

Robot controller starts (stops) operation on condition that operation signal (M501D) from PLC is turned on(off). If PLC has no abnormality in internal process, motor power switch (M6020) is in neutral position and operation key signal (M601A) is turned on, operation signal (M501D is ON ) is turned on. Retain the status even if operation key signal (M601A) is turned off. (Unrelated with motor power status)

In automatic mode, operation key signal (M601A) is not turned on even if start key is pressed on condition that motor power is not turned on.

３． Start of program

When [External PLC Control Interface] is set to [M+D], no ID-No but program No is instructed. PLC sets the required program No to (D5000) and makes strobe signal (M500F). M500F is normally turned off by station enable (M6008 - ).

４． Partial discharge

When discharging on controller, partial discharge request strobe (M6022 -) corresponding to requested pallet No. is turned on for 500msec. PLC sets Program No. to (D5000) at rising timing of relay to discharge and turn on partial discharge strobe (M5013).

M8B is usually turned off with stacking complete (M6008 -).

５． Sequence reset

Only when memory switch 2-1 is turned on, if sequence reset is done, (M601F) is turned on for 500msec, the signal of 1st layer-1st product (M600C-) is turned off for the number of pallets from pallet 1 set by the system parameter.

６． Conveyor manual operation

The bits corresponding to selected conveyors are set to D6001 and D6002. While “Forward-Up-Open” is being pressed, strobe (M6013) for that is turned on and while “Reverse-Down-Close” is being pressed, strobe (M6014) for that is turned on.

１１．Abnormality of PLC When PLC occurs or detects abnormality, execute the process of abnormality notice to robot (*1) and turn M501M on to sound buzzer if needed. Turn M501E off at rising timing of buzzer stop (M6018). Error messages are shown up on POD screen when ERR/ERRP commands are executed and are logged. However, operation and motor power won’t be turned off by itself. Properly controlling the error(s) are required on PLC logic.

(*1) It is possible to notify robot by the following ways.

3-14

1) Execute ERR/ERRP commands at built-in PLC control.

2) At external PLC control

- Execute ERR/ERRP command by built-in PLC after errors are notified by external PLC.

- At Centronix communication of PLC expansion interface, use Centronix.

3-15

Output signals (RY)

Relays Signal name Descriptions

M6000

～

M6007

Universal

M6008 (Station loading enable 1)


This signal is used to indicate robot going up motion is completed after picking product on station conveyor and ready to next product to come into the station conveyor.

In a standard robot sequence logic, this signal is turned ON when robot arm is positioned at step 4 and turned OFF at step 5.

On PLC program this signal at rising timing is used as a trigger to let next product to come into the station conveyor.

M600A (Stacking completed 1)

M600B (Stacking completed 2)

This signal is used to indicate stacking is completed.

In a standard robot sequence program, this signal is turned ON at step 8 and turned Off at step 1 when stacking is considered completed.

ENCHK command is usually used to turn this signal on in robot sequence program.

On PLC program this signal is used as a trigger to discharge pallet.

M600C Pallet-1.layer-1.product-1

M600D Pallet-2.layer-1.product-1

Okura standard usage: In robot sequence program turn this signal on in a step to palletizing the 1st product on the pallet. Turn it off at step 5. On PLC program if product or something is detected by a optional sensor while this signal is ON then stop robot to avoid collision.

M600E Robot operation cycle failure

M600F Robot origin

M6010 Station ON 1

M6011 Station ON 2

This signal is turned ON when “Station ON” in station on/off menu is selected. On PLC program this signal is used to prohibit next product to come into the station conveyor.

M6012 Internal operation

This signal is turned ON when “internal mode” in Automatic operation condition menu is selected. On PLC program this signal is used to prohibit next product to come into the station conveyor. This can also be used to disable external strobe signal.

M6013 Forward-Up-Open manual strobe

This signal is turned on while pressing [FORWARD-UP-OPEN] key in conveyor operation menu. On PLC program this signal is used as a trigger to operate conveyors according to the previously transferred “Conveyor Nos” via Centronix.

M6014 Reverse-Down-Close manual strobe

This signal is turned on while pressing [REVERSE-DOWN-CLOSE] key in conveyor operation menu. On PLC program this signal is used as a trigger to operate conveyors according to the previously transferred “Conveyor Nos” via Centronix.

M6015 Robot abnormality When abnormality occurs this signal is turned on. On PLC turn off the operation signal (MAD) when this is received.

M6016 Automatic mode This signal is turned on when “Auto mode” is selected in main menu. On PLC forbid manual operation of conveyor when this signal is received.

M6017 Discharge in process

This signal is turned on when discharge strobe (M5013) is received.

This signal is turned off when stacking complete signal is turned on in ENCHK command after one cycle operation at “arm move” selected or when program 0 is automatically executed after stacking completed at “No arm move” selected.

3-16


M6018 Stop buzzer This signal is turned on when pressing alarm stop push button under the abnormal condition. On PLC program this signal is used to turn off the buzzer signal (M501E).

M6019 Motor power on This signal is turned on when motor power is ON.

M601A Operation key

This signal is turned on while “START” key is being pressed.

On PLC program make operation logic to turn robot operation (M501D) on.(Sample logic: Pressing and holding “START” button for 5 sec allows to retain the circuit.)

M601B Stop key This signal is turned on while “STOP” key is being pressed. On PLC turn off operation signal (M501D) when this signal is received.

M601C Abnormal reset push button

This signal is turned on while [Abnormal reset pushbutton] is being pressed. On PLC program reset “abnormality” retained when this signal is received.

M601D Emergency stop button OFF

This signal is turned off when Emergency stop button is pressed.

M601E Motor power ON enable This signal is turned on unless any error occurs at robot. On PLC program use this signal as one of the conditions to turn on “motor power ON enable” (M501F).

M601F Sequence reset This signal is turned on when sequence resetting is executed. (Only when memory SW2-1 is turned on.)

M6020 Control power on This signal is turned on while “motor power ON/OFF select switch” on control panel is positioned at neutral position.

M6021 Teaching pendant connection

M6022 Discharge start strobe 1


This signal is being turned ON for 500 msec when “pallet discharge” in pallet discharge menu is selected. On PLC program this signal is used as a trigger to output ID No. and pallet discharge strobe (M5013).

M6024

～

M6027

Universal


M6029 (Station loading enable 4 )

This signal is used to indicate robot going up motion is completed after holding product on station conveyor and ready to next product to come into the station conveyor.

In a standard robot sequence program, this signal is turned ON when robot arm is positioned at step 4 and turned OFF at step 5.

On PLC program this signal at rising timing is used as a trigger to let next product to come into the station conveyor.

M602A

M602B Universal

M602C (Stacking completed 3)

M602D (Stacking completed 4)

M602E (Stacking completed 5)

M602F (Stacking completed 6)





M6030 Station ON 3

M6031 Station ON 4

This signal is turned ON when “Station ON” in station on/off menu is selected. On PLC program this signal is used to prohibit next product to come into the station conveyor.

3-17


M6032 RMod

In case [Ext PLC Com Setup] in system parameter is set to

[Centronix], this signal is turned on while data

transfer(Centronix) from robot controller to PLC is

being executed.

See section 4.2 for timing of data communication. Data communication gets started not at Pbsy on but at Pbsy off.

M6033 Rstb

While data communication in Centronix is executed between robot controller and PLC, this signal is used as a strobe to read. When this signal is turned on while Rmod is turned on, data communication can get started. This signal is turned off when PLC sends Rack to robot controller.

M6034 Rbsy

This signal is turned on when robot is BUSY with processing data through data communication.

On PLC program hold on switching over to Pmod or wait for next batch while this signal is turned on.

M6035 Rack

This is a response signal from robot controller while data communication through Centronix is executing from PLC to robot controller. On PLC program turn Pstb off when this is received.

M6036

M6037 Universal



M603A Discharge start strobe 5

M603B Discharge start strobe 6


M603C

～

M603F

Universal

M6040 Pallet-3.layer-1.product-1




Okura standard usage: In robot sequence program turn this signal on in a step to palletizing the 1st product on the pallet. Turn it off at step 5. On PLC program if the product is detected by a optional sensor while this signal is ON then stop robot to avoid collision.

M6044

～

M6047

Universal

M6048 (Stacking completed 7)

M6049 (Stacking completed 8)

M604A (Stacking completed 9)

M604B (Stacking completed 10)

M604C (Stacking completed 11)

M604D (Stacking completed 12)

M604E (Stacking completed 13)

M604F (Stacking completed 14)
















M605A Pallet-9.layer-1.product-1

3-18


M605B Pallet-10.layer-1.product-1

M605C Pallet-11.layer-1.product-1

M605D Pallet-12.layer-1.product-1

M605E Pallet-13.layer-1.product-1

M605F Pallet-14.layer-1.product-1

Okura standard usage: In robot sequence program turn this signal on in a step to palletizing the 1st product on the pallet. Turn it off at step 5. On PLC program if the product is detected by a optional sensor while this signal is ON then stop robot to avoid collision.

M6060

～

M6067

Universal

3-19

Input signals


M5000

～

M500E

Universal

M500F ID No. Strobe

This is strobe to let it read ID_No to start stacking. On PLC program turn this strobe on more than 0.3 sec after ID_No Selection is output.

In case this is turned on when PSGEL is executed in robot sequence, stacking for the program setup gets started. Turn it off when station loading enable (M6008- ) is turned on.

M5010

M5011

M5012

Universal

M5013 Partial discharge strobe

This is strobe to let it read the above ID_No for Partial discharge. On PLC program this strobe is output more than 0.3 sec after ID_No Selection is output.

In case this is turned on when PSGEL is executed in robot sequence, partial discharge for the program setup gets started. Turn it off when station loading enable (M00 - ) is turned on or stacking completed (M04 -) is turned on.

M5014 Stacking completed ACK

M5015 Station loading enable ACK

M5016

M5017 Universal

M5018 (Pallet detection 1)


Turn it on when a pallet is at stacking location and turn it off when pallet detection sensor is off and/or during being discharged after completed. Create robot sequence to wait at step 6 while this signal is turned off in a single layout. In a multi-stacking layout, however, make ID_No selection output only when this signal is turned on.

M501A (Pallet being transferred 1)

M501B (Pallet being transferred 2)


M501C External hold

This is a signal to temporarily stop moving.

On sequence, robot stops before executing adjacent new MOV command and re-executes commands when it is turned off.

M501D Operation

Robot gets started to run when it is turned on.

On PLC program configure the operation circuit to make this signal turn on by (M27) when [START] key on operation panel is pressed.

M501E Buzzer

This is signal to make a alarm buzzer sound.

Buzzer sounds whenever any error in robot occurs regardless of the signal.

M501F Motor power ON enable Enable to turn motor power on. M5020

～

M502F

Universal



Turn it on when a pallet is at stacking location and turn it off when pallet detection sensor is off and/or during being

3-20




discharged after completed. Create robot sequence to wait at step 6 while this signal is turned off in a single layout. In a multi-stacking layout, however, make ID_No selection output only when this signal is turned on.

M5034 (Pallet being transferred 3)





M5038

～

M503F

Universal

M5040 Pmod

In case [Ext PLC Com Setup] in system parameter is set to [Centronix], this signal is turned on while data transfer(Centronix) from PLC to robot controller is being executed.

M5041 Pstb

While Pmod is turned on, robot controller gets started to read data in case this signal is turned on.

Make this signal output more than one scan time of period (about 30msec) in sequence after Pdat is output. Turn this off when robot sends to PLC ‘Rack’ of ‘data read complete’.

M5042 Pbsy

This signal is turned on when PLC is BUSY with processing data through data communication.

On PLC program turn it on while PLC can not make data communication.

M5043 Pack This is a response signal from PLC that data from robot has been received by PLC. Turn this on after data is written down and turn it off when Rstb is turned off.

M5044

～

M5047

Universal



M504A (Pallet detection 9)

M504B (Pallet detection 10)

M504C (Pallet detection 11)

M504D (Pallet detection 12)

M504E (Pallet detection 13)

M504F (Pallet detection 14)

Turn it on when a pallet is at stacking location and turn it off when pallet detection sensor is off and/or during being discharged after completed. Create robot sequence to wait at step 6 while this signal is turned off in a single layout. In a multi-stacking layout, however, make ID_No selection output only when this signal is turned on.








3-21




M5058

～

M506F

Universal

3-22

3.3. PLC Expansion Interface

3.3.1. In case controlled by Built-in PLC It explains the data communication of PLC and robot when built-in PLC is used, focusing on the process of the PLC.

１． Product type setting

When product type is set on controller, program data is sent to corresponding data memory (Example pallet 1: D6500 - D6533) and pallet-number-allocated relay (M6116) is turned on. After necessary process on PLC at the rising up detection of the relay, the product type setting_ACK (M510C) is turned on. Turning ACK on allows the relay to turn off so that PLC needs to turn the ACK off at sinking down timing of the relay. (Error occurs when the relay is not turned off within one second.)

2. Stacking count value change

When count value is changed or initialized on controller, changed count value is set to corresponding data memory(example: pallet1 D6502, D6503,･･), and pallet counter setting relay (M6124) is turned on. After necessary process on PLC at the rising up detection of the relay, the counter setting _ACK (M510D) is turned on. Turning ACK on allows the relay to turn off so that PLC needs to turn the ACK off at sinking down timing of the relay. (Error occurs when the relay is not turned off within one second.)

3. Zero reset

Zero reset relay (example: pallet1 M6108) corresponding to pallet No. is turned on. After necessary process on PLC in the rising up detection of the relay, conveyor zero reset ACK (M510B) is turned on. Turning ACK on allows the relay to turn off so that PLC needs to turn the ACK off at sinking down timing of the relay. (Error occurs when the relay is not turned off within one second.)

4. Conveyor reset Conveyor reset relay (M6107) is turned on. After necessary process on PLC in the

rising up detection of the relay, conveyor resetting ACK (M510A) is turned on. This relay should be turned off on PLC side. (Error occurs when the relay is not turned off within one second.)

5. Station loading control

When product type setting or counter setting comes on, the number of picking products for current cycle (example: pallet1 D6513) is copied to a device of user area (example: D1000). When station loading enable comes on, the number of picking products for the next cycle (for pallet1: D6514) is copied to (D1000). Station loading control can be done by (D1000).

3-23

* Number of picking products_Current cycle, or Next cycle

Bit Descriptions Bit Descriptions

BIT 0 BIT 8 Turn data

BIT 1 BIT 9 Drop high

BIT 2

Robot data

(Data 1)

BIT 10

BIT 3 Not in use BIT 11

Direction of picking

BIT 4 BIT 12

BIT 5 BIT 13

BIT 6

Direction of approach

BIT 14

BIT 7 Not in use BIT 15

Number of picking products

Outputs signals

Relays Signal names Descriptions

M6068

～

M60FF

Universal

M6100 Sequence reset request ACK

M6101 DA Height measuring complete

M6102 RC failure notice

M6103 BCR reading notice

M6104

M6105

M6106

System reserve

M6107 Conveyor reset

M6108 Conveyor zero reset 1


M610A Conveyor zero reset 3

M610B Conveyor zero reset 4

M610C Conveyor zero reset 5

M610D Conveyor zero reset 6

M610E Conveyor zero reset 7

M610F Conveyor zero reset 8







M6116 Pallet 1 program allocating




M611A Pallet 5 program allocating

M611B Pallet 6 program allocating

M611C Pallet 7 program allocating

M611D Pallet 8 program allocating

M611E Pallet 9 program allocating

3-24

M611F Pallet 10 program allocating





M6124 Pallet 1 counter setting






M612A Pallet 7 counter setting

M612B Pallet 8 counter setting

M612C Pallet 9 counter setting

M612D Pallet 10 counter setting

M612E Pallet 11 counter setting

M612F Pallet 12 counter setting



M6132 Hand 4

M6133 Hand 5

M6134 Hand 6

M6135 Hand 7

M6136 Hand 8

M6137 Hand 9

M6138

～

M61FF

System reserve

M6200 Clock 0.1 sec

M6201 Clock 0.2 sec

M6202 Clock 1 sec

M6203 Clock 2 sec

M6204 Clock 1 min

M6205 Detecting AC DOWN

M6206

M6207

M6208

System reserve

M6209 Normal PLC execute latch

M620A Normal PLC execute flag

M620B High speed PLC execute latch

M620C High speed PLC execute flag

M620D Normal PLC scan over

M620E High speed PLC scan over

M620F Error (abnormal)

M6210 Error (warning)

M6211 Error (caution)

M6212 Error (notice)

M6213 Fieldbus link failure

M6214 Conveyor screen being displayed

M6215 X1 axis being controlled

3-25





M621A X6 axis being controlled

M621B C axis torque to reach

M621C

M67FF

System reserve

M7000 Normal ON

M7001 Normal OFF

3-26

Output data memories

Devices Signal names Descriptions

D6000 R-area

D6001 Conveyor manual data 1

D6002 Conveyor manual data 1

D6003

～

D6007

Universal

D6008 Rdat1

D6009 Rdat2

D6010 Rdat3

D6011 Rdat4

D6012 Rdat5

D6013 Rdat6

D6014 Rdat7

D6015 Rdat8

For data communication by Centronix

D6016

～

D6095

Universal

D6096

～

D6199

System reserve

D6200 Pallet No. being stacked

D6201 Hand No.

D6202 Screen No. being displayed

D6203 Step No. being executed

D6204 RC failure data 1

D6205 RC failure data 2

D6206 R current position X100 [°]

D6207 D current position X100 [°]

D6208 O current position X100 [°]

D6209 T current position X100 [°]

D6210 C current position X100 [°]

D6211 AR current position X100 [°]

D6212 AX current position X10 [mm]

D6213 AT current position X100 [°]

D6214 AZ current position X10 [mm]

D6215 HX current position X10 [mm]

D6216 HY current position X10 [mm]

D6217 HT current position X10 [mm]

D6218 HZ current position X10 [mm]

D6219 Bag1 stop position St1 X100 [°]

D6220 Bag2 stop position St1 X10 [mm]

D6221 Centering position St1

D6222 Press height St1

D6223 Bag1 stop position St2







3-27







D6235 BC read data 1








D6243 C axis current torque

D6244 DA height PH X40




D6248 DA height measurement

D6249 Clock (Y,M)

D6250 Clock (Date, Hour)

D6251 Clock (Min, Sec)

D6252 PLC normal operation status

D6253 PLC counter 1 sec

D6254 PLC normal max scan

D6255 PLC normal scan time (ms)

D6256 PLC normal min scan

D6257 PLC high speed operation status

D6258 PLC high speed counter 1 sec

D6259 PLC high speed max scan

D6260 PLC high speed scan time(ms)

D6261 PLC high speed min scan

D6262 PLC normal process token

D6263 PLC high speed process token

D6264 CPU Idling %

D6265 Maintenance password 1

D6266 Maintenance password 2

D6267 Current position X1






D6273 Total time(lower bit)

D6274 Total time (upper bit)

D6275 User time (lower bit)

D6276 User time (upper bit)

D6277

～

D6499

System reserve

D6500 Executing program No. Pallet 1: Program No. being executed.

D6501 Execute number of layers Pallet 1: Number of layers of program being executed

3-28


D6502 Layer count value Pallet 1: Layer count of stacking

D6503 Product count value Pallet 1: Product count of stacking

D6504 Product L Pallet 1: Product size L for program being executed [mm]

D6505 Product W Pallet 1: Product size W for program being executed [mm]

D6506 Product H Pallet 1: Product size H for program being executed [mm]

D6507 Number of pallets on floor Pallet 1: At ‘pallet on floor’, {(current number of pallets) – 1}

D6508 Number of Products on 1st layer

Pallet 1: Number of products on 1st layer for program being executed

D6509 Stacking pattern Pallet 1: Stacking pattern of program being executed（1:BAR,2:INTRK,3:SPCL,4:RPMD,5:ZSPL）

D6510 Jogging distance

D6511 Number of layers being executed

D6512 Weight of product

D6513 Number of products per current pick

D6514 Number of products per next pick

D6515 Spare

D6516 BC data 1

D6517 BC data 2

D6518 BC data 3

D6519 BC data 4

D6520 BC data 5

D6521 BC data 6

D6522 BC data 7

D6523 BC data 8

D6524

D6533

System reserve

D6534 Program No. being executed Pallet 2: Program No. being executed.


Pallet 2: Number of layers of program being executed















D6549 Spare

D6550 BC data 1

D6551 BC data 2

D6552 BC data 3

3-29


D6553 BC data 4

D6554 BC data 5

D6555 BC data 6

D6556 BC data 7

D6557 BC data 8

D6558

D6567

System reserve


















D6583 Spare

D6584 BC data 1

D6585 BC data 2

D6586 BC data 3

D6587 BC data 4

D6588 BC data 5

D6589 BC data 6

D6590 BC data 7

D6591 BC data 8

D6592

D6601

System reserve














3-30






D6617 Spare

D6618 BC data 1

D6619 BC data 2

D6620 BC data 3

D6621 BC data 4

D6622 BC data 5

D6623 BC data 6

D6624 BC data 7

D6625 BC data 8

D6626

D6635

System reserve


















D6651 Spare

D6652 BC data 1

D6653 BC data 2

D6654 BC data 3

D6655 BC data 4

D6656 BC data 5

D6657 BC data 6

D6658 BC data 7

D6659 BC data 8

D6660

D6669

System reserve




3-31
















D6685 Spare

D6686 BC data 1

D6687 BC data 2

D6688 BC data 3

D6689 BC data 4

D6690 BC data 5

D6691 BC data 6

D6692 BC data 7

D6693 BC data 8

D6694

D6703

System reserve


















D6719 Spare

D6720 BC data 1

D6721 BC data 2

D6722 BC data 3

3-32


D6723 BC data 4

D6724 BC data 5

D6725 BC data 6

D6726 BC data 7

D6727 BC data 8

D6728

D6737

System reserve


















D6753 Spare

D6754 BC data 1

D6755 BC data 2

D6756 BC data 3

D6757 BC data 4

D6758 BC data 5

D6759 BC data 6

D6760 BC data 7

D6761 BC data 8

D6762

D6771

System reserve














3-33






D6787 Spare

D6788 BC data 1

D6789 BC data 2

D6790 BC data 3

D6791 BC data 4

D6792 BC data 5

D6793 BC data 6

D6794 BC data 7

D6795 BC data 8

D6796

D6805

System reserve


















D6821 Spare

D6822 BC data 1

D6823 BC data 2

D6824 BC data 3

D6825 BC data 4

D6826 BC data 5

D6827 BC data 6

D6828 BC data 7

D6829 BC data 8

D6830

D6839

System reserve




3-34
















D6855 Spare

D6856 BC data 1

D6857 BC data 2

D6858 BC data 3

D6859 BC data 4

D6860 BC data 5

D6861 BC data 6

D6862 BC data 7

D6863 BC data 8

D6864

D6873

System reserve













D6884 Jogging distance [mm]

D6885 Number of layers being executed １～




D6889 Spare

D6890 BC data 1

D6891 BC data 2

D6892 BC data 3

3-35


D6893 BC data 4

D6894 BC data 5

D6895 BC data 6

D6896 BC data 7

D6897 BC data 8

D6898

D6907

System reserve


















D6923 Spare

D6924 BC data 1

D6925 BC data 2

D6926 BC data 3

D6927 BC data 4

D6928 BC data 5

D6929 BC data 6

D6930 BC data 7

D6931 BC data 8

D6932

D6941

System reserve














3-36






D6957 Spare

D6958 BC data 1

D6960 BC data 2

D6961 BC data 3

D6962 BC data 4

D6963 BC data 5

D6964 BC data 6

D6965 BC data 7

D6966 BC data 8

D6967

D6999

System reserve

Input signals

Relays Signal names Descriptions M5080

～

M50FF

Universal

M5100 Sequence reset request

M5101 DA_Height measuring complete ACK

M5102 RC Error notice ACK

M5103 BCR Reading complete ACK

M5104 M5105 M5106

System reserve

M5107 DA_Height measuring request

M5108 DA_Height measurement correction request

M5109 System reserve M510A Conveyor reset ACK M510B Conveyor zero reset ACK M510C Program setting ACK M510D Counter setting ACK M510E M510F

System reserve

M5110 X1 axis stop request M5111 X2 axis stop request M5112 X3 axis stop request M5113 X4 axis stop request M5114 X5 axis stop request M5115 X6 axis stop request M5116 CDF disable Collision Detection Function disable

3-37

M5117

M57FF

System reserve

Input data memories


D5000 Program No. to start

D5001 Number of pallets on floor

D5002

～

D5007

Universal

D5008 Pdat 1

D5009 Pdat 2

D5010 Pdat 3

D5011 Pdat 4

D5012 Pdat 5

D5013 Pdat 6

D5014 Pdat 7

D5015 Pdat 8

For Data communication at CENTRONIX communication

D5016

～

D5095

Universal

D5096

～

D5199

System reserve

D5200 DA_Tie-sheet data 1

D5201 DA_ Tie-sheet data 2









D5210 DA_Value of height correction

D5211 Auto operation screen displaying text 1








3-38




D5221

～

D5999

System reserve

3.3.2. Control by external PLC In case external PLC is used, it is possible for you to use the exact same PLC expansion interface as [section 2.3.1] via built-in PLC, sharing memories through fieldbus.

1. Memory sharing through fieldbus System area can be shared through fieldbus as the below diagram shows you. Not PLC expansion interface area but PLC standard interface area can be shared. (See [2.1.2] and [2.1.3] for detail.) To solve the problem, copying data of PLC expansion interface into universal area of shared memories (follow the below dot lines) allows you to enable to use from external PLC the PLC expansion interface. Robot controller

System area inputs：M5000/D5000

PLC memory link area

・PLC standard interface

M5000-/D5000-

・Universal area

* The sequence of PLC expansion interface is data setting into [D] first and then set strobe of [M] second. Do the same sequence of [M] after [D] when copied by built-in PLC.

* Exact same data communication can be done through Centronix.

M5080/D5016-

Out of PLC memory link area

・PLC expansion interface

M5100-/D5200-

System area outputs：M6000/D6000

PLC memory link area

・PLC standard interface

M6000-/D6000-

・Universal area

M6068/ D6016-

Out of PLC memory link area

・PLC expansion interface

M6100-/D6200-

Built-in PLC

External

PLC

3-39

4. Centronix Communication If the Centronix communication is selected on "External PLC communication setup" screen of "System storage", the data communication (PLC expansion interface) between the robot and the PLC becomes possible by using the I/O relay. {See section 5.3 Installation and Adjustment (Electrical) for the details of external PLC communication setting.}

4-41

4.1. Purpose of Using Centronix Communication Examples of the principal uses are shown below.

Transmitting pattern information when performing multiple pick-up. (Robot -> PLC) When performing peripheral conveyor reset, zero reset or manual operation using the

robot controller. (PLC -> Robot) Displaying conveyor errors on the robot control panel. (Example: Guarding, station

conveyor jamming) (PLC -> Robot) Count setting. (Bi-directional)

4-42

4.2. Centronix Communication Start Timing There are two types of Centronix communication: the type where starting can be done at any time, and the type where data is automatically sent at an established timing.

During Robot -> PLC communication

NO. Transmitted item Transmission timing.

1 - a Stacking pattern information send mode

When 2-b or 2-d is received, or product type is set.

1 - b Conveyor reset At input from conveyor manual screen.

1 - c Conveyor all reset (Zero reset)

At input from conveyor manual screen.

1 - d Counter setting At input from the stacking counter change screen, or when 2-c is received at stacking counter initialization.

1 - e Conveyor manual At conveyor manual screen selection.

1 - f No program No. for ID No. Decision at ID strobe reception. (Decision also when OX81 or OX83 command is received)

1 - g Overall time, automatic operation time

When 2-g is received.

1 - h Data memory output When 2-h is received.

1 - i Product dimension output When 2-i is received.

During PLC -> Robot communication

No. Received item Reception timing

2 - a PLC error mode Any time after P-I/O alarm/error bit ON

2 - b Request pattern data from conveyor

Any time (To 1-a)

2 - c Count setting from conveyor Any time

2 - d Pattern data request for pallet No.

Any time (To 1-a)

2 - e Allocation of PRG No. for ID No.

Any time

2 - f Stacking position setting Any time

2 - g Request for robot overall time, and automatic operating time

Any time (To 1-g)

2 - h Data memory content request Any time (To 1-h)

2 - i Product dimension request Any time (To 1-j)

4-43

4.3. Relationship with PLC standard Interface setting up

The interface via [X/Y] is in use when [PLC standard Interface] at the screen of external PLC I/F setting up is set to [X/Y] for the serial communication. 8 bits per a unit is transferred.

When it is set to [M+D] instead, the interface is via the fieldbus. A word per a unit is transferred. (See item 2.5)

When it is set to [X/Y],

* The data of Pdat and Rdat is transferred byte by byte.

* IDNo is in use.

When it is set to [M+D],

* The data of Pdat and Rdat is transferred in 8 words at a time. But, no the upper 8 bits but the lower 8 bits per a word are in use to transfer only.

* No IDNo. but program No. is in use.

* In either case, the minimum unit of the transferred data is one byte so that the data

format is common except for ID-No or program No selection. (See the data for detail)

4-44

4.4. Name and Meaning of Signals During Communication Relay PLC -> Robot Robot -> PLC

Rmod

Y32

Not used When this signal goes ON, the system enters the Centronix communication mode (robot output), and the Y28-Y2F input switches to Rdat.

Rdat

Y28-Y2F Not used Command or data output to PLC. When

[PLC standard Interface] is set to [M+D], transferred in word. When to [X/Y], transferred in bit.

Rstb

Y33 Not used If Rstb is turned ON when Rmod is ON

and Pbsy is OFF, the PLC side receives data and (after reception) sends Pack to the robot. When the robot side receives Pack, Rstb goes OFF.

Pbsy

X42 Not used This is set to ON when the PLC side

cannot receive data

(During data reception etc.)

Pack

X43 Not used When the PLC side receives Rstb and

finishes reading data, Pack is turned ON. When Rstb goes OFF, Pack also goes OFF.

Pmod

X40 When this signal goes ON, the system enters the Centronix

communications mode (PLC output) and the X30-X37 input switches to Pdat

Not used

Pdat

X30-X37 Output of command or data to robot side

When [PLC standard Interface] is set to [M+D], transferred in word. When to [X/Y], transferred in bit.

Not used

Pstb

X41 If Pstb is turned on when Pmod is ON and Rbsy is OFF, the robot side

receives data, and (after data reception) sends Rack to the PLC

Not used

Rbsy

Y34 This is turned ON when the robot side cannot receive data (during data reception etc.) When this signal is ON, the PLC Pstb cannot be turned ON.

Not used

Rack

Y35 When the robot side receives Pstb and finishes reading data, Rack is

turned ON. When Pstb goes OFF, Rack also goes OFF.

Not used

4-45

4.5. Send/Receive Timing in Centronix Communication The timing chart for Centronix communication is as follows. The flow of signal passing is expressed in the diagram.

4.5.1. Centronix communication timing chart

Pmod

Pdat (Bit)

Pstb

Rack

1Byte 1Byte 1Byte 1Byte

Example 1: PLC -> Robot

Pdat (Word)

Word Word Word Word *1

*1: Pdat is assigned at [PLC standard Interface].

Example 2: Ordinary Centronix communication

PLC Robot Turn ON Pmod, and communication is set to Centronix communication.

Within 5 secs

Send the next data after checking that receiving station is not busy, and turn ON strobe.

State where Rbsy is not ON.

Data reception

Send data after checking that receiving station is not busy, and turn Pstb ON.

Send Rack ON

Within 500ms Turn OFF Pstb

Turn OFF Rack

NULL reception Send Rack ON

Within 500ms Turn OFF Pstb

Turn OFF Rack

4-46

PLC Robot

After checking (with a retry) that the receiving station is not busy, turn ON Pstb.

Rbsy is OFF

Data reception

Send Rack ON

Turn ON Pmod, and communication is set to Centronix communication.

Send data after checking that receiving station is not busy, and turn Pstb ON.

Rbsy is ON

Send Rack ON

Within 500ms

Turn OFF Pstb Turn Rack OFF

Robot is busy, so data cannot be send.

Data reception

Pstb goes OFF

Within 5 secs

Example 3: Receiving side busy

*The transmitting station checks that the receiving station is not busy, and then sends data if the receiving side is not busy. If the receiving side is busy, the sending side cannot send data, so the system waits until the busy signal is OFF.

4-47

4.6. Time Constraints in Centronix Communication There are time constraints when sending command/data from PLC to robot. (Nos. are sub codes of error codes.)

When the following constraints are violated, a PLC P-I/O error (62) results.

Sub code Nature of constraint.

05 When Rack is received (when robot side data reading is complete),

the PLC must turn OFF Pstb within 500ms.

06 After Pmod goes ON and the system switches to Centronix communication, the PLC must turn ON Pstb and output a data read request to the robot side within 5 seconds.

07 After the robot side receives NULL data and turns Rack OFF, the PLC must turn OFF Pmod and complete communication within 500ms. When sending command/data from robot to PLC. (Nos. are sub codes of error codes.)

11

When sending command/data from robot to PLC. (Nos. are sub codes of error codes.)

When the following constraints are violated, a PLC P-I/O error results.

Sub code Nature of constraint

01 The PLC must always turn Pack OFF when communication from the robot is starting

02 When Rstb has gone ON during PLC Pbsy output, the PLC must turn

OFF Pbsy within 2 seconds

03 After Rstb has gone ON, the PLC must complete data reading and turn

ON Pack within 500ms.

04 After the robot side has turned OFF Rstb, the PLC must turn OFF

Pack within 500ms.

*If processing does not finish, even though time equivalent to at least the communicated data length (bytes) x 1 second has passed since the start of processing, then error 62-11 is output. The data length varies depending on the communication content.

Example: Count initialization is 4 bytes, so the time to error is 4 seconds.

4-48

4.7. Details of Robot → PLC Data The following types of data are sent from the robot to the PLC

1. Pattern information

2. Conveyor reset

3. Conveyor zero reset

4. Counter setting

5. Conveyor manual

6. No program for ID No.

7. Overall time, automatic operation time

8. Data memory output

9. Product dimension output

10. Error code output

11. Conveyor data read

12. Response of writing request to data memory

4-49

4.7.1. Pattern information The term "pattern information" means the content of the stacking pattern program. The elevation of stoppers and other mechanisms can be controlled by sending pattern information to the PLC. If there has been a conveyor pattern request 4.2 (2-b) or pattern data request for pallet no. 4.2 (2-d) from the PLC, the pattern information data is send from the robot. Even when product type setting has been done, pattern information data is sent from the robot.

Details on pattern information are as follows.

Details of each piece of information are always expressed with 8 bits.

NULL is always attached at the end of pattern information data. The shaded bits vary in value depending on the data. (Values are fixed for un-shaded bits.)

1. Command

This signal indicates that data is pattern information. The command is fixed: 0X80

HEX D7 D6 D5 D4 D3 D2 D1 D0

80 1 0 0 0 0 0 0 0

2. ID No.

This signal indicates an ID No. ID Nos. fall in the range 1~27, and bits D0~D6 are used. D7 is fixed at "0".

[Example]: IDNo.=95


5F 0 1 0 1 1 1 1 1

* This won’t be set if [PLC standard Interface is set to [M+D].

3. Program No.

This signal indicates a program No. Program Nos. fall in the range 1~999. D0~D5 are used by high order 6bits and low order 6bits, in that order. D6 is fixed at "1", and D7 is fixed at “0”..

[Example] Program No. = 120


41 0 1 0 0 0 0 0 1

38 0 1 1 1 1 0 0 0

* Program No is as follows when [PLC standard Interface is set to [M+D].

Program No ranging from 1 through 9999 uses every 6 bit at D0 – D5.

D6 is fixed to ”1” and D7 to “0”.

[Example] Program No. = 9001


42 0 1 0 0 0 0 1 0

4-50

4C 0 1 0 0 1 1 0 0

69 0 1 1 0 1 0 0 1

4-51

4. Pallet No.

This signal indicates a pallet No. Pallet Nos. fall in the range 1~4, and bits D0~D2 are used. D3~D7 are fixed at "0".

[Example] Pallet No. = 3


03 0 0 0 0 0 0 1 1

5. Number of layers

This signal indicates the number of layers for stacking. The number of stacking layers falls in the range 1~63 (The range can be extended to 1~127 by turning OFF switch SW3-5) and bits D0~D5 are used. D6~D7 are fixed at "0".

[Example] Number of layers = 12 layers


0C 0 0 0 0 1 1 0 0

6. Stacking pattern

This signal indicates the pattern for stacking. The following four types of stacking pattern are available, and bits D0~D2 are used. Bits D3~D7 are fixed at "0".

Layer information 1=Column stacking

Layer information 2=Alternating stacking

Layer information 3=Special stacking

Layer information 4=RP mode (Stacking into pyramid shape)

[Example] Stacking pattern = RP mode


04 0 0 0 0 0 1 0 0

4-52

7. Stacking quantity

This signal indicates the stacking quantity in the first layer. The stacking quantity falls in the range 1~127, and bits D0~D6 are used. D7 is fixed at "0".

[Example] Stacking quantity = 8 pieces


08 0 0 0 0 1 0 0 0

8. Layer number of quantity data

This signal is added when “Lay data addition" at the screen of “external PLC I/F setting up” is “Yes”.

The layer number falls in the range 1~63, and bits D0~D5 are used. D6~D7 are fixed at "1".

[Example] Layer beginning data = 40


E4 1 1 1 0 1 0 0 0

Although “Lay data addition" is “No”, if “All Special Advice” is “Yes”, this signal is added for special stacking. (see 2.5)

The layer number falls in the range 1~31, and bits D0~D4 are used. D5~D6 are fixed at "1". D7 is fixed at "0".

[Example] Layer beginning data = 20


74 0 1 1 1 0 1 0 0

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9. Quantity data

This signal indicates data on each individual product. In the case of column stacking, data is created for all products on the first layer. In the case of alternating stacking, data is created for all products on the first two layers. In the case of special stacking, data is created for all products for the distinctive layers. The bits used vary depending on whether the layer is the same or distinctive.

● What each bit means

D7 D6 D5 D4 D3 D2 D1 D0

Sam

e layer flag (S

ame layer =

1 /

Distin

ctive layer = 0

)

Distin

ctive layer = 1

(Null p

reventio

n),

Sam

e layer = 0

Auxiliary flag

(Distin

ctive layer)

Auxiliary flag

(Distin

ctive layer) / N

um

ber o

f layers (Sam

e layer)

Auxiliary flag

(Distin

ctive layer) / N

um

ber o

f layers (Sam

e layer)

1 layer en

d (N

o en

d =

0 / E

nd =

1)

Han

d clo

sed (O

pen

= 0

/ Clo

sed =

1)

Turn

(Yes = 1

/ No =

0)

- When same layer flag = 1, bits D0~D4 indicate the number of layers where the same pattern is used.

● Same/Distinctive layers

The term "distinctive layer" means that there is no pattern for the layer to be stacked. The term "same layer" means that the pattern to be stacked is the same as the previous layer (in alternating stacking, this means layer 3 is the same as layer 1, and layer 4 is the same as layer 2. Distinctive layers are used in special stacking and in RP mode.

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● Same layer data content

[Example] First layer stacking quantity is 8 pieces.

Turn: There is a turn only at the 8th piece

Hand: Hand closes at pieces 1, 2, 5, 6, 8 (Multiple pick-up)

Same layer flag: Distinctive layer

Stacking quantity for the second layer is 8 pieces.

Turn: There is a turn only at the 2nd and 6th pieces.

Hand: Hand closes at pieces 1, 2, 5, 6, 8

Same layer flag: Distinctive layer

The 3rd layer is the same as the 1st layer (Same layer during special stacking)

The 4th layer is the same as the 2nd layer (Same layer during special stacking)

Qty. HEX D7 D6 D5 D4 D3 D2 D1 D0 Qty. HEX D7 D6 D5 D4 D3 D2 D1 D0

1 42 0 1 0 0 0 0 1 0 1 42 0 1 0 0 0 0 1 0

2 42 0 1 0 0 0 0 1 0 2 43 0 1 0 0 0 0 1 1

3 40 0 1 0 0 0 0 0 0 3 40 0 1 0 0 0 0 0 0

4 40 0 1 0 0 0 0 0 0 4 40 0 1 0 0 0 0 0 0

5 42 0 1 0 0 0 0 1 0 5 42 0 1 0 0 0 0 1 0

6 42 0 1 0 0 0 0 1 0 6 43 0 1 0 0 0 0 1 1

7 40 0 1 0 0 0 0 0 0 7 40 0 1 0 0 0 0 0 0

8 47 0 1 0 0 0 1 1 1 8 46 0 1 0 0 0 1 1 0

1st layer 2nd layer

Layer HEX D7 D6 D5 D4 D3 D2 D1 D0 Layer HEX D7 D6 D5 D4 D3 D2 D1 D0

3 81 1 0 0 0 0 0 0 1 4 82 1 0 0 0 0 0 1 0

3rd layer (Same as 1st layer) 4th layer (Same as 2ndlayer)


Null 0 0 0 0 0 0 0 0 0

End of data

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10. Example of send data

• Column stacking

HEX D7 D6 D5 D4 D3 D2 D1 D0 Current setting Data content

80 1 0 0 0 0 0 0 0 128 Command

5F 0 1 0 1 1 1 1 1 95 ID No.

41 0 1 0 0 0 0 0 1 Prg No. high order 6 bits

38 0 1 1 1 1 0 0 0 Prg120

Prg No. low order 6 bits

03 0 0 0 0 0 0 1 1 3 Pallet No.

04 0 0 0 0 0 1 0 0 4 Number of layers

01 0 0 0 0 0 0 0 1 1(Column tacking) Stacking pattern

08 0 0 0 0 1 0 0 0 8 Stacking quantity for each layer

C1 1 1 0 0 0 0 0 1 1st layer Quantity data start

42 0 1 0 0 0 0 1 0 1st quantity data

42 0 1 0 0 0 0 1 0 2nd quantity data

40 0 1 0 0 0 0 0 0 3rd quantity data

40 0 1 0 0 0 0 0 0 4th quantity data

41 0 1 0 0 0 0 0 1 5th quantity data

41 0 1 0 0 0 0 0 1 6th quantity data

40 0 1 0 0 0 0 0 0 7th quantity data

47 0 1 0 0 0 1 1 1 8th quantity data + layer end

0 0 0 0 0 0 0 0 0 0 NULL(Data terminator)

*2

*1 *1

*3

*1: Program No

(1) When [PLC standard Interface] is set to [X/Y]. This text is sent only when “Program No. Addition” mode. (cf. 2.5 External PLC communication set up)

(2) When [PLC standard Interface] is set to [M+D]. It is set whichever [Pattern info PrgNo addition] is associated with. It is consist of 3 bytes to support programs up to 9999.

42 0 1 0 0 0 0 1 0 Program No. high order 6 bits

4C 0 1 0 0 1 1 0 0 Program No. middle order 6 bits

69 0 1 1 0 1 0 0 1

Prg9001

Program No. low order 6 bits

*2: This text is sent only when “Layer Data Addition” mode. (cf. 2.5 External PLC communication set up)

*3: IDNo can be set only when [PLC standard Interface] is set to [X/Y]. It never be set when [M+D].

4-56

• Alternating stacking


80 1 0 0 0 0 0 0 0 128 Command

5F 0 1 0 1 1 1 1 1 95 ID No.


38 0 1 1 1 1 0 0 0 Prg120


03 0 0 0 0 0 0 1 1 3 Pallet No.

04 0 0 0 0 0 1 0 0 4 layers Number of layers

02 0 0 0 0 0 0 1 0 2

(Alternating stacking)

Stacking pattern

08 0 0 0 0 1 0 0 0 8 pieces Stacking quantity in each layer

C1 1 1 0 0 0 0 0 1 1st layer 1st layer data start

42 0 1 0 0 0 0 1 0 1st quantity data

42 0 1 0 0 0 0 1 0 2nd quantity data

40 0 1 0 0 0 0 0 0 3rd quantity data

40 0 1 0 0 0 0 0 0 4th quantity data

41 0 1 0 0 0 0 0 1 5th quantity data

41 0 1 0 0 0 0 0 1 6th quantity data

40 0 1 0 0 0 0 0 0 7th quantity data


C2 1 1 0 0 0 0 1 0 2nd layer 2nd layer data start

42 0 1 0 0 0 0 1 0 1st quantity data

42 0 1 0 0 0 0 1 0 2nd quantity data

40 0 1 0 0 0 0 0 0 3rd quantity data

40 0 1 0 0 0 0 0 0 4th quantity data

41 0 1 0 0 0 0 0 1 5th quantity data

41 0 1 0 0 0 0 0 1 6th quantity data

40 0 1 0 0 0 0 0 0 7th quantity data


0 0 0 0 0 0 0 0 0 0 NULL(Data terminator)

*2

*1 *1

*2

*3

*1-3: See the case of [Column stacking]

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• When there is same layer setting for special stacking and “Layer Data Addition” is “Yes”. (3rd layer is the same as 1st layer, and 4th layer is the same as 2nd layer)


80 1 0 0 0 0 0 0 0 128 Command

5F 0 1 0 1 1 1 1 1 95 ID No.


38 0 1 1 1 1 0 0 0 Prg120


03 0 0 0 0 0 0 1 1 3 Pallet No.

04 0 0 0 0 0 1 0 0 4 layers Number of layers

03 0 0 0 0 0 0 1 1 3

(Special stacking)

Stacking pattern


C1 1 1 0 0 0 0 0 1 1st layer 1st layer data start

42 0 1 0 0 0 0 1 0 1st quantity data

42 0 1 0 0 0 0 1 0 2nd quantity data

40 0 1 0 0 0 0 0 0 3rd quantity data

40 0 1 0 0 0 0 0 0 4th quantity data

41 0 1 0 0 0 0 0 1 5th quantity data

41 0 1 0 0 0 0 0 1 6th quantity data

40 0 1 0 0 0 0 0 0 7th quantity data


C2 1 1 0 0 0 0 1 0 2nd layer 2nd layer data start

42 0 1 0 0 0 0 1 0 1st quantity data

42 0 1 0 0 0 0 1 0 2nd quantity data

40 0 1 0 0 0 0 0 0 3rd quantity data

40 0 1 0 0 0 0 0 0 4th quantity data

41 0 1 0 0 0 0 0 1 5th quantity data

41 0 1 0 0 0 0 0 1 6th quantity data

40 0 1 0 0 0 0 0 0 7th quantity data


C3 1 1 0 0 0 0 1 1 3rd layer 3rd layer data start

81 1 0 0 0 0 0 0 1 Same layer

(1st layer)

Same layer flag

C4 1 1 0 0 1 0 0 0 4th layer 4th layer data start

82 1 0 0 0 0 0 1 0 Same layer

(2nd layer)

Same layer flag

0 0 0 0 0 0 0 0 0 0 NULL (Data terminator)

*3 *1 *1

*2

*2

*2

*2


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• When there is same layer setting for special stacking and “Layer Data Addition” is “No”. (3rd layer is the same as 1st layer and 4th layer is the same as 2nd layer)

HEX D7 D6 D5 D4 D3 D2 D1 D0 Current Setting

Data contents

80 1 0 0 0 0 0 0 0 128 Command

5F 0 1 0 1 1 1 1 1 95 ID No.


38 0 1 1 1 1 0 0 0 Prg120


03 0 0 0 0 0 0 1 1 3 Pallet No.

04 0 0 0 0 0 1 0 0 4th layer Number of layers

03 0 0 0 0 0 0 1 1 3

(Special stacking)

Stacking pattern


61 0 1 1 0 0 0 0 1 1st layer 1st layer data start

42 0 1 0 0 0 0 1 0 1st quantity data

42 0 1 0 0 0 0 1 0 2nd quantity data

40 0 1 0 0 0 0 0 0 3rd quantity data

40 0 1 0 0 0 0 0 0 4th quantity data

41 0 1 0 0 0 0 0 1 5th quantity data

41 0 1 0 0 0 0 0 1 6th quantity data

40 0 1 0 0 0 0 0 0 7th quantity data


62 0 1 1 0 0 0 1 0 2nd layer 2nd layer data start

42 0 1 0 0 0 0 1 0 1st quantity data

42 0 1 0 0 0 0 1 0 2nd quantity data

40 0 1 0 0 0 0 0 0 3rd quantity data

40 0 1 0 0 0 0 0 0 4th quantity data

41 0 1 0 0 0 0 0 1 5th quantity data

41 0 1 0 0 0 0 0 1 6th quantity data

40 0 1 0 0 0 0 0 0 7th quantity data

47 0 1 0 0 0 1 1 1 47 8th quantity data + layer end

63 0 1 1 0 0 0 1 1 3rd layer 3rd layer data start

81 1 0 0 0 0 0 0 1 Same layer

(1st layer)

Same layer flag

64 0 1 1 0 1 0 0 0 4th layer 4th layer data start

82 1 0 0 0 0 0 1 0 Same layer

(2nd layer)

Same layer flag


*2

*2

*2

*2

*1 *1

*3


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• When “All Special Data Advice” is “No”.

HEX D7 D6 D5 D4 D3 D2 D1 D0 Current Setting Data contents

80 1 0 0 0 0 0 0 0 128 Command

5F 0 1 0 1 1 1 1 1 95 ID No.


38 0 1 1 1 1 0 0 0 Prg120

*3 *1

Prg No. low order 6 bits *1

03 0 0 0 0 0 0 1 1 3 Pallet No.

04 0 0 0 0 0 1 0 0 4th layer Number of layers

03 0 0 0 0 0 0 1 1 3

(Special stacking)

Stacking pattern




4.7.2. Conveyor reset When conveyor reset operation is performed using the conveyor manual screen on the robot control panel, the following data is output. Conveyor reset performs resetting of the number of stacking layers/quantity/conveyor for the robot.

HEX D7 D6 D5 D4 D3 D2 D1 D0 Data content

82 1 0 0 0 0 0 1 0 Conveyor reset command

0 0 0 0 0 0 0 0 0 NULL: Data end

4.7.3. Conveyor zero reset When conveyor zero reset operation is performed using the conveyor manual screen on the robot control panel, the following data is output. Conveyor zero reset performs reset of the just the station conveyor. The command value is fixed. For the station no., bits D3~D7 are fixed at "0" and bits D0~D2 indicate the station No.


83 1 0 0 0 0 0 1 1 Conveyor zero reset command

03 0 0 0 0 0 0 1 1 Station conveyor no. Example: Conveyor No. 3

0 0 0 0 0 0 0 0 0 NULL: Data end

4.7.4. Counter setting Setting correction or initialization is executed from the stacking counter correction screen on the robot control panel, the changed values are output using the following data. When the counter is initialized, the numbers of layers and pieces are set to "0".

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84 1 0 0 0 0 1 0 0 Counter setting command

06 0 0 0 0 0 1 1 0 ID No.

03 0 0 0 0 0 0 1 1 Pallet No. (Using D0~D2 bit).Example: Pallet No. 3

48 0 1 0 0 1 0 0 0 Layer data (Using D0~D5 bit). Example: Layer 8

49 0 1 0 0 1 0 0 1 Quantity data (Using D0~D5 bit). Example: 9 pieces

0 0 0 0 0 0 0 0 0 NULL: Data end

*1: When counter setting initialization or correction has been performed, the internal data memory in the robot is rewritten (current stacking program). The following number of layers is displayed on the robot side, so the sent data is as follows.

Layer data = Layer counter value (displayed value) –1

*2: Quantity data is also processed the same as layer data.

Quantity data = Quantity counter value (displayed value) –1

*3: IDNo is set only when [PLC standard Interface] is set to [X/Y]. Program No is set instead when set to [M+D].



69 0 1 1 0 1 0 0 1

Prg9001


4.7.5. Conveyor manual When the conveyor setting has been changed using the setting/cancel keys on the conveyor manual screen of the robot control panel, the following data is output.


85 1 0 0 0 0 1 0 1 Counter setting command

50 0 1 0 1 0 0 0 0 Data 1. Bits D0~D5 indicate conveyors 1~6. Example: 5

48 0 1 0 0 1 0 0 0 Data 2. Bits D0~D5 indicate conveyors 1~7. Example: 10

42 0 1 0 0 0 0 1 0 Data 3. Bits D0~D4 indicates conveyors 13~16. Example: 14

0 0 0 0 0 0 0 0 0 NULL: Data end

4.7.6. No program for ID No. If there is no program for an ID No. designated from the PLC, this fact is determined at ID No. strobe reception, and this data is output. If there has been a pattern data request (2-b, 2-d) from the PLC, and there was no program for the designated ID No., this data is output when pattern data is requested.

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86 1 0 0 0 0 1 1 0 Command when there is no program for the ID No.

03 0 0 0 0 0 0 1 1 Use bits D0~D2 for pallet. Example: Pallet No. 3

0 0 0 0 0 0 0 0 0 NULL: Data end

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4.7.7. Overall time, automatic operation time In response to a request from the PLC (2-g), the overall time and automatic operation time are output using the following data.


88 1 0 0 0 1 0 0 0 Command for overall time, automatic operation time

40 0 1 0 0 0 0 0 0 Bits 18~23 of overall time are indicated with bits D0~D5.




40 0 1 0 0 0 0 0 0 Bits 18~23 of automatic operation time are indicated with bits D0~D5

40 0 1 0 0 0 0 0 0 Bits 12~17 of automatic operation time are indicated with bits D0~D5

40 0 1 0 0 0 0 0 0 Bits 6~11 of automatic operation time are indicated with bits D0~D5.

40 0 1 0 0 0 0 0 0 Bits 1~5 of automatic operation time are indicated with bits D0~D5.

0 0 0 0 0 0 0 0 0 NULL: Data end

Total time and automatic operation time are indicated with 23 bits, so they are sent by segmenting the data into 6 bit units.

4.7.8. Data memory output In response to a request from the PLC (2-h), the content of robot data memory is output using the following data.


89 1 0 0 0 1 0 0 1 Data memory output command

41 0 1 0 0 0 0 0 1 Data memory No. data higher-order 6 bits

43 0 1 0 0 0 0 1 1 Data memory No. data lower-order 6 bits

40 0 1 0 0 0 0 0 0 Data memory 1 is indicated with the 6 bits of D12~D17



0 0 0 0 0 0 0 0 0 NULL: Data end

4-63

4.7.9. Product dimension output When there is a request from the PLC (2-i), dimensions are output using the following data.

Units are mm.


8C 1 0 0 0 1 1 0 0 Command for product dimension data output

127 0 1 1 1 1 1 1 1 ID No. Example: ID No. 127 （*3）

44 0 1 0 0 0 1 0 0 Product length data higher-order 6 bits, Length 300mm=12C

6C 0 1 1 0 1 1 0 0 Product length data lower-order 6 bits

43 0 1 0 0 0 0 1 1 Product width data higher-order 6 bits, Width 250mm=FA

7A 0 1 1 1 1 0 1 0 Product width data lower-order 6 bits

43 0 1 0 0 0 0 1 1 Product height data higher-order 6 bits, Height 200mm =C8

48 0 1 0 0 1 0 0 0 Product height data lower-order 6 bits

0 0 0 0 0 0 0 0 0 NULL: Data end




69 0 1 1 0 1 0 0 1

Prg9001


4.7.10. Error code output When a robot error occurs, the error content is output to the PLC using the following data. This is done to notify the PLC of the error content. Applicable error codes range from "0" to "99". However, this is effective only when “Transmit error code to PLC” mode at the screen of “external PLC I/F setting up”.


87 1 0 0 0 0 1 1 1 Error output command

01 0 0 0 0 0 0 0 1 Error No. (7F in the case of "0") Sub code 1

40 0 0 1 0 0 0 0 0 Error sub-No. (7F in the case of "0") Sub code 32

0 0 0 0 0 0 0 0 0 NULL: Data end

4.7.11. Response for allocation of PRG No. for ID No. In response to a request from the PLC (2-e), the content of robot data memory is output using the following data.


8A 1 0 0 0 0 1 1 0 Command for no program to ID.

06 0 0 0 0 0 1 1 0 ID No.

41 0 1 0 0 0 0 0 1 Program No. data higher-order 6 bits

4-64

43 0 1 0 0 0 0 1 1 Program No. data lower-order 6 bits

0 0 0 0 0 0 0 0 0 NULL: Data end

*1: If the requested ID No. is abnormal or the program No. doesn’t exist, 7F(HEX) is set for both high and low order bits of program No.. And it doesn’t allocate in this case.

* 2: This command is disabled when [PLC standard Interface] is set to [M+D].

4.7.12. Response of writing request to data memory

HEX D7 D6 D5 D4 D3 D2 D1 D0 Data content 8B 1 0 0 0 1 0 1 1 Response command is “8B” 41 0 1 0 0 0 0 0 1 Actual written data word numbers（example. 1）40 0 1 0 0 0 0 0 0 Result 0 0 0 0 0 0 0 0 0 NULL

Result: 0 (40H) Processing ended correctly.

1 (41H) Address range over. 2 (42H) Format is abnormal. The error whose number of words is out of range is included.

If the result is not 0, all data are not changed.

4-65

4.8. Details of PLC → Robot Data The following types of data are sent from the PLC to the robot.

1. PLC error code

2. Pattern data request from conveyor

3. Count setting from conveyor

4. Pattern data request for pallet No.

5. Allocation of PRG No. for ID No.

6. Stacking height setting

7. Request for robot overall time, automatic operation time

8. Data memory content request

9. Product dimension request

10. Sequence reset request

11. Allocation of PRG No. for ID No. and pattern data request

12. Writing request to Data memory

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4.8.1. PLC error code When this signal is received from the PLC, a message (stored at error No. + 300) and sub code are displayed at the error data No. on the robot control panel CRT.


90 1 0 0 1 0 0 0 0 Output of PLC error mode signal. Command "80" or "90"

2 0 0 0 0 0 0 1 0 Error data No. (1~99)

1 0 0 0 0 0 0 0 1 Error sub No. (7F in the case of "0"), Lower order bits

1 0 0 0 0 0 0 0 1 Error sub No. Example: Sub code is 65, Higher order bits

0 0 0 0 0 0 0 0 0 NULL: Data end

* The sub codes are ranging from 0 to 999. (Over 1000 cannot be displayed.)

4.8.2. Pattern data request from conveyor Command to request pattern information to robot controller


91 1 0 0 1 0 0 0 1 Pattern data request command. Command is "81" or "91"

7F 0 1 1 1 1 1 1 1 ID No. (The ID No. can be omitted). Example: ID No. 127

03 0 0 0 0 0 0 1 1 Pallet No. Example: Pallet No. 3 （*3）

0 0 0 0 0 0 0 0 0 NULL: Data end


42 0 1 0 0 0 0 1 0 Program.No high order 6 bits

4C 0 1 0 0 1 1 0 0 Program.No middle order 6 bits

69 0 1 1 0 1 0 0 1

Prg9001

Program.No low order 6 bits

4.8.3. Count setting from conveyor Command to change the count value of the program of robot controller's corresponding ID No.

If the ID No. is 0xFF, or if the highest order bit (D7) is ON ("1"), all programs are initialized. (In this case, the subsequent data field is ignored.)


92 1 0 0 1 0 0 1 0 Count setting command from PLC. "82" or "92"

10 0 0 0 1 0 0 0 0 ID No. Example ID No.=16 （*3）

42 0 1 0 0 0 0 1 0 Layer number data (Example: When robot layer counter is "3")

43 0 1 0 0 0 0 1 1 Quantity data

(Example: When robot quantity count is "4")

0 0 0 0 0 0 0 0 0 NULL: Data end

4-67

*1: For layer number data sent from PLC to robot, use the layer number obtained by subtracting "1" from the number of layers the robot will stack.

PLC layer number = Robot layer number - 1 layer

*2: For quantity data sent from PLC to robot, use the quantity obtained by subtracting "1" from the quantity the robot will stack.

PLC quantity = Robot quantity - 1 piece




69 0 1 1 0 1 0 0 1

Prg9001


All programs are to be initialized when the first bit (D7 bit) out of the upper 6 bits is ON (“1”).

4.8.4. Pattern data request for pallet No. Command to request to robot controller pattern information corresponding palette No..


93 1 0 0 1 0 0 1 1 Pattern data request for pallet No. Command is "83" or "93".

04 1 0 0 0 0 1 0 0 Pallet No. Example: Pallet No. 4

0 0 0 0 0 0 0 0 0 NULL: Data end

4.8.5. Allocation of PRG No. for ID No. Command to allocates program No. to robot controller's ID No.


94 1 0 0 1 0 1 0 0 Command for allocating PRG No.to ID No. Command is "84" or "94".

06 0 0 0 0 0 1 1 0 ID No. Example: ID No. 6

41 0 1 0 0 0 0 0 1 Higher order 6 bits of program No.

43 0 1 0 0 0 0 1 1 Lower order 6 bits of program No.67 hex in this example

0 0 0 0 0 0 0 0 0 NULL: Data end

After receiving data successfully, robot sends back the following data to PLC. (If program No. is invalid 0x7F will send as program No. data).


8A 1 0 0 0 0 1 1 0 Command for sending back allocating PRG No.data

4-68

06 0 0 0 0 0 1 1 0 ID No. Example: ID No. 6

41 0 1 0 0 0 0 0 1 Higher order 6 bits of program No.

43 0 1 0 0 0 0 1 1 Lower order 6 bits of program No. 67 hex in this example

0 0 0 0 0 0 0 0 0 NULL: Data end

*1: It works only when [PLC standard Interface] is set to [X/Y]. It won’t work at [M+D].

4.8.6. Stacking height setting (DA1800 model only) This setting is special for the DA1800 (Robo-gator). When SW1-1 is ON, and this signal is received from the PLC, the height data in step 7 is changed to the setting in the received signal. In the following, the height in step 7 of the program with ID No. 6 is set to 69mm.


95 1 0 0 1 0 1 0 1 Command for changing height in step 7 of program. The command is "85" or "95"

06 0 0 0 0 0 1 1 0 ID No. Example: ID No. 6 （*3）

41 0 1 0 0 0 0 0 1 Height data, higher order 6 bits

45 0 1 0 0 0 1 0 1 Height data, lower order 6 bits, 69hex in the example

0 0 0 0 0 0 0 0 0 NULL: Data end




69 0 1 1 0 1 0 0 1

Prg9001


4.8.7. Request for robot overall time, automatic operation time Command to request for robot overall time, automatic operation time to robot controller.


96 1 0 0 1 0 1 1 0 Request command for robot overall time/automatic operation. The command is "96".

0 0 0 0 0 0 0 0 0 NULL: Data end

4.8.8. Data memory content request Command to request content of robot controller's corresponding data memory


97 1 0 0 1 0 1 1 1 Data memory content request command. The command is "97".

42 0 1 0 0 0 0 1 0 Data memory, higher order 6 bits

4-69

43 0 1 0 0 0 0 1 1 Data memory lower order 6 bits

0 0 0 0 0 0 0 0 0 NULL: Data end

4.8.9. Product dimension request Command to request product dimension of program corresponding robot controller's ID No.


9C 1 0 0 1 1 0 1 1 Product dimension request command. The command is "9C"

02 0 0 0 0 0 0 1 0 ID No. （*3）

0 0 0 0 0 0 0 0 0 NULL: Data end




69 0 1 1 0 1 0 0 1

Prg9001


4.8.10. Sequence reset request Command to make robot controller compulsorily sequence reset.


9D 1 0 0 1 1 1 0 1 Request command for sequence reset. The command is "9D".

0 0 0 0 0 0 0 0 0 NULL: Data end

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4.8.11. Allocation of PRG No. for ID No. and pattern data request

Command to make robot controller compulsorily sequence reset.


9E 1 0 0 1 1 1 0 1 Request command for sequence reset. The command is "9D".

06 0 0 0 0 0 1 1 0 ID No.

41 0 1 0 0 0 0 0 1 Program No. data higher-order 6 bits

43 0 1 0 0 0 0 1 1 Program No. data lower-order 6 bits

0 0 0 0 0 0 0 0 0 NULL: Data end

*1: It works only when [PLC standard Interface] is set to [X/Y]. It won’t work at [M+D].

4.8.12. Writing request to Data memory One word is consisted of 16 bits.

HEX D7 D6 D5 D4 D3 D2 D1 D0 Data content 98 1 0 0 1 1 0 0 0 Data memory write command “98” 4F 0 1 0 0 1 1 1 1 Start address high 6bitt （example. D1000） 68 0 1 1 0 1 0 0 0 Start address low 6bit 41 0 1 0 0 0 0 0 1 Data BIT15 to BIT12 （example. 1234H） 48 0 1 0 0 1 0 0 0 Data BIT11 to BIT6 74 0 1 1 1 0 1 0 0 Data BIT5 to BIT0

Some data continues.

0 0 0 0 0 0 0 0 0 NULL: 1) Address range 1000 to 2999 (3E8H to BB7H) 2) Word numbers range 1 to 5 words 3) Data range 0 to 65535 (0H to FFFFH) 4) NULL Terminator

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Robot manual

Interface with PLC

Version 01: 2011.2.1

<Caution>

Unauthorized reproduction of part or all of the content of this manual is forbidden.

The content of this manual is subject to future change without prior notice.

Okura Yusoki Co., Ltd. 900 Furuouchi, Noguchi-cho, Kakogawa,

Hyogo 675-8675 Japan

ＭＴ

ＭＴ

読込書込書込エリア

D950

↓

D974

ロボット側 PLC側読込エリア

D2740

↓

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網掛け部は

ⅱ面での設

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Documents

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