Operation
When the CC-Link is installed, some operation differs from the other Fieldbus I/O options. This section describes these differences.
Remote I/O
Remote input (RX) and remote output (RY) indicates ON/OFF information. Remote data is bit data and the FROM/TO command is executed per 16 bits (1 word).
"n" in the following tables is address configured as a master station with the station configure.
Remote Input List (Output from RC+ / Input for PLC) (Version: ver2.00 / Extended Cyclic Setting: 2 / Input and Output Bytes: 92 (4 stations occupied)) *1
Signal direction: Remote device station (CC-Link module) → Master station (PLC)
Bits indicated as "Not used" are left for user. Use these freely for SPEL+ programs.
| Address | Signal Name | Robot System Output Bit No. | |
|---|---|---|---|
| RXn0 | Ready | *1 | 512 |
| RXn1 | Running | *1 | 513 |
| RXn2 | Paused | *1 | 514 |
| RXn3 | Error | *1 | 515 |
| RXn4 | Not used | 516 | |
| RXn5 | SafeguardOn | *1 | 517 |
| RXn6 | SError | *1 | 518 |
| RXn7 | Warning | *1 | 519 |
| RXn8 | MotorsOn | *1 | 520 |
| RXn9 | AtHome | *1 | 521 |
| RXnA | CurrProg1 | *1 | 522 |
| RXnB | CurrProg2 | *1 | 523 |
| RXnC | CurrProg4 | *1 | 524 |
| RXnD | AutoMode | *1 | 525 |
| RXnE | TeachMode | *1 | 526 |
| RXnF | ErrorCode1 | *1 | 527 |
| RX(n+1)0 | ErrorCode2 | *1 | 528 |
| RX(n+1)1 | ErrorCode4 | *1 | 529 |
| RX(n+1)2 | ErrorCode8 | *1 | 530 |
| RX(n+1)3 | ErrorCode16 | *1 | 531 |
| RX(n+1)4 | ErrorCode32 | *1 | 532 |
| RX(n+1)5 | ErrorCode64 | *1 | 533 |
| RX(n+1)6 | ErrorCode128 | *1 | 534 |
| RX(n+1)7 | ErrorCode256 | *1 | 535 |
| RX(n+1)8 | ErrorCode512 | *1 | 536 |
| RX(n+1)9 | ErrorCode1024 | *1 | 537 |
| RX(n+1)A | ErrorCode2048 | *1 | 538 |
| RX(n+1)B | ErrorCode4096 | *1 | 539 |
| RX(n+1)C | ErrorCode8192 | *1 | 540 |
| RX(n+1)D | CmdRunning | *1 | 541 |
| RX(n+1)E | CmdError | *1 | 542 |
| RX(n+1)F | EStopOff | *1 | 543 |
| RX(n+2)0 | Not used | 544 | |
| ⋮ | ⋮ | ||
| RX(n+D)8 | Not used | 728 | |
| RX(n+D)9 | Not used | 729 | |
| RX(n+D)A | Not used | 730 | |
| RX(n+D)B | Remote Ready | *2 | 731 |
| RX(n+D)C | Not used | 732 | |
| RX(n+D)D | Not used | 733 | |
| RX(n+D)E | Not used | 734 | |
| RX(n+D)F | Not used | 735 | |
*1: Remote control inputs and outputs are not allocated to fieldbus slave I/O by default.
To allocate remote control inputs and outputs to fieldbus I/O, refer to following section.
Setting Remote Control Input and Output
*2: When initialization of the CC-Link module is completed at the Robot system turn-on, Remote Ready flag (In this example [RX(n+F)B] turns ON.
I/O assignment of Remote Ready cannot be changed or disabled (NA).
| CC-Link Version | Number of Extended Cyclics | Number of Bytes (Occupied Stations) | Remote Ready Bit No. |
|---|---|---|---|
| 1.10 | - | 1 to 12 (Occupied Stations 1) | 539 |
| 13 to 24 (Occupied Stations 2) | 571 | ||
| 25 to 36 (Occupied Stations 3) | 603 | ||
| 37 to 48 (Occupied Stations 4) | 635 | ||
| 2.00 | 1× | 12 (Occupied Stations 1) | 539 |
| 24 (Occupied Stations 2) | 571 | ||
| 36 (Occupied Stations 3) | 603 | ||
| 48 (Occupied Stations 4) | 635 | ||
| 2× | 20 (Occupied Stations 1) | 539 | |
| 44 (Occupied Stations 2) | 603 | ||
| 68 (Occupied Stations 3) | 667 | ||
| 92 (Occupied Stations 4) | 731 | ||
| 4× | 40 (Occupied Stations 1) | 571 | |
| 88 (Occupied Stations 2) | 699 | ||
| 136 (Occupied Stations 3) | 827 | ||
| 184 (Occupied Stations 4) | 955 | ||
| 8× | 80 (Occupied Stations 1) | 635 | |
| 176 (Occupied Stations 2) | 891 | ||
| 272 (Occupied Stations 3) | 1147 | ||
| 368 (Occupied Stations 4) | 1403 |
Remote Output List (Input for RC+ / Output from PLC) *1
(Version: ver2.00 / Extended Cyclic Setting: 2 / Input and Output Bytes: 92 (4 stations occupied)) *1Signal direction: Signal direction: Master station (PLC) → Remote device station (CC-Link module) Bits indicated as "Not used" are left for user. Use these freely for SPEL+ programs.
| Address | Signal Name | Robot System Bit No. |
|---|---|---|
| RYn0 | Start * | 512 |
| RYn1 | SelProg1 * | 513 |
| RYn2 | SelProg2 * | 514 |
| RYn3 | SelProg4 * | 515 |
| RYn4 | Stop * | 516 |
| RYn5 | Pause * | 517 |
| RYn6 | Continue * | 518 |
| RYn7 | Reset * | 519 |
| RYn8 | SetMotorsOn * | 520 |
| RYn9 | SetMotorsOff * | 521 |
| RYnA | Home * | 522 |
| RYnB | Shutdown * | 523 |
| RYnC | Not used | 524 |
| RYnD | Not used | 525 |
| RYnE | Not used | 526 |
| RYnF | Not used | 527 |
| RY(n+1)0 | Not used | 528 |
| ⋮ | ⋮ | |
| RY(n+C)F | Not used | 719 |
| RY(n+D)0 | Not used | 720 |
| RY(n+D)1 | Not used | 721 |
| RY(n+D)2 | Not used | 722 |
| RY(n+D)3 | Not used | 723 |
| RY(n+D)4 | Not used | 724 |
| RY(n+D)5 | Not used | 725 |
| RY(n+D)6 | Not used | 726 |
| RY(n+D)7 | Not used | 727 |
| RY(n+D)8 | Not used | 728 |
| RY(n+D)9 | Not used | 729 |
| RY(n+D)A | Not used | 730 |
| RY(n+D)B | Not used | 731 |
| RY(n+D)C | Not used | 732 |
| RY(n+D)D | Not used | 733 |
| RY(n+D)E | Not used | 734 |
| RY(n+D)F | Not used | 735 |
*: Remote control inputs and outputs are not allocated to fieldbus slave I/O by default.
To allocate remote control inputs and outputs to fieldbus I/O, refer to following section.
Setting Remote Control Input and Output
Remote Register
Remote register (RWr, RWw) is numeric value
"m" indicated in the following tables are master station address configured with station configure.Remote Register List
(Version: ver2.00 / Extended Cyclic Setting: 2 / Input and Output Bytes: 92 (4 stations occupied)) *1Signal direction: Signal direction: Remote device station (CC-Link module) → Master station (PLC)
Bits indicated as "Not used" are left for user. Use these freely for SPEL+ programs.
| Address | Signal Name | Robot System Word No | Robot System Bit No. |
|---|---|---|---|
| RWrm+0 | Not used | 46 | 736 to 751 |
| RWrm+1 | Not used | 47 | 752 to 767 |
| ⋮ | ⋮ | ||
| RWrm+1D | Not used | 75 | 1200 to 1215 |
| RWrm+1E | Not used | 76 | 1216 to 1231 |
| RWrm+1F | Not used | 77 | 1232 to 1247 |
Signal direction: Signal direction: Master station (PLC) → Remote device station (CC-Link module)
Bits indicated as "Not used" are left for user. Use these freely for SPEL+ programs.
| Address | Signal Name | Robot System Word No | Robot System Bit No. |
|---|---|---|---|
| RWwm+0 | Not used | 46 | 736 to 751 |
| RWwm+1 | Not used | 47 | 752 to 767 |
| ⋮ | ⋮ | ||
| RWwm+1D | Not used | 75 | 1200 to 1215 |
| RWwm+1E | Not used | 76 | 1216 to 1231 |
| RWwm+1F | Not used | 77 | 1232 to 1247 |
The number of stations, remote I/O range, and remote register range depend on the input / output size.
CC-Link Ver1.10
| Input / Output Byte Configuration (RC+) | Occupied Stations | Remote I/O (Bytes) | Remote Register (Bytes) |
|---|---|---|---|
| 0 < x = < 4 | 1 | S | 0 |
| 4 < x = < 12 | 4 | x - 4 | |
| 12 < x = < 24 | 2 | 8 | x - 8 |
| 24 < x = < 36 | 3 | 12 | x - 12 |
| 36 < x = < 48 | 4 | 16 | x - 16 |
KEY POINTS
When the input and output size of RC+ is set to 32 bytes (default value), number of occupied station will be 3, Remote I/O will be 12 bytes, Remote Register will be 20 bytes (10 words), and system reserved area will be 4 bytes.
When the input and output size is set to 36 bytes, number of occupied station will be 3, Remote I/O will be 12 bytes, Remote Register will be 24 bytes (12 words), and system reserved area will be 0 bytes.
In Version 2.00, there is no system reserved area.
CC-Link Ver2.00
| Occupied Stations | Number of Extended Cyclics | |||||||
|---|---|---|---|---|---|---|---|---|
| 1× | 2× | 4× | 8× | |||||
| 1 | 12 bytes | 20 bytes | 40 bytes | 80 bytes | ||||
| 32 bits | 4 words | 32 bits | 8 words | 64 bits | 16 words | 128 bits | 32 words | |
| 2 | 24 bytes | 44 bytes | 88 bytes | 176 bytes | ||||
| 64 bits | 8 words | 96 bits | 16 words | 192 bits | 32 words | 384 bits | 64 words | |
| 3 | 36 bytes | 68 bytes | 136 bytes | 272ytes | ||||
| 96 bits | 12 words | 160 bits | 24 words | 320 bits | 48 words | 640 bits | 96 words | |
| 4 | 48 bytes | 92 bytes | 184 bytes | 368bytes | ||||
| 128 bits | 16 words | 224 bits | 32 words | 448 bits | 64 words | 896 bits | 128 words | |
The number of occupied stations is the ones on the CC-Link network.
Set this number to the master station.
Remote I/O is ON/OFF information. Remote I/O data is bit data and the FROM/TO commands are executed in units of 16 bits. Remote register is in numeric data.