CC-Link IE Field Communications Function Instructions: Yrc1000 Options

YRC1000 OPTIONS
CC-Link IE Field
COMMUNICATIONS FUNCTION
INSTRUCTIONS
FOR Q81BD-J71GF11-T2 MADE BY MITSUBISHI ELECTRIC Co., Ltd.
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”.
The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.
178943-1CD
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MANUAL NO.
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DANGER
• This manual explains the CC-Link IE Field board Q81BD-J71GF11-
T2 (manufactured by Mitsubishi Electric Corporation) of the
YRC1000 system. Read this manual carefully and be sure to
understand its contents before handling the YRC1000. Any matter,
including operation, usage, measures, and an item to use, not
described in this manual must be regarded as "prohibited" or
"improper".
• General information related to safety are described in “YRC1000
INSTRUCTIONS (RE-CTO-A221) 1. Safety”. To ensure correct
and safe operation, carefully read “YRC1000 INSTRUCTIONS (RE-
CTO-A221) 1. Safety”.
CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from
unauthorized modification of its products. Unauthorized
modification voids the product warranty.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• • If your copy of the manual is damaged or lost, contact a
YASKAWA representative to order a new copy. The representatives
are listed on the back cover. Be sure to tell the representative the
manual number listed on the front cover.
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NOTES FOR SAFE OPERATION

Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
Indicates an imminently hazardous

DANGER situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
Indicates a potentially hazardous

WARNING situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
Indicates a hazardous situation,

CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE is the preferred signal word

NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION".
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NOTICE
• Do not use or keep the board in the following environmental
conditions.
– Where exposed to direct sunshine
– Where vibration or impact occurs
– Where high humidity exists
– Where a strong magnetic field exists
– Where much dust exists
– Where a sudden change in the temperature occurs
– Where corrosive gases occur
– Where condensation occurs
Improper usage of the board may damage the board.
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DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode and the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may result in personal injury caused
by unintended manipulator movement.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching

operation within the P-point maximum envelope of the manipulator:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may result in personal injury caused
by improper or unintended manipulator movement.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Injury may result if any person should enter the P-point maximum
envelope of the manipulator during operation. Immediately press an
emergency stop button whenever there is a problem. The emergency
stop buttons are located on the front panel of the YRC1000 and on the
right of the programming pendant.
• Read and understand the Explanation of the Warning Labels in the
YRC1000 Instructions before operating the manipulator.
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WARNING
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the YRC1000 after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in fire or electric shock.
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CAUTION
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Make sure that there is no damage or deflection of parts on the
board.
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
Malfunction, caused by an incorrect setting, may result in an injury or
damage the board.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
NOTICE
• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.
• No shock to the board.
The shock may damage the board.
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Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.
Equipment Manual Designation
YRC1000 controller YRC1000
YRC1000 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller
Descriptions of the programming pendant keys, buttons, and displays are

shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters or its
Pendant /Symbol Keys symbol printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a
“+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
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Contents
1 Outline ............................................................................................................................................ 1-1
1.1 System Configuration ........................................................................................................ 1-1
2 Hardware Specifications ................................................................................................................. 2-1
2.1 External View of the J71GF11-T2 Board ........................................................................... 2-1
2.2 J71GF11-T2 Specifications ............................................................................................... 2-2
2.3 Communication Specifications........................................................................................... 2-3
3 Mounting the J71GF11-T2 Board ................................................................................................... 3-1
3.1 Opening the Front Door of the YRC1000 .......................................................................... 3-2
3.2 Mounting the J71GF11-T2 Board on the YRC1000........................................................... 3-3
3.3 Cable Connection .............................................................................................................. 3-3
3.4 Closing Front Door of the YRC1000 .................................................................................. 3-4
4 I/O Signal Allocation........................................................................................................................ 4-1
4.1 Setting of Optional Board and I/O Module ......................................................................... 4-1
4.2 External I/O Setting............................................................................................................ 4-7
4.3 Transmitting Data ............................................................................................................ 4-12
4.3.1 YRC1000 I/O Allocation Example (For Handling)............................................... 4-13
4.3.2 YRC1000 I/O Allocation Example (For Except Handling)................................... 4-15
4.3.3 Board Status....................................................................................................... 4-17
5 PLC Setting..................................................................................................................................... 5-1
5.1 Master setting .................................................................................................................... 5-1
5.2 IO Confirmation.................................................................................................................. 5-6
5.3 Setting of Star/ Line, Ring Connection and create radder program................................... 5-7
5.4 Block Data Assurance per Station ................................................................................... 5-10
6 Error Indication................................................................................................................................ 6-1
6.1 LED Indicators ................................................................................................................... 6-1
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1 Outline
1.1 System Configuration
1 Outline
This manual describes the CC-Link IE Field board Q81BD-J71GF11-T2
(hereafter J71GF11-T2) (manufactured by Mitsubishi Electric Corporation)
to be used in the YRC1000. The application of the J71GF11-T2 board
enables the exchange of general-purpose I/O data and register data
between a CC-Link IE Field device and the YRC1000. The J71GF11-T2
board is designed only as a local station and cannot be used as a master
station.
1.1 System Configuration

The following diagram shows an example of the configuration of a system
with an J71GF11-T2 board.
CC-Link IE Field
Master Station
External PLC (Sequencer) YRC1000
CC-Link IE Field
Local Station
J71GF11-T2
CC-Link IE Field Cable

CC-Link IE Field
Remote I/O Station
I/O Unit
CC-Link IE Field is a registered trademark of the CLPA (CC-Link Partner

Association).
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2 Hardware Specifications
2.1 External View of the J71GF11-T2 Board
2.1 External View of the J71GF11-T2 Board
Number Name Description

1 Operation LEDs Display the operation status of the CC-Link IE Field
network board.
2 P1 Port 1 connector for the CC-Link IE Field network
connection
3 P2 Port 2 connector for the CC-Link IE Field network
connection
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2.2 J71GF11-T2 Specifications
2.2 J71GF11-T2 Specifications

Items Specifications
Interface to external CC-Link IE Field
device
Board mounting PCI Express slot in the YRC1000
position
Error indicator LED indicators
Number of Maximum number of I/O points
transmission I/O Input: 2048 Output: 2048
points Maximum number of I/O registers
Input: 276 Output: 276 (*when allocate the maximum number, removing error code output
from 560 general purpose M-register of the YRC1000 system)
Error code output The error code generated last is output to the specified M-register.
(The clear operation is not executed for the error code. To clear the error code, turn the
power of the YRC1000 system OFF then back ON.)
Transient The YRC1000 system is not applicable.
Transmission
(communications of
messages etc.)
CSP+ The YRC1000 system is not applicable.
(CC-Link family
system profile)
For the details of output error codes, refer to the following manual of
MITSUBISHI ELECTRIC Co., Ltd.
“CC-Link IE Field Network Interface Board User’s Manual (For SW1DNC-
CCIEF-B)”
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2.3 Communication Specifications
2.3 Communication Specifications
Items Specifications
Transmission speed 1Gbps
Communication method Token Passing
Transmission channel Star/Line/Ring/Mixture of Star and Line
Station type Local station
Max station number 254 (1 master station and 253 slave stations)
MAX station number for each network: 121(1 master station and 120 slave stations)
CC-Link IE Field is not compatible with CC-Link.

NOTE Use the network devices (switching hub/cable) for CC-Link
IE Field corresponding to 1Gbps.
For the details of communication specifications, refer to “CC-Link IE Field

Network Cable Instruction Manual” issued by the CC-Link Partner
Association.
*http://www.cc-link.org/jp/support/material/index.html
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3 Mounting the J71GF11-T2 Board
DANGER
• Before wiring, be sure to turn OFF the power supply and put up a
warning sign, such as “DO NOT TURN ON THE POWER”.
Failure to observe this warning may result in an electric shock or an
injury.
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
CAUTION
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the
board.
board.
• Make sure that there is no damage or deflection of parts on the
board.
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
Malfunction, caused by an incorrect setting, may result in an injury or
damage the board.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.
• No shock to the board.
The shock may damage the board.
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3.1 Opening the Front Door of the YRC1000
3.1 Opening the Front Door of the YRC1000

Mount the J71GF11-T2 board in the following manner.
1. Open the front door of YRC1000.
(1) Turn the door lock on the front face of the YRC1000 clockwise for
90 ° with a coin or a flat tip screwdriver.
Fig. 3-1: Door Unlock
Door Lock
Clockwise
Flat Tip Screwdriver
(2) With the door locks turned clockwise for 90 °, turn the main switch
handle to the “OFF” position, and open the door slowly.
Fig. 3-2: Open The Door "OFF" Position (Horizontal)
YRC1000
Main power supply switch
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3.2 Mounting the J71GF11-T2 Board on the YRC1000
3.2 Mounting the J71GF11-T2 Board on the YRC1000

1. Remove the riser card (JANCD-ABB02-E, JANCD-ABB04-E) from the
CPU rack.
2. Insert the J71GF11-T2 board into the PCI Express slot of the riser
card, then securely tighten the J71GF11-T2 board with the screws.
3. Mount the riser card in the CPU rack.
Fig. 3-3: (Mounting Example) When the J71GF11-T2 Board is Inserted

into Option: Slot1 of JANCD-ABB02E
Fix with a screw
Option: Slot1 Option: Slot2
3.3 Cable Connection

1. Connect the CC-Link IE Field dedicated cable to the J71GF11-T2
board connector (both P1 and P2 are applicable).
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3.4 Closing Front Door of the YRC1000
3.4 Closing Front Door of the YRC1000

1. Close the front door of YRC1000.
(1) Close the door gently.
(2) Turn the door lock on the front face of the YRC1000 counterclock-
wise for 90 ° .
Fig. 3-4: Lock The Door
Flat Tip
Screwdriver
Counter
Clockwise
Door Lock
WARNING
Make sure to close the door and close all the door locks of the
YRC1000 whenever it is used, except for maintenance.
Failure to observe this instruction may cause the ingress of dust, dirt, or
water, which may result in electric shock and/or mechanical failure.
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4 I/O Signal Allocation

4.1 Setting of Optional Board and I/O Module

In order to use the J71GF11-T2 board on the YRC1000, perform the
setting of the optional board and I/O module in the following procedure.
Before setting the optional board and I/O module;

1. Make sure that the power supply of the YRC1000 is turned OFF.
2. Insert the J71GF11-T2 board into the PCI Express slot on the
YRC1000. For the board mounting, refer to chapter 3 “Mounting the
J71GF11-T2 Board” .
Set the optional board and I/O module in the management

SUPPLE
mode.
-MENT In the operation mode and the editing mode, the settings are
for reference only.
1. Turn ON the power supply while pressing [MAIN MENU].

– The main menu appears.
2. Set the security mode to the “MANAGEMENT MODE”.

3. Select {SYSTEM} under the main menu
– The sub menu appears.
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4. Select {SETUP}.
– The SETUP display appears.
5. Select "OPTION BOARD".

– The OPTION BOARD display appears.
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6. Select "J71GF11-T2 ".

– The J71GF11-T2 setup display appears.
– Set the items on the display.
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Explanation of Setup Items

Q81BDJ71GF11-T2
Sets whether to use the J71GF11-T2 board. Set “USED”.
SLAVE OR MASTER
Displays the board operation mode. This setting can not be changed.
I/O SIZE
Sets the size of input/output (units: byte) to transmit and receive data.
Set the multiple of 2 from 2 to 256.
NETWORK NUMBER
Sets the network number of CC-Link IE Field network.
Set the number from 1 to 239.
STATION NUMBER
Sets the CC-Link IE Field network station number.
ERROR CODE ALLOCATION
Sets the YRC1000 M-register number to be the output destination when
output the error code of CC-Link IE Field network.
For the details of output error codes, refer to the following manual of
MITSUBISHI ELECTRIC Co., Ltd.
“CC-Link IE Field Network Interface Board User’s Manual (For
SW1DNC-CCIEF-B)”
REMOTE REGISTER
Sets whether to allocate the remote register of CC-Link IE Field network
to the YRC1000 M-register.
When allocate it, set “ENABLE”.
REMOTE REGISTER SIZE
Sets the allocation number of remote register of CC-Link IE Field net-
work to the YRC1000 M-register. The same number set here can be
allocated for both input and output.
Set the multiple of 4 from 4 to 276.
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REMOTE REGISTER INPUT ALLOCATION

Sets the first number of the YRC1000 M-register when the remote regis-
ter input data of the CC-Link IE Field is allocated.
REMOTE REGISTER OUTPUT ALLOCATION
Sets the first number of the YRC1000 M-register when the remote regis-
ter output data of the CC-Link IE Field is allocated.
Before selecting the M-register No. to set the CC-Link IE

NOTE Field, make sure to use the M-register No. that is not used
for other applications. If the M-register is duplicated, the
processing can not be executed correctly.
7. Press [ENTER].
– The confirmation dialog box appears.
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8. Select "YES".
– The IO MODULE display appears.
– Although the message “Select ‘Safety Board Flash Reset.’” appears,
keep performing setting without following the message.
9. Press [ENTER].
– The rest of the I/O module display appears, and “Q81BD-J71GF11-
T2 (SLAVE)” is displayed.
– The I/O points is displayed under “DI/DO” according to the number of
the I/O size that is set on the “OPTION BOARD” display.
The DI/DO points can be found using the I/O size on the set
up display in the following equation:
SUPPLE
-MENT DI/DO points = (I/O size × 8) + 8
"+ 8" : the I/O points for status
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10. Press [ENTER].

11. Select {YES}.

– Press “YES” if the display corresponds to the current mounted
status of the I/O modules. The I/O module setting is updated, and
the IO MODULE window changes to the EXTERNAL IO SETUP
window.
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4.2 External I/O Setting

1. The EXTERNAL IO SETUP window appears.
2. Select {AUTO} or {MANUAL} in the ALLOCATION MODE.

– The selection menu appears after selecting {AUTO} or {MANUAL}.
If the allocation mode is changed from {MANUAL} to

NOTE {AUTO}, the set allocation data is discarded. The data will
be allocated by AUTO MODE again. Save the set alloca-
tion data to the external devices in advance, if needed.
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3. Select the allocation mode to set up.

– Select {AUTO} to allocate I/O signal allocation automatically.
Select {MANUAL} to allocate I/O signal allocation manually.
– The selected allocation mode is set up.
4. Select {DETAIL} of {EXTERNAL IO ALLOCATION}.

– When select {AUTO}, the following procedures No.5 to 7 are not
necessary. Operate the procedure from No.8.
– When select {MANUAL], operate the following procedures No.5 to 7
accordant with the setting manually.
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5. Select the external I/O signal number (at the change source) to be
changed. (In the setting example, select “#20060”.)
– The select menu appears.
6. Select {MODIFY], and input the external input signal number (at the
change destination) to be changed. (In the setting example, enter
“#20200”.)
– The external input signal number is changed.
7. Likewise, select/modify the number of the external input signal.

– Repeat select/modify until it becomes the desired allocation to set
up.
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8. Press {ENTER].
– The allocation window of the external output signal appears.
9. Select/modify the number of the external output signal same as the

external input signal.
– Repeat select/modify until it becomes the desired allocation to set
up.
10. Press {ENTER].
– Confirmation dialog appears.
11. Select {YES].

– The settings are confirmed, and returns to the SETUP window.
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12. Set the security mode to the “SAFETY MODE”.

13. Select {FILE} - {INITIALIZE} under the main menu.
– The initialize window appears.
14. Select “Safety Board FLASH Reset”.

15. Select {YES}.

– A short beep sound means the setting is completed.
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4.3 Transmitting Data

The data to be transmitted from the J71GF11-T2 board to inside of the
YRC1000 is not only the I/O data from the external device connected to
the CC-Link IE Field, but also the status of the J71GF11-T2 board.
Therefore, inside the YRC1000, 8 points (1 byte) for both input and output
are reserved for the status of the J71GF11-T2 board beside the area for
the digital data. The output area, however, cannot be used.
The transmission data from the J71GF11-T2 board are allocated to the
external I/O signals of concurrent I/O and the M-registers.
Connected to CC-Link
Concurrent I/O J71GF11-T2 Board IE Field
< Input >

20010 to 25127
(4096 points)
< Output > CC-Link IE Field
Communication CC-Link IE Field
30010 to 35127
and Communication
(4096 points)
Transmission to
YRC1000
< Regiter >
M000 to M999
(1000 points)
When only an J71GF11-T2 (16 bytes for I/O) is mounted as an optional I/

O board, the concurrent I/O allocation of each board is shown in the
following table.
Furthermore, the following table shows the remote register allocation of
word data when the remote register input allocation is set to M016 and the
remote register output allocation is set to M000.
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4.3.1 YRC1000 I/O Allocation Example (For Handling)

Note1) The following example is for the standard setting. When change
the allocation of the external output signal or the concurrent ladder
program, the allocation changes in accordance with the changes.
Note2) As for the input data/output data of JANCD-AIO01-E (standard I/O
board), refer to YRC1000 INSTRUCTIONS MANUAL for more
details.
Note3) JANCD-AIO01-E (standard I/O board) is displayed as ASF01
(base board of AIO01) in the IO module setup display.
JANCD-AIO01-E I/O Input External input signal General input signal Details
(Standard I/O) 20010 to 20017 None (allocated on the system) Input data (1)
20020 to 20027 None (allocated on the system) Input data (2)
20030 to 20037 00010 to 00017 (IN0001 to IN0008) Input data (3)
I/O Output External output signal General output signal Details
30010 to 30017 None (allocated on the system) Output data (1)
30030 to 30037 10010 to 10017 (OT0001 to OT0008) Output data (3)
J71GF11-T2 I/O Input External input signal General input signal Details
(CC-Link IE Field) 20060 to 20067 00030 to 00037 (IN0017 to IN0024) Board status1)
30060 to 30067 10030 to 10037 (OT0017 to OT0024) System
reservation1)
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Remote Register number Details
register M000 Output word data (1)
output M001 Output word data (2)
allocation M002 Output word data (3)
M003 Output word data (4)
register M016 Input word data (1)
input M017 Input word data (2)
allocation M018 Input word data (3)
M019 Input word data (4)
1 Board status and system reservation cannot be allocated as IO signal.
Also, this data is not able to transmit by CC-Link IE Field.
(Unable to communicate with the external PLC.)
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4.3.2 YRC1000 I/O Allocation Example (For Except Handling)

Note1) The following example is for the standard setting. When change
the allocation of the external output signal or the concurrent ladder
program, the allocation changes in accordance with the changes.
Note2) As for the input data/output data of JANCD-AIO01-E (standard I/O
board), refer to YRC1000 INSTRUCTIONS MANUAL for more
details.
Note3) JANCD-AIO01-E (standard I/O board) is displayed as ASF01
(base board of AIO01) in the IO module setup display.
JANCD-AIO01-E I/O Input External input signal General input signal Details
(Standard I/O) 20010 to 20017 None (allocated on the system) Input data (1)
J71GF11-T2 I/O Input External input signal General input signal Details
(CC-Link IE Field) 20060 to 20067 00040 to 00047 (IN0025 to IN0032) Board status1)
30060 to 30067 10040 to 10047 (OT0025 to OT0032) System
reservation1)
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register M000 Output word data (1)
output M001 Output word data (2)
allocation M002 Output word data (3)
register M016 Input word data (1)
input M017 Input word data (2)
allocation M018 Input word data (3)
1 Board status and system reservation cannot be allocated as IO signal.
Also, this data is not able to transmit by CC-Link IE Field.
(Unable to communicate with the external PLC.)
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4.3.3 Board Status

[J71GF11-T2 board status]
The first one byte (20060 to 20067 in the allocation example above) of the
input data of the J71GF11-T2 allocated to the external input signal
indicates the board status of the J71GF11-T2.
Signal Contents
2xxx0 to 2xxx3 Reserved for the manufacturer. The user cannot use these signals.
2xxx4 The CC-Link IE Field setting status Normal: 0 Error: 1
When the I/O size and remote register size do not correspond to the master, an error occurs
and the I/O and resister can not be sent or received.
2xxx5 (Slave mode) Unavailable (Fixed to 0)
2xxx6 Indicates the CC-Link IE Field communication status. Normal: 0 Error: 1
2xxx7 Indicates the operation status of the J71GF11-T2 board. Normal: 0 Error: 1
[The Alarm when Communications Error Occurs Using the Board Status]
When the optional board detects the communication error, by using the
CIO ladder and the user alarm allows to occur the alarm.
The examples of the method are described in below.
There are two alarms of the occurrence alarms.
• IO Board operation error
• IO Communication error
As for the user alarm registration, refer to Chapter 13.7 I/O Messages and
I/O Alarms on”YRC1000 OPTIONS INSTRUCTIONS FOR
CONCURRENT I/O” (RE-CKI-A467) for more details.
[Alarm No.] Signal No. Description of the alarm

Alarm name (Board status signal)
[9065] 20067 The operation status of the
IO BOARD OPERATION (Board status signal: board is abnormal.
ERROR 2xxx7)
[9066] 20066 The communication status
IO COMMUNICATION (Board status signal: is abnormal.
ERROR 2xxx6)
When the optional board detects and alerts the error by the board status
signal, the ladder program, which raises an alarm, is created according to
the error signal.
The procedures to register the alarms above as the user alarm and the
ladder program, which alert an alarm, are described below.
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 Register the User Alarm

1. Change the security mode to the “Management Mode”.
2. Select the {I/O ALARM} from the {IN/OUT} in the main menu.
3. The I/O alarm (user) window appears.
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4. Move the cursor over the desired No. to register, and press [SELECT].
– The window changes to the character string entry window.
5. Enter the I/O alarm name.
6. Press [ENTER].
– The entered alarm is registered.
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7. Register the other alarms.

– Repeat the same procedures to register the alarm to use.
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 IO Allocation and the Ladder Program

Create the ladder program to alert the alarm by using the following signals
when the optional board detects an error.
External input
Signal Description
20066 Optional board status
(IO communication status)
20067 Optional board status
(Board operation status)
Specific input signal

Signal Description
40012 User alarm requirement
40220 User alarm code d0
Assistant relay
Signal Description
70017 Control Power ON completed
(Normality ON)
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The ladder program (the figure of the ladder)

Creating the following ladder allows to alert the alarm according to the
status error signals of the optional board.
#20067 #40220
#20066 #20067 #40221
#70017 #40222
#70017 #40223
#70017 #40224
#70017 #40225
#20067 䋤40012
#20066
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5 PLC Setting
5.1 Master setting
5 PLC Setting
In order to use CC-Link IE field communication function, perform the
setting of the external device as master station.
Refer to the following example for setting of PLC (made by Mitsubishi
Electric Co.,Ltd.).
In this case, perform the setting by using the version 1.90U of “GX Works2
(made by Mitsubishi Electric Co.,Ltd.)”.
Please refer to the instruction manual of “GX Works2” for more details.
5.1 Master setting

1. Start the GX Works2.
2. Select [Project] - [New], perform setting as below and press [OK] to
create the new project.
3. The following initial window appears.
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5 PLC Setting
5.1 Master setting
4. Perform the setting of parameter. Select [Parameter] - [Network

Parameter] - [Ethernet / CC IE Field] of the project tree. Then the
setting window of network parameter.
Perform the setting of unit1 depending on the user’s network
environment. (Network Type, Start I/O No., Network No., Total
Stations)
5. Select [Network Configuration Settings] of network parameter setting

window in step4 to perform the setting of network configuration.
Perform setting of the local station as below (Station No.,Station type,
RX/RY Setting, RWw/RWr Setting). The following setting is an
example, perform setting to suit the setting which is performed in
maintenance mode of YRC1000. After setting, select [End].
㻨㻾㼄㻛㻾㼅㻪㻨㻾㼃㼞㻛㻾㼃㼣㻪
㻼㼛㼕㼚㼠䠖㻌㼎㼕㼠㻼㼛㼕㼚㼠㻦㻌㼣㼛㼞㼐
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5 PLC Setting
5.1 Master setting
6. Select [Network Operation Settings] in the network parameter setting

window in step4 to set the network operation. After setting, select
[End].
7. Select [Refresh Parameters] in the network parameter setting window

in step4 to set the refresh parameters. The following setting is an
example. After setting, select [End].
<Link Side Setting> <CPU Side Setting>

Confirm that the local station's SB, SW: Set "SB" or "SW" to "Dev.Name",
address of network configration and set "0000" to "Start"
which is set in step5 is RX: Set "X" to "Dev.Name", and set "1000" to "Start"
included above. RY: Set "Y" to "Dev.Name", and set "1000" to "Start"
ࠉࠉࠉࠉࠉ RWr: Set "W" to "Dev.Name", and set "000000" to "Start"
RWw: Set "W" to "Dev.Name", and set "001000" to "Start"
8. Select [Interrupt Settings] in the network parameter setting window in

step4 to set the interrupt setting. Perform the setting as needed. After
setting, select [End].
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HW1483854
5 PLC Setting
5.1 Master setting
9. After setting, select [Check] - [End].
10. Connect the PC with the PLC by using the Ethernet cable or USB
cable. Select {Connection Destination} - {Connection1} under the
navigation menu on the right of figure and click {PLC Direct Coupled
Setting}.
11. Select the direct connection method with CPU module and select
{Yes}, then the PC side I/F,PLC side I/F, Other Station Setting are set.
5-4 HW1483854 43/53

HW1483854
5 PLC Setting
5.1 Master setting
12. Select the {Connection Test}, then the connection test is started. If the
following error occurs, confirm the contents of error message. If the
error is not cleared, open the network connection under Control Panel.
And invalidate the corresponding network port during connecting with
PLC, then validate it again.
13. Select {Online} - {Write to PLC} under the menu and check the
following parameters, then select the {Execute}.
14. If the existing parameter can be overwritten, select {Yes}.
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HW1483854
5 PLC Setting
5.2 IO Confirmation
15. Confirm that the write to PC is completed as below, then select

{Close].
16. Open the cover on the upper side of connector which is connected
with the Ethernet cable and move the switch to “RESET” to reset PLC.
After confirming that the LED of PLC is OFF, move the switch to
“RUN”. The settings of master station are completed.
5.2 IO Confirmation
1. Select {Online} - {Monitor} - {Device / Buffer Memory Batch} under the
menu, then th following window appears.
Set the device name (the device name of CPU side which is set in
step7) (in this case "X1000" and "Y1000") and the offset to "Device
Name".Double-click Output "Y1000-", then the dialog box appears to
perform the setting I/O data.
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5 PLC Setting
5.3 Setting of Star/ Line, Ring Connection and create radder program
5.3 Setting of Star/ Line, Ring Connection and create radder

program
Perform the following settings when connecting multiple devices and
changing the connection method (Star connection/Line connection/Ring
connection).
1. Select {Parameter} - {Network Parameter} - {Ethernet / CC IE Field}
under the project tree and check the box “Set network configuration
setting in CC IE Field configuration window”, then select {Yes}.
2. Select {CC IE Field Configuration Setting} - {CC IE Field

Configuration} - {Change Transmission Path Method} and select {Line/
Star} or {Ring}.
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HW1483854
5 PLC Setting
3. Select {Program Setting} - {Scan Program} under the project tree, then
right click and select {Add New Data}. Then confirm the setting and
select {OK}.
4. Write the ladder program under the Scan Program to check the
communication.
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5 PLC Setting
5. Select {Online} - {Write to PLC} and check the box “Program (Program
File)”, then select {Execute}.
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5 PLC Setting
5.4 Block Data Assurance per Station

Perform the setting to assure the data consistency.
1. Select {Parameter} - {Network Parameter} - {Ethernet / CC IE Field}.
2. Select {Network Configuration Settings}.
3. Select {Supplementary Setting}.
5-10 HW1483854 49/53

HW1483854
5 PLC Setting
4. Check the box {Block Data Assurance per Station}.
5. Close the setting window and select {Online} - {Write to PLC}. Then
confirm that the following check box of parameter is checked and
select {Execute}.
6. Reset the PLC in the same procedure as the step16 of chapter 5.1
“Master setting” .
5-11 HW1483854 50/53

HW1483854
6 Error Indication
6.1 LED Indicators
6 Error Indication
6.1 LED Indicators

LEDs are provided on the front of the J71GF11-T2 board to indicate the
status of CC-Link IE Field communications.
Name Contents and Remedy
Indicate the CC-Link IE Field operation status.
The LED lightning status is indicated in two modes: the RUN LED is Lit or Unlit and the RUN
LED is Flashing.
(1) When the RUN LED is Lit or Unlit

LED Status Contents Remedy
name
RUN Lit Operated normally.
Unlit Either one of the following errors •Turn OFF the power of YRC1000
has occurred. then back ON to restart it.
A hardware error or a board WDT •Check the connection status
error has occurred. between the J71GF11-T2 board and
The driver is not activated. the PCI slot of YRC1000.
•Replace the J71GF11-T2 board.
ERR. Lit Either one of the following errors •Turn OFF the power of YRC1000
has occurred. then back ON to restart it.
Errors have been detected in all •Check the connection status
stations. between the J71GF11-T2 board and
The identical station number exists the PCI Express slot of YRC1000.
in the network. •Replace the J71GF11-T2 board.
The network parameter is broken.

The network parameter is different
from the mounting. (the reserved
Operation LEDs station setting, the station number,
the network number etc.)
ERR. SD
Flashing Abnormal stations in the data link •Check the operation status of the
RUN RD have been detected. master device.
•Verify the other connected devices
are turned ON.
•Check the wirings are not in the
following status.
(1)Both PORT1 and PORT2 are
connected to the switching hub.
(2)The Ring connection when the
loop back function is not used.
(3)The Star connection when the
loop back function is used.
(4)The incorrect Ring connection.
(5)Using the switching hub and
cable which do not correspond to
1Gbps.
•Check the station number is not

duplicate with the other station
numbers.
•Turn OFF the power of YRC1000
then back ON to restart it.
Unlit Operated normally.
SD Lit Data are being sent.
Unlit Data have not been sent.
RD Lit Data are being received.
Unlit Data have not been received.
6-1 HW1483854 51/53

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6 Error Indication
6.1 LED Indicators
Name Contents and Remedy

(2) When the RUN LED is Flashing
LED Status Contents Remedy
name
RUN Flashing Either one of the following errors
has occurred.
(Check the ERR.LED and RD
LED.)
ERR. Lit A PCI Express bus error has •Turn OFF the power of YRC1000
occurred. then back ON to restart it.
RD Lit A driver WDT error has occurred. •Check the connection status
between the J71GF11-T2 board and
the PCI Express slot of YRC1000.
•Replace the J71GF11-T2 board.
P1 Is the PORT1 connector for CC-Link IE Field connection.

(1) RJ45 connector
RJ45 connector Connects the CC-Link IE Field cable.
L ER LED (2) The connector part LED

Displays the link status and receiving status of the CC-Link IE Field board.
LINK LED LED Status Contents Remedy
name
LER Lit An abnormal data has been •Check the network cable, the
received. connector wiring and the connection
status.
are turned ON.
•Check the operation status of the
master device.
•When set to use the loop back
function in the master device, check
the Ring connection is executed
correctly at the PORT where the
LER LED is lit.
Unlit A normal data has been received.
LINK Lit During link-up.
Unlit During link-down. •Check the network cable, the
connector wiring and the connection
status.
are turned ON.
P2
Is the PORT2 connector for CC-Link IE Field connection.
(The details are the same as the “P1” connector.)
6-2 HW1483854 52/53

YRC1000 OPTIONS
CC-Link IE Field
COMMUNICATIONS FUNCTION
INSTRUCTIONS
FOR Q81BD-J71GF11-T2 MADE BY MITSUBISHI ELECTRIC Co., Ltd.
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA Europe GmbHRobotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10
YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542
YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199
PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741
Specifications are subject to change without notice

for ongoing product modifications and improvements.
C Printed in Japan November 2016 16-11
MANUAL NO.
HW1483854 53/53

CC-Link IE Field Communications Function Instructions: Yrc1000 Options

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YRC1000 OPTIONS

NOTES FOR SAFE OPERATION

Indicates an imminently hazardous

Indicates a potentially hazardous

Indicates a hazardous situation,

NOTICE is the preferred signal word

Even items described as “CAUTION” may result in a serious accident in

To ensure safe and efficient operation at all times, be sure

iii HW1483854 3/53

• Before releasing the emergency stop, make sure to remove the

• Observe the following precautions when performing a teaching

vii HW1483854 7/53

Definition of Terms Used Often in This Manual

Descriptions of the programming pendant keys, buttons, and displays are

Description of the Operation Procedure

viii HW1483854 8/53

1 Outline ............................................................................................................................................ 1-1

1.1 System Configuration ........................................................................................................ 1-1

2 Hardware Specifications ................................................................................................................. 2-1

2.1 External View of the J71GF11-T2 Board ........................................................................... 2-1

2.2 J71GF11-T2 Specifications ............................................................................................... 2-2

2.3 Communication Specifications........................................................................................... 2-3

3 Mounting the J71GF11-T2 Board ................................................................................................... 3-1

3.1 Opening the Front Door of the YRC1000 .......................................................................... 3-2

3.2 Mounting the J71GF11-T2 Board on the YRC1000........................................................... 3-3

3.3 Cable Connection .............................................................................................................. 3-3

3.4 Closing Front Door of the YRC1000 .................................................................................. 3-4

4 I/O Signal Allocation........................................................................................................................ 4-1

4.1 Setting of Optional Board and I/O Module ......................................................................... 4-1

4.2 External I/O Setting............................................................................................................ 4-7

4.3 Transmitting Data ............................................................................................................ 4-12

4.3.1 YRC1000 I/O Allocation Example (For Handling)............................................... 4-13

4.3.2 YRC1000 I/O Allocation Example (For Except Handling)................................... 4-15

4.3.3 Board Status....................................................................................................... 4-17

5 PLC Setting..................................................................................................................................... 5-1

5.1 Master setting .................................................................................................................... 5-1

5.2 IO Confirmation.................................................................................................................. 5-6

5.4 Block Data Assurance per Station ................................................................................... 5-10

6 Error Indication................................................................................................................................ 6-1

6.1 LED Indicators ................................................................................................................... 6-1

1.1 System Configuration

CC-Link IE Field Cable

CC-Link IE Field is a registered trademark of the CLPA (CC-Link Partner

1-1 HW1483854 10/53

2.1 External View of the J71GF11-T2 Board

Number Name Description

2-1 HW1483854 11/53

2.2 J71GF11-T2 Specifications

2-2 HW1483854 12/53

2.3 Communication Specifications

CC-Link IE Field is not compatible with CC-Link.

For the details of communication specifications, refer to “CC-Link IE Field

2-3 HW1483854 13/53

3 Mounting the J71GF11-T2 Board

3 Mounting the J71GF11-T2 Board

3-1 HW1483854 14/53

3.1 Opening the Front Door of the YRC1000