Manuale d’uso / di manutenzione del prodotto SRCP del fabbricante Yamaha
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User ’ s Manual ENGLISH E Y AMAHA SINGLE-AXIS ROBOT CONTROLLER E84-V er . 2.04 SRCP.
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i General Contents Chapter 1 OVER VIEW ........................................................................................................... 1-1 1-1 Featur es of the SRCP Series Controller ........................................................
ii Chapter 4 BASIC OPERA TION OF THE TPB ......................................................................... 4-1 4-1 Connecting and Disconnecting the TPB ................................................................................. 4-2 4-1-1 Connecting the TPB to the SRCP controller .
iii 8-4 Robot Language Description .................................................................................................. 8-6 8-4-1 MO V A ....................................................................................................
iv 10-6 Using a Memor y Card ........................................................................................................ 10-14 10-6-1 Saving controller data to a memor y card ...............................................................
v Chapter 15 SPECIFICA TIONS ............................................................................................... 15-1 15-1 SRCP sereis ........................................................................................................
vi MEMO.
1- 1 1 OVERVIEW Chapter 1 OVER VIEW Thank you for purchasing the Y AMAHA single-axis robot controller SRCP series (hereafter called "SRCP control- ler" or simply "SRCP" or "this controller"). This manual describes SRCP controller features and operating proce- dures.
1- 2 1 OVER VIEW 1-1 Features of the SRCP Series Controller 1-1 Features of the SRCP Series Controller The SRCP series is a high-performance robot controller using a 32-bit RISC chip CPU. When used with a Y AMAHA single-axis PHASER series robot, the SRCP controller performs posi- tioning tasks of v arious mechanical parts and devices.
1- 3 1 OVERVIEW 1-2 Setting Up for Operation 1-2 Setting Up for Operation The chart belo w illustrates the basic steps to follow from the time of purchase of this controller until it is ready for use.
1- 4 1 OVER VIEW 1-3 External V iew and Part Names 1-3 External V iew and Part Names This section explains part names of the SRCP contr oller and TPB along with their functions. Note that the external vie w and specifications are subject to change without prior notice to the user .
1- 5 1 OVERVIEW 1-3 External V iew and Part Names Fig. 1-1 Exterior of the SRCP controller SRCP-05 SRCP-10, 20 SRCP-05A, 10A, 20A 1 2 3 8 9 10 4 5 6 7 1 2 3 8 10 4 5 6 7 11 1 2 3 8 9 10 4 5 6 7 11 11.
1- 6 1 OVER VIEW 1-3 External V iew and Part Names Fig. 1-2 Three-side view of the SRCP controller COM L N T1 T2 ACIN1 (PWR) N P U V W PWR (G) ESC TPB ROB I/O I/O RGEN MOTOR ERR (R) NC NC SRCP MODEL. SER. NO. FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN EMG 24V 24G SRCP 10 DONT CONNECT • 200-230V~ 50-60Hz MAX.
1- 7 1 OVERVIEW 1-3 External V iew and Part Names 1-3-2 TPB 1. Liquid Crystal Display (LCD) Screen This display has four lines of twenty characters each and is used as a program console. 2. Memory Card Slot An IC memory card can be inserted here. Be careful not to insert the card upside-do wn.
1- 8 1 OVER VIEW 1-4 System Configuration 1-4 System Configuration 1-4-1 System configuration The SRCP controller can be combined with v arious peripheral units and optional products to configure a robot system as shown belo w . * Programming box TPB and support software POPCOM are sold separately.
1- 9 1 OVERVIEW 1-5 Accessories and Options 1-5-1 Accessories The SRCP robot controller comes with the follo wing accessories. After unpacking, check that all items are included. 1 . EXT . CN connector Connector : 733-104 made by W A GO 1 piece 2. I/O.
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2- 1 2 INST ALLA TION AND CONNECTION Chapter 2 INST ALLA TION AND CONNECTION This chapter contains precautions that should be observed when installing the contr oller , as well as pr ocedures and precautions for wiring the controller to the robot and to external equipment.
2- 2 2 INST ALLA TION AND CONNECTION 2-1 Installing the SRCP Controller 2-1 Installing the SRCP Controller 2-1-1 Installation method Using the L-shaped brackets attached to the top and bottom of the controller , install the controller from the front or rear position.
2- 3 2 INST ALLA TION AND CONNECTION 2-2 Connecting the Power Supply 2-2 Connecting the Power Supply 2-2-1 Power supply No. of phases Single-phase Type and Item SRCP-05 SRCP-10 SRCP-20 Frequency 50/60Hz Max.
2- 4 2 INST ALLA TION AND CONNECTION 2-2 Connecting the Power Supply c CA UTION The SRCP series controller does not have a pow er switch. Be sure to provide a po wer supply breaker (insulation) of the correct specifications that will turn the pow er on or off to the entire system including the robot controller .
2- 5 2 INST ALLA TION AND CONNECTION 2-2 Connecting the Power Supply 2-2-5 Installing current control switches When controlling the po wer on/off of the robot controller from an exter nal device such as a PLC, a current control switch (contactor , breaker , etc.
2- 6 2 INST ALLA TION AND CONNECTION 2-5 Connecting to the Robot 2-5 Connecting to the Robot First make sure that the po wer to the SRCP controller is turned off, and then connect the robot cable to the robot I/O connector and motor connector on the front panel of the SRCP controller .
2- 7 2 INST ALLA TION AND CONNECTION 2-6 Connecting to the I/O. CN Connector 2-6 Connecting to the I/O. CN Connector The I/O. CN connector is used for connecting the SRCP controller to exter nal equipment suc h as a PLC. When using external equipment for I/O control, connect the wiring to the I/O.
2- 8 2 INST ALLA TION AND CONNECTION 2-7 Connecting to the EXT . CN Connector Connect an emergenc y stop circuit and a 24V power supply for I/O control to the EXT . CN connec- tor . Make the necessary wiring hookup (see below) to the mating connector that comes with the SRCP controller and then plug it into the EXT .
2- 9 2 INST ALLA TION AND CONNECTION 2-8 Connecting to the Regenerative Unit 2-8 Connecting to the Regenerative Unit Some types of robots must be connected to a re generative unit. In such cases, use the interconnection cable to connect the SRCP controller to the re generative unit.
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3- 1 3 I/O INTERF ACE Chapter 3 I/O INTERF ACE The SRCP series has I/O interface connectors (EXT . CN and I/O. CN) as a standard feature. The EXT . CN is used for emerg ency stop input and 24V power input for I/O control.
3- 2 3 I/O INTERF ACE 3-1 I/O Signals 3-1 I/O Signals The SRCP controller has two I/O interface connectors (EXT . CN and I/O. CN) as a standard feature.
3- 3 3 I/O INTERF ACE 3-2 Input Signal Description 3-2 Input Signal Description Input signals consist of 7 dedicated command inputs, 8 general-purpose inputs and interlock signals fed to the I/O. CN terminal, as well as an emer gency stop input fed to the EXT .
3- 4 3 I/O INTERF ACE 3-2 Input Signal Description ■ Absolute point movement command (ABS-PT) This command mov es the robot to an absolute position specified by a point number at a specif ied speed along an axis coordinate whose origin is defined as 0.
3- 5 3 I/O INTERF ACE 3-2 Input Signal Description ■ Return-to-origin command (ORG-S) This command returns the robot to its origin position by using strok e-end detection as the origin detection method. n NO TE The magnetic pole is detected simultaneously with r eturn-to-origin operation.
3- 6 3 I/O INTERF ACE 3-2 Input Signal Description 3-2-2 General-purpose input (DI0 to DI7) These general-purpose inputs are a vailable to users for handling data input in a program. These inputs are usually connected to sensors or switches. These inputs can also be directly con- nected to a PLC output circuit.
3- 7 3 I/O INTERF ACE 3-2 Input Signal Description 3-2-3 SERVICE mode input (SVCE) When the SER VICE mode function is enabled, DI7 functions as the SER VICE mode input (SVCE). The SER VICE mode input is used to notify the SRCP controller whether the current state is a "SER V - ICE mode state".
3- 8 3 I/O INTERF ACE 3-3 Output Signal Description 3-3 Output Signal Description The output signals consist of 3 dedicated outputs (READ Y , BUSY and END), 5 general-purpose outputs, and feedback pulse outputs. In this section, terms "ON" and "OFF" mean the output transis- tors are "on" and "of f".
3- 9 3 I/O INTERF ACE 3-3 Output Signal Description 3-3-2 General-purpose output (DO0 to DO4) These general-purpose outputs are av ailable to users for freely controlling on/of f operation in a pro- gram. These outputs are used in combination with an exter nal 24V power supply , to drive loads suc h as solenoid v alves and LED lamps.
3- 10 3 I/O INTERF ACE 3-4 I/O Circuits 3-4 I/O Circuits This section pro vides the SRCP contr oller I/O circuit specif ications and examples of ho w the I/O circuits should be connected. Refer to these specifications and diagr ams when connecting to external equipment such as a PLC.
3- 11 3 I/O INTERF ACE 3-4 I/O Circuits 3-4-2 I/O circuit and connection example I/O circuit and connection e xample External DC24V power supply Push-button NPN transistor Incandescent lamp Solenoid v.
3- 12 3 I/O INTERF ACE 3-5 I/O Connection Diagram 3-5 I/O Connection Diagram 3-5-1 Connection to PLC output unit Connection to the Mitsubishi © PLC A Y51 output unit AY51 type output unit SRCP series.
3- 13 3 I/O INTERF ACE 3-5 I/O Connection Diagram 3-5-2 Connection to PLC input unit Connection to the Mitsubishi © PLC AX41 input unit AX41 type input unit SRCP series controller External DC 24V pow.
3- 14 3 I/O INTERF ACE 3-6 I/O Control Timing Charts 3-6 I/O Control T iming Charts The follo wing shows typical timing charts for I/O control. Refer to these diagrams when creating a sequence program.
3- 15 3 I/O INTERF ACE 3-6 I/O Control Timing Charts 3-6-2 When executing a dedicated input command ■ The BUSY signal turns on when a dedicated command is recei ved. Whether the recei ved com- mand has ended normally can be checked with the END signal status at the point that the B USY signal turns of f.
3- 16 3 I/O INTERF ACE (2) When a command with a short execution time runs and ends normally: (Command execution has already ended and the END signal is on before turning of f (contact open) the dedicated command input, as in the examples listed below .
3- 17 3 I/O INTERF ACE (3) When a command cannot be executed from the beginning: (Command execution is impossible from the beginning and the END signal does not turn on, as in the examples listed below .) •A mov ement command (ABS-PT , INC-PT) was ex ecuted without return-to-origin being com- pleted.
3- 18 3 I/O INTERF ACE (4) When command execution cannot be completed: (Command execution stops before completion and the END signal does not turn on, as in the examples listed below .) • An interlock or emergenc y stop was triggered during ex ecution of a dedicated command.
3- 19 3 I/O INTERF ACE 3-6-4 When emergency stop is input READY END BUSY EMG Emergency stop 5ms or less 1ms or less Dedicated command ■ The READ Y signal turns off. T he BUSY signal also turns off while a dedicated command is being ex ecuted. The END signal remains unchanged.
3- 20 3 I/O INTERF ACE 3-6-6 When executing a point movement command ■ When ex ecuting a point movement command (ABS-PT , INC-PT), the point data and speed data must first be input bef or e inputting the command . The point data and speed data can be specif ied with DI0 to DI7 (or DI0 to DI6 when SER VICE mode is enabled).
4- 1 4 BASIC OPERA TION OF THE TPB Chapter 4 BASIC OPERA TION OF THE TPB The TPB is a hand-held , pendant-type programming box that connects to the SRCP controller to edit or run pro- grams for robot operation. The TPB allo ws interactiv e user operation on the display screen so that ev en first-time users can easily operate the robot with the TPB.
4- 2 4 BASIC OPERA TION OF THE TPB 4-1 Connecting and Disconnecting the TPB 4-1 Connecting and Disconnecting the TPB 4-1-1 Connecting the TPB to the SRCP controller c CA UTION Do not modify the TPB cable or use any type of relay unit for connecting the TPB to the SRCP controller .
4- 3 4 BASIC OPERA TION OF THE TPB 4-1 Connecting and Disconnecting the TPB 4-1-2 Disconnecting the TPB from the SRCP controller T o disconnect the TPB from the controller while a program or an I/O dedicated command is being ex ecuted, pull out the TPB while holding do wn the ESC switch on the front panel of the controller .
4- 4 4 BASIC OPERA TION OF THE TPB 4-2 Basic Key Operation 4-2 Basic Key Operation 1) Selectable menu items are displayed on the 4th line (bottom line) of the TPB screen.
4- 5 4 BASIC OPERA TION OF THE TPB 4-3 Reading the Screen 4-3 Reading the Screen The follo wing explains the basic screen displays and what they mean. 4-3-1 Program execution screen The display method slightly dif fers depending on the version of TPB.
4- 6 4 BASIC OPERA TION OF THE TPB 4-3-3 Point edit screen (teaching playback) [EDIT-PNT-TCH](1)100 P255 = 123.45 [mm] [ 0.00] 1CHG 2SPD 3S_SET 4next 5 1 2 3 4 1. Current mode 2. Speed selection number 3. Speed parameter (%) 4. Edit point number 5. Current position 4-3-4 DIO monitor screen 1 2 3 4 DI 00000000 00000000 DO 10100000 O:0 S:1 1.
4- 7 4 BASIC OPERA TION OF THE TPB 4-4 Hierarchical Menu Structure POWER ON MOD (Step Edit) INS (Step Insert) DEL (Step Delete) CHG (Program Change) MDI (Manual Data Input) TCH (Teaching Playback) DTC.
4- 8 4 BASIC OPERA TION OF THE TPB 4-5 Restricting Key Operation by Access Level 4-5 Restricting Key Operation by Access Level The TPB k ey operations can be limited by setting the access lev els (operation lev els). A person not trained in robot operation might accidentally damage the robot system or endanger others by using the TPB incorrectly .
4- 9 4 BASIC OPERA TION OF THE TPB 4-5 Restricting Key Operation by Access Level Memory card Level 0 1 2 3 Description All operations are permitted. Loading the parameters and all data to the SRCP is prohibited. (Point data or program data can be loaded.
4- 10 4 BASIC OPERA TION OF THE TPB 4-5 Restricting Key Operation by Access Level 5) Select the item you want to change. T o change the access level for editing, press F1 (EDIT). T o change the access level for operation, press F2 (OPR T). T o change the access level f or system-related data, press F3 (SYS).
5- 1 5 P ARAMETERS Chapter 5 P ARAMETERS The SRCP controller uses a software serv o system, so no adjustment of hardware components such as potentiometers or DIP switches are required. Instead, the SRCP controller uses parameters that can be easily set or changed by the TPB or PC (personal computer).
5- 2 5 P ARAMETERS 5-1 Setting the Parameters 5-1 Setting the Parameters 1) On the initial screen, press F3 (SYS). [SYS-PRM-PRM1] PRM1 = 450 [mm] (+)soft limit range -9999 → 9999 [SYS-PRM-PRM1] PRM1 = 450_ [mm] (+)soft limit range -9999 → 9999 [SYS-PRM-PRM1] PRM0 = 20 robot type read only select menu [SYS] select menu 1PRM 2B.
5- 3 5 P ARAMETERS 5-2 Parameter Description 5-2 Parameter Description The parameters are described in order belo w . c CA UTION P arameters not displayed on the TPB screen are automatically set or optimized to match the robot type when the robot parameters are initialized.
5- 4 5 P ARAMETERS 5-2 Parameter Description PRM3: Payload This specifies the total weight of the w orkpiece and tool attached to the robot. In cases where this weight var ies, enter the maximum payload. Based on this parameter , the controller determines the optimum acceleration speed for the robot, so ensure that the correct payload is set.
5- 5 5 P ARAMETERS 5-2 Parameter Description PRM7: I/O point movement command speed This parameter sets the mov ement speed to execute a point mo vement command (ABS- PT , INC-PT) and also determines the number of points that can be used with a point mov ement command.
5- 6 5 P ARAMETERS 5-2 Parameter Description PRM1 1: No. of encoder pulses (4 ✕ mode) This parameter indicates the constant that is determined by the linear scale. Default v alue: Depends on robot type. PRM12: Lead length This parameter indicates the constant that is determined by the linear scale.
5- 7 5 P ARAMETERS 5-2 Parameter Description PRM18: Speed integration gain This sets the speed control gain. T ypically , PRM17 and PRM18 should be input at a ratio of 3 : 2.
5- 8 5 P ARAMETERS 5-2 Parameter Description PRM24: T eaching count data (TPB entry) This is entered in the TPB and cannot be used. Default v alue: 0 PRM25: Not used Default v alue: 0 PRM26: T eaching movement data This parameter is used during mov ement with a communication command @X+ or @XINC.
5- 9 5 P ARAMETERS 5-2 Parameter Description PRM32: Alarm number output When an alarm is issued, this parameter selects whether the alarm number is to be output as a general-purpose output. W hen this parameter is set to 1, the alarm number is output as a 5-bit binary signal through DO0 to DO4.
5- 10 5 PA RAMETERS 5-2 Parameter Description PRM34: System mode selection This parameter specifies the system oper ation mode. When you w ant to use the SRCP series in operating specifications that dif fer from normal mode, change this parameter as e xplained belo w .
5- 11 5 PA RAMETERS 5-2 Parameter Description Bit 7: END output sequence setting at command execution completion (supported by V er . 24.32 and later versions): This selects the END output sequence at dedicated command completion.
5- 12 5 P ARAMETERS 5-2 Parameter Description PRM41: I/O point movement command speed 1 This parameter sets the speed at which the robot mov es when a point movement command (ABS-PT , INC-PT) is ex ecuted. The speed set here is the mo vement speed used in normal mode (SER VICE mode disabled) with PRM7set to 0, DI6 turned on and DI7 turned off.
5- 13 5 P ARAMETERS 5-2 Parameter Description PRM46: Servo status output This parameter selects whether to output the axis serv o status as a general-purpose output. When this parameter is set to 1, DO3 turns on and of f along with servo on/of f. Input range: 0 or 1 Meaning: 0: Does not output the servo status.
5- 14 5 PA RAMETERS 5-2 Parameter Description PRM51: Lead program number This parameter sets the lead program number . Default v alue: 0 n NO TE The lead pr ogram is the pr ogram that has been selected as the execution pr ogram by the TPB or POPCOM. (See "9-4 Switching the Execution Pr ogram".
5- 15 5 PA RAMETERS 5-2 Parameter Description Zone output function To use the zone output function, the desired zone must be specified with point data. (See Chapter 7, "EDITING POINT D A T A".) When the r obot enter s the specif ied zone, its re- sult is output to the specif ied port.
5- 16 5 P ARAMETERS 5-2 Parameter Description PRM54: Magnetic pole detection level Default v alue: Depends on the robot. PRM55: Magnetic pole position Default v alue: 0 PRM56: Controller version 2 This parameter reads out the version information (2) on the control softw are in the con- troller .
6- 1 6 PROGRAMMING Chapter 6 PROGRAMMING In this chapter we will try programming some operations. First, you will learn ho w to enter a program using the TPB programming box.
6- 2 6 PROGRAMMING 6-1 Basic Contents 6-1 Basic Contents 6-1-1 Robot language and point data The SRCP controller uses the Y AMAHA robot language that is very similar to B ASIC.
6- 3 6 PROGRAMMING 6-2 Editing Programs 6-2 Editing Programs "Program editing" refers to operations such as creating a program right after initialization, creating a ne w program, changing an existing program, and deleting or copying a pro gram.
6- 4 6 PROGRAMMING 6-2 Editing Programs 6-2-1 Creating programs after initialization 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT2OPRT 3SYS 4MON [EDIT] select menu 1PGM 2PNT 3UT.
6- 5 6 PROGRAMMING 6-2 Editing Programs 7) After selecting the robot language command, enter the operand data. When you press X Z + , the cursor mov es to op- erand 1, so enter the data with the number keys. (Do not press at this point.) While pressing X Z + or X Z – to mov e the cur- sor , enter all necessary operand data as needed.
6- 6 6 PROGRAMMING 6-2 Editing Programs 6-2-2 Creating a new program 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT 2OPRT3SYS 4MON [EDIT] select menu 1PGM 2PNT 3UTL [EDIT-PGM] No1.
6- 7 6 PROGRAMMING 6-2 Editing Programs 6-2-3 Adding a step 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT 2OPRT3SYS 4MON [EDIT-PGM] No10 017:MOVA 254,100 1MOD 2INS 3DEL 4CHG [EDIT-PGM] PGM No = _ (Program No) 0 → 99 [EDIT-PGM] PGM No = 10 STEP No = _ (REG.
6- 8 6 PROGRAMMING 6-2 Editing Programs 7) Select F1 to F3 or a robot language com- mand sho wn on the lower part of each number key . T o change the robot langua ge menu display , press F4 (next). T o go back to the previous menu display , press the BS key .
6- 9 6 PROGRAMMING 6-2 Editing Programs 6-2-4 Correcting a step 1) Use the same procedure up to step 4 in "6-2-3 Adding a step". 2) Enter the number of the step you want to cor - rect with the number keys and pr ess . [EDIT-PGM] PGM No = 10 STEP No = _ (REG.
6- 10 6 PROGRAMMING 6-2 Editing Programs 6-2-5 Inserting a step 1) Use the same procedure up to step 4 in "6-2-3 Adding a step". 2) Enter the number of the step where you want to insert a step with the number ke ys and press .
6- 11 6 PROGRAMMING 6-2 Editing Programs 6-2-6 Deleting a step 1) Use the same procedure up to step 4 in "6-2-3 Adding a step". 2) Enter the number of the step you want to delete with the number keys and press .
6- 12 6 PROGRAMMING 6-3 Program Utility 6-3 Program Utility 6-3-1 Copying a program 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT 2OPRT3SYS 4MON [EDIT] select menu 1PGM 2PNT 3UTL.
6- 13 6 PROGRAMMING 6-3 Program Utility 6) If program data is already re gister ed with the selected program number , a confirmation mes- sage appears.
6- 14 6 PROGRAMMING 6-3 Program Utility 6-3-3 V iewing the program information 1) Use the same procedure up to 2 in "6-3-1 Copy- ing a program".
7- 1 7 EDITING POINT DA TA Chapter 7 EDITING POINT DA T A There are three methods to enter point data: manual data input (MDI), teaching playback, and direct teaching. Manual data input allo ws you to directl y enter point data with the TPB number keys.
7- 2 7 EDITING POINT DA TA 7-1 Manual Data Input 7-1 Manual Data Input 1) On the initial screen, press F1 (EDIT). [EDIT] select menu 1PGM 2PNT 3UTL [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL [MENU] select menu 1EDIT 2OPRT3SYS 4MON [EDIT-PNT-MDI] P0 = 0.
7- 3 7 EDITING POINT DA TA 7-2 T eaching Playback 7-2 T eaching Playback 1) On the initial screen, press F1 (EDIT). [EDIT-PNT-TCH](1) 50 Pn : n = _ (point No) 0 → 999 [EDIT-PNT] select menu 1MDI 2TCH 3DTCH 4DEL [MENU] select menu 1EDIT2OPRT3SYS 4MON [EDIT] select menu 1PGM 2PNT 3UTL [EDIT-PNT-TCH](1) 50 P0 = 0.
7- 4 7 EDITING POINT DA TA 7-2 T eaching Playback 6) Move the robot to the teaching position with the X Z – or X Z + keys. Each time the X Z – or X Z + key is pr essed , the robot moves a certain amount in the direction indicated by the ke y and then stops.
7- 5 7 EDITING POINT DA TA 7-3 Direct T eaching 7-3 Direct T eaching 1) On the initial screen, press F1 (EDIT). [EDIT-PNT-DTCH] P0 = 0.00 [mm] [ 0.00] 1CHG 2DO 3BRK [EDIT-PNT-DTCH] Pn : n = _ (point No) 0 → 999 [EDIT-PNT-DTCH] press EMG.
7- 6 7 EDITING POINT DA TA 7-3 Direct T eaching 7) Move the robot to the teaching position by hand. [EDIT-PNT-DTCH] P500 = 19.27 [mm] [ 0.00] [EDIT-PNT-DTCH] servo on ready ? 1yes 2no [EDIT-PNT] select menu 1MDI 2TCH 3DTCH 4DEL [EDIT-PNT-DTCH] release EMG.
7- 7 7 EDITING POINT DA TA 7-4 Manual Control of General-Purpose Output 7-4 Manual Control of General-Purpose Output When performing teaching playback or direct teaching with systems that use a genera.
7- 8 7 EDITING POINT DA TA 7-5 Manual Release of Holding Brake 7-5 Manual Release of Holding Brake The holding brake on the v ertical type robot can be released. Since the movable part will drop w hen the brake is released, attaching a stopper to protect the tool tip from being damaged is recommended.
7- 9 7 EDITING POINT DA TA 7-6 Deleting Point Data 7-6 Deleting Point Data 1) Use the same procedure up to step 2 in "7-1 Manual Data Input".
7- 10 7 EDITING POINT DA TA 7-7 T racing Points (Moving to a registered data point) 7-7 T racing Points (Moving to a registered data point) The robot can be mov ed to the position specified by a re gistered data point. Y ou can check the input point data by actually moving the robot.
8- 1 8 ROBOT LANGUAGE Chapter 8 ROBOT LANGUAGE This chapter e xplains the robot language. It describes what kind of commands are av ailable and what they mean. The SRCP series uses the Y AMAHA robot language. This is an easy-to-learn BASIC-lik e programming language.
8- 2 8 ROBOT LANGUAGE 8-1 Robot Language T able 8-1 Robot Language T able MOVA MOVI MOVF JMP JMPF JMPB L CALL DO WAIT TIMR P P+ P- SRVO STOP ORGN TON TOFF JMPP MAT MSEL MOVM JMPC JMPD CSEL C C+ C- D D+ D- SHFT Moves to point data position. MOVA <point number>, <maximum.
8- 3 8 ROBOT LANGUAGE 8-2 Robot Language Syntax Rules 8-2 Robot Language Syntax Rules 8-2-1 Command statement format The robot language command statement for mat for the SRCP controller is as follo ws.
8- 4 8 ROBOT LANGUAGE 8-2 Robot Language Syntax Rules 8-2-2 V ariables Va r i a b l e are used in a program to hold data. The following v ariables can be used with the SRCP controller . ■ Point variable P A point var i ab le can contain a point number .
8- 5 8 ROBOT LANGUAGE 8-3 Program Function 8-3 Program Function 8-3-1 Multi-task function A multi-task function allo ws simultaneous e xecuting tw o or more programs ( tasks ) . The SRCP con- troller can ex ecute a maximum of 4 programs at the same time.
8- 6 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4 Robot Language Description 8-4-1 MOV A Function: Mov es to a point specified by a point number (Mov es to an absolute position relati ve to the origin point). Format: MO V A <point number>, <maximum speed> Example: MO V A 51, 80 Mov es to P51 at speed 80.
8- 7 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-3 MOVF Function: Mov es until a specified DI number input is recei ved. Format: MO VF <point number> <DI number> <DI status> Example: MO VF 1, 2 , 1 The r obot mov es tow ard P1 and stops when DI 2 turns on.
8- 8 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-5 JMPF Function: If the conditional jump input matches the setting value, program execu- tion jumps to a specified la bel in a specified program.
8- 9 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-6 JMPB Function: Jumps to a specif ied label w hen a specif ied general-purpose input or memory input is ON or OFF . Format: JMPB <label number>, <DI or MI number>, <input status> Example: JMPB 1 2 , 2 , 1 Jumps to label 1 2 when DI 2 input is ON.
8- 10 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-8 CALL Function: Calls and ex ecutes another program. Format: CALL <program number>, <number of times> Example: CALL 5 , 2 Calls program 5 and executes it twice. Pr ogram execution then proceeds to the next step.
8- 11 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-10 W AIT Function: W aits until a specified general-purpose input or memory input changes to a specif ied state. Format: W AIT <DI or MI number>, <input status> Example: W AIT 5 , 1 W aits until DI 5 turns on.
8- 12 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-12 P Function: Sets a point va ri a bl e P. Format: P <point number> Example: P 200 Sets a point va ri a b le P to 200 . Explanation: The point va r ia b l e can contain a point number as a v ariable, which can be from 0 to 999 .
8- 13 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-15 SR VO Function: T urns the servo on and of f. Format: SR VO <serv o status> Example: SR VO 1 This turns the serv o on.
8- 14 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-17 ORGN Function: Performs return-to-origin by using the stroke-end detection method. Format: ORGN Example: ORGN Performs return-to-origin by the stroke-end detection method. Explanation: Return-to-origin is performed based on return-to-origin parameter data.
8- 15 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-18 TON Function: Executes a specif ied task. Format: TON <task number>, <prog ram number>, <start type> Example: TON 1,2,0 Ne wly executes program 2 as task 1.
8- 16 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-20 JMPP Function: Jumps to a specified la bel when the axis position relation meets the speci- fied conditions.
8- 17 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-21 MA T Function: Defines the n umber of rows and columns of the matrix. Format: MA T <number of ro ws>, <number of columns>, <pallet number> Example: MA T 3, 6, 0 Defines a ma trix of 3 × 6 on pallet number 0.
8- 18 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-22 MSEL Function: Specifies a matrix where the robot mo ves with a MO VM statement. Format: MSEL <pallet number> Example: MSEL 0 Points where the robot moves with a MO VM statement are calculated based on matrix data of pallet number 0.
8- 19 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-23 MOVM Function: Mov es to a point on the specified matrix. Format: MO VM <pallet work position>, <maximum speed> Example: MO VM 23, 100 Mov es to the point at row 3, column 7 at speed 100 when a matrix of 5 × 8 is def ined by the MA T statement.
8- 20 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-24 JMPC Function: Jumps to a specified label when the counter array v ariable C matches a specified v alue. Format: JMPC <label number>, <counter v alue> Example: JMPC 5, 100 Jumps to label 5 when the counter array v ariable C is 100.
8- 21 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-26 CSEL Function: Specifies an ar ray element of the counter array variable C to be used. Format: CSEL <array element number> Example: CSEL 1 The counter array v ariable of element number 1 is used in the subse- quent steps.
8- 22 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-28 C+ Function: Adds a specif ied value to the counter array variab le C. Format: C+ [<addition value>] Example: C+ 100 Adds 100 to the counter array v ariable C. (C ← C+100) C+ Adds 1 to the counter array v ariable C.
8- 23 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-32 D- Function: Subtracts a specif ied value from the counter v ariable D. Format: D- [<subtraction v alue>] Example: D- 100 Subtracts 100 from the counter v ariable D. (D ← D-100) D- Subtracts 1 from the counter v ariable D.
8- 24 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5 Sample Programs 8-5-1 Moving between two points P1 P2 Program Comment [NO0] 001: L 0 ; Label definition 002: MOVA 1, 100 ; Mov es to P1 003: MOVA 2, 100 .
8- 25 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-3 Positioning 2 points and sending job commands to a PLC at each position P1 P2 Position at which job 1 is complete Position at which job 2 is complete P.
8- 26 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece Horizontal direction Vertical direction Hold AC servo motor Air cyl.
8- 27 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-5 Picking up 3 kinds of workpieces flowing on the front conveyor and placing them on the next conveyors while sorting Horizontal direction Vertical direc.
8- 28 8 ROBOT LANGUAGE 8-5 Sample Programs Program Comment [NO1] <<Main routine>> 001: L 1 ; Label definition 002: JMPB 2, 2, 1 ; Jumps to L2 when workpiece A is detected 003: JMPB 3, 3, 1.
8- 29 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-6 Switching the program from I/O T he SRCP series controller does not accept dedicated command inputs for program s witching. T o switch the program through the I/O, use the program selection signal as a conditional jump input as e xplained belo w .
8- 30 8 ROBOT LANGUAGE 8-5 Sample Programs Program Comment [NO0] 001: L 0 ; Label definition 002: WAIT 7, 1 ; W aits for confirmation ON of the selected program Handshaking 003: DO 0, 1 ; Program sele.
8- 31 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-7 Axis movement and I/O multi-task The robot mo ves between two points and performs multi-task I/O operation in asynchronous mode.
8- 32 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-8 T urning ON general-purpose outputs during robot movement after a certain time has elapsed Point P0 Start position P1 Target position 3 sec.
8- 33 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-9 T urning ON a general-purpose output during robot movement when it has passed a specified position Point P0 Start position P1 Target position P10 Posit.
8- 34 MEMO.
9- 1 9 OPERA TING THE ROBOT Chapter 9 OPERA TING THE ROBOT This chapter describes ho w to actually operate the robot. If the program has already been completed, you will be able to operate the robot by the time you f inish reading this chapter . There are two types of robot operation: ste p and automatic.
9- 2 9 OPERA TING THE ROBOT 9-1 Performing Return-to-Origin 9-1 Performing Return-to-Origin The stroke-end detection is used as the origin (reference point) detection method . The following e xplains the procedure to perform return-to-origin using the stroke-end detection.
9- 3 9 OPERA TING THE ROBOT 9-1 Performing Return-to-Origin c CA UTION When the SERVICE mode function is enabled, the follo wing safety control will function.
9- 4 9 OPERA TING THE ROBOT 9-2 Using Step Operation 9-2 Using Step Operation The following procedur e explains how to perform step operation. In the case of a multi-task prog ram, only the task currently selected is e xecuted in step operation. 1) On the initial screen, press F2 (OPR T).
9- 5 9 OPERA TING THE ROBOT 9-2 Using Step Operation 7) The screen returns to step 5. Pressing RUN at this point executes the f irst step. [OPRT-STEP] 50 0:10 001:MOVA 999,50 [ 0.00] 1SPD 2RSET3CHG 4next [OPRT-STEP] running ... [OPRT-STEP] 50 0:10 001:MOVA 999,50 [ 201.
9- 6 9 OPERA TING THE ROBOT 9-2 Using Step Operation 14) The screen returns to step 5, and the process is repeated from that point. [OPRT-STEP] 50 0:10 001:MOVA 999,50 [ 250.00] 1SPD 2RSET3CHG 4next c CA UTION When the SERVICE mode function is enabled, the follo wing safety control will function.
9- 7 9 OPERA TING THE ROBOT 9-3 Using Automatic Operation 9-3 Using Automatic Operation The follo wing procedure explains ho w to perform automatic operation. All the tasks started in a multi-task program are e xecuted by automatic operation. 1) On the initial screen, press F2 (OPR T).
9- 8 9 OPERA TING THE ROBOT 9-3 Using Automatic Operation 8) This is the screen displayed while the program is being ex ecuted. [OPRT-AUTO] running ··· [OPRT-AUTO] 60:program end [OPRT-AUTO] 50 1:11 010:WAIT 0 ,1 [ 250.00] 1VAL 2S_ON3CHGT 4next [OPRT-AUTO] 50 2:12 015:DO 1 ,1 [ 250.
9- 9 9 OPERA TING THE ROBOT 9-4 Switching the Execution Program 9-4 Switching the Execution Program The follo wing procedure explains how to switc h the program in automatic operation.
9- 10 9 OPERA TING THE ROBOT 9-5 Emergency Stop Function 9-5 Emergency Stop Function There are two ways to trigger emer gency stop on the SRCP controller . One way is by using the push- button on the TPB. The other is to use the I/O emer gency stop input.
9- 11 9 OPERA TING THE ROBOT 9-5 Emergency Stop Function 3) After the emergency stop is released, a mes- sage appears asking whether to turn the servo on. T o turn the servo on, press F1 (yes). T o leav e the servo of f , press F2 (no). [OPRT-STEP] 100 0: 7 001:MOVA 254,100 [ 0.
9- 12 9 OPERA TING THE ROBOT 9-6 Displaying the Memory I/O Status 9-6 Displaying the Memory I/O Status The memory I/O status can be displayed on the screen. 1) On the initial screen, press F2 (OPR T). [MENU] select menu 1EDIT2OPRT 3SYS 4MON [OPRT] select menu 1ORG 2STEP3AUTO [OPRT-STEP] 100 0: 0 001:MOVA 254,100 [ 0.
9- 13 9 OPERA TING THE ROBOT 9-7 Displaying the V ariables The point data v ariable "P", counter array variab le "C" and counter variable "D" v alues can be dis- played on the TPB screen. 1) On the initial screen, press F2 (OPR T).
9- 14 MEMO.
10- 1 10 OTHER OPERA TIONS Chapter 10 OTHER OPERA TIONS The TPB has man y conv enient functions in addition to those already co vered. For e xample, memories can be initialized, and options such as memory cards can be used.
10- 2 10 OTHER OPERA TIONS 10-1 Initialization 10-1 Initialization Initializing the programs and points erases all the program data and point data currently stored in the controller . Initializing the parameters resets the parameters to their initial v alues.
10- 3 10 OTHER OPERA TIONS 10-1 Initialization 6) Finally , enter the robot payload. Enter the payload with the number keys and then press . [SYS-INIT-PRM] robot type : 516 stroke : 400 [mm] weight : .
10- 4 10 OTHER OPERA TIONS 10-2 DIO Monitor Display 10-2 DIO Monitor Display Data indicating whether the I/O signals are on or off can be display ed on the screen. The operation procedure is explained belo w . 10-2-1 Display from the monitor menu 1) On the initial screen, press F4 (MON).
10- 5 10 OTHER OPERA TIONS 10-2 DIO Monitor Display 10-2-2 Display from the DIO key operation 1) Hold down the DIO key . [OPRT-AUTO] running... [OPRT-AUTO] running... running... [OPRT-AUTO] DI 00000000 00000000 DO 11100000 O:0 S:1 2) The ON/OFF status of I/O signals is displayed as long as the key is held do wn.
10- 6 10 OTHER OPERA TIONS 10-4 SERVICE mode function 10-4 SERVICE mode function The SER VICE mode function is explained in this section. The robot operator or others sometimes need to enter the hazardous area in the robot safety enclosure and mov e the robot to perform maintenance or adjustment while using the TPB.
10- 7 10 OTHER OPERA TIONS 10-4 SERVICE mode function 10-4-1 Safety settings for SER VICE mode Safety controls that w or k in "SER VICE mode state" are explained in detail belo w .
10- 8 10 OTHER OPERA TIONS 10-4 SERVICE mode function ■ Prohibiting the automatic operation and step operation Running an automatic operation or step operation while an operator is working within the robot safety enclosure is very dangerous to that operator .
10- 9 10 OTHER OPERA TIONS 10-4 SERVICE mode function 10-4-2 Enabling/disabling the SER VICE mode function T o enable or disable the SER VICE mode function, follo w these steps. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1SAFE2OPT 3UTL 4next [SYS-SAFE] Password: 24.
10- 10 10 OTHER OPERA TIONS 10-4 SERVICE mode function 7) When writing is complete, the screen returns to step 6. [SYS-SAFE-SVCE-SET] SERVICE mode = 1 0:Invalid 1:Valid n NO TE The password is identical to the SRCP contr oller's version number . F or example, if the contr oller version is 24.
10- 11 10 OTHER OPERA TIONS 10-4 SERVICE mode function 10-4-3 Setting the SER VICE mode functions 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1SAFE2OPT 3UTL 4next [SYS-SAFE] Password: 24.
10- 12 10 OTHER OPERA TIONS 10-4 SERVICE mode function 7) When the setting has been changed, the memory write screen appears. T o save the change permanently (retain the change e ven after the controller power is turned of f), press F1 (SA VE). T o save the change temporarily (retain the change until the po w er is turned of f), press F2 (CHG).
10- 13 10 OTHER OPERA TIONS 10-5 System utilities 10-5 System utilities 10-5-1 V iewing hidden parameters Parameter s hidden in the normal state can be viewed. Use extr a caution to a void accidentally changing the parameters when these hidden parameter s are displayed.
10- 14 10 OTHER OPERA TIONS 10-6 Using a Memory Card 10-6 Using a Memory Card A memory card can be used with the TPB to back up the data in the SRCP controller . Refer to "16-1-1 Memory card" for the procedure for handling a memory card and for the number of data that can be stored.
10- 15 10 OTHER OPERA TIONS 10-6 Using a Memory Card 7) If data already exists in the area specified in step 5, a confirmation message a ppears. T o ov erwrite the data in the selected area, press F1 (yes). T o change the selected area, press F2 (no).
10- 16 10 OTHER OPERA TIONS 10-6 Using a Memory Card 10-6-2 Loading data from a memory card 1) Insert the memory card into the TPB. 2) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1PRM 2B.UP3INIT [SYS-B.
10- 17 10 OTHER OPERA TIONS 10-6 Using a Memory Card 7) When the load area was selected in step 5, the data load screen appears. Select the data to be loaded. T o load the program data, press F1 (PGM). T o load the point data, press F2 (PNT). T o load the parameter data, press F3 (PRM).
10- 18 10 OTHER OPERA TIONS 10-6 Using a Memory Card 10-6-3 Formatting a memory card 1) Insert the memory card into the TPB. 2) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1PRM 2B.UP3INIT [SYS-B.UP] select menu 1SAVE2LOAD3FMT 4ID [SYS-B.
10- 19 10 OTHER OPERA TIONS 10-6 Using a Memory Card 10-6-4 V iewing the ID number for memory card data 1) Insert the memory card into the TPB. 2) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1PRM 2B.
10- 20 10 OTHER OPERA TIONS 10-7 Duty (load factor) monitor 10-7 Duty (load factor) monitor The SRCP controller has a duty (load factor) monitor to allo w you to operate the robot under the most optimal conditions. The duty monitor chec ks the robot's motor load factor and displays it in percent (%) versus the motor r ating.
10- 21 10 OTHER OPERA TIONS 10-7 Duty (load factor) monitor [Method 2] 1) Add the robot language command "DUTY 1" to the beg inning of the inter v al in a program in which you want to measure the duty and also add the robot language command "DUTY 0" to the end of the interv al.
10- 22 10 OTHER OPERA TIONS 10-7 Duty (load factor) monitor 10-7-1 Measuring the duty (load factor) 1) While mo ving the r obot with a pulse train input (Pulse Train mode) or dedicated command input (Normal mode), press F4 (MON) on the TPB initial menu screen to enter MON (monitor) mode.
10- 23 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 10-8 Using the internal flash ROM When you set parameters using the TPB or POPCOM (options) or via the RS-232C, the parameter data stored in the RAM inside the SRCP is re written and the robot operates based on this parameter data written in the RAM.
10- 24 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 10-8-1 Saving the parameter data onto the flash ROM n NO TE The internal flash R OM can be used when the SRCP controller version is 24.10 or la ter and the TPB version is 12.51 or later . 1) On the initial screen, press F3 (SYS).
10- 25 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 8) A confirmation message appears. T o sav e the parameter data, press F1 (yes). T o cancel, press F2 (no).
10- 26 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 10-8-2 Manually loading the data from flash ROM n NO TE The internal flash R OM can be used when the SRCP controller version is 24.10 or la ter and the TPB version is 12.51 or later . 1) On the initial screen, press F3 (SYS).
10- 27 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 8) The screen returns to step 4 when loading is complete. 2LOAD 3INIT [SYS-B.UP-FROM] FROM : 04.03.01 auto load : Invalid 1SAVE c CA UTION When loading the data from the flash R OM, make sure that the I/O.
10- 28 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 10-8-3 Initializing the flash ROM data n NO TE The internal flash R OM can be used when the SRCP controller version is 24.10 or la ter and the TPB version is 12.51 or later . 1) On the initial screen, press F3 (SYS).
10- 29 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 8) The screen returns to step 4 when initializa- tion is complete. After initializing the flash R OM, the auto load function is set to "In valid" (disabled).
10- 30 MEMO.
11- 1 11 COMMUNICA TION WITH PC Chapter 1 1 COMMUNICA TION WITH PC The SRCP controller allo ws you to edit the program data and point data or control the robot operation using a PC (personal computer) by RS-232C communication instead of using the TPB .
11- 2 11 COMMUNICA TION WITH PC 1 1-1 Communication Parameter Specifications 1 1-1 Communication Parameter Specifications The communication parameters on the PC should be set as follo ws. For the setting procedure, refer to the computer operation manual.
11- 3 11 COMMUNICA TION WITH PC 1 1-2 Communication Cable Specifications 1 1-2 Communication Cable Specifications c CA UTION Pins 10, 12, 18 and 21 of the controller's connector are specifically used for TPB connection. T o avoid possible accidents do not connect other inputs to these pins.
11- 4 11 COMMUNICA TION WITH PC 1 1-3 Communication Command Specifications 1 1-3 Communication Command Specifications On the SRCP controller , a command interface resembling the B ASIC programming language is pro- vided as standard, to facilitate easy comm unication with a PC.
11- 5 11 COMMUNICA TION WITH PC 1 1-4 Communication Command List 1 1-4 Communication Command List No. Operation code Operand 1 Operand 2 Operand 3 Command details 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25.
11- 6 11 COMMUNICA TION WITH PC 1 1-4 Communication Command List No. Operation code Operand 1 Operand 2 Operand 3 Command details 1. 2. 3. 4. 5. 6. 7. 8.
11- 7 11 COMMUNICA TION WITH PC 1 1-4 Communication Command List No. Operation code Operand 1 Operand 2 Operand 3 Command details 1. 2. 3. 4. 5. 6. 7. 8.
11- 8 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description 1 1-5-1 Robot movements (1) @ORG @ORGN Returns the robot to its origin position and outputs the machine reference v alue when completed correctly . T ransmission example : @ORG c/r l/f .
11- 9 11 COMMUNICA TION WITH PC (2) @RESET This returns the program ex ecution step to the first step of the pro gram selected with the '@SWI' statement, and turns all general-purpose outputs (DO0 to DO4) and memory output of f.
11- 10 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (6) @X+, (@X-) @X+ mov es the robot to the + side and @X- to the - side based on the following equation.
11- 11 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (9) @MOV A <point number>,<speed> Mov es the robot to a position specified by a point number at a specif ied speed. Point number : This is a number assigned to each point (position data) and can be from 0 to 999 (a total of 1,000 points).
11- 12 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (1 1) @MOVF <point number>,<DI number>,<DI status> This command mov es the robot toward a position specif ied by a point number until a specified DI input condition is met.
11- 13 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (15) @P <point number> Sets the point v ariable P . Point number : This can be any v alue from 0 to 999. T ransmission example : @P 100 c/r l/f ............................
11- 14 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (18) @MOVM <pallet work position>,<speed> Mov es the robot to a specified pallet work position at a specif ied speed. Pallet work position : The pallet work position is a number used to identify each point on a matrix, and can be from 1 to 65025 (=255 × 255).
11- 15 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (21) @CSEL <array element number> Specifies an arr ay element for the counter array variable C to be used. Array element number : This is a number used to designate an array element for the counter array v ariable C, and can be from 0 to 31.
11- 16 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (26) @D+ [<addition value>] Adds a specified v alue to the counter var iable D. Addition value : This can be any v alue from 1 to 65535. If this value is omitted, then 1 is added to the counter var ia ble.
11- 17 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC 1 1-5-2 Data handling (1) @?POS Reads the current position. T ransmission example : @?POS c/r l/f Response example : 321.05 c/r l/f OK c/r l/f (2) @?NO Reads the current program number .
11- 18 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (6) @?STP <program number> Reads the total number of steps in the specified pro gram. Program number : This is a number used to identify each program and can be 0 to 99 (a total of 100).
11- 19 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (1 1) @?ALM <history number>[,<display count>] Displays a specif ied number of past alarms, starting from a specif ied history number . A maximum of 100 past alarms can be displayed.
11- 20 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (13) @?EMG Reads the emergenc y stop status. T ransmission e xample : @?EMG c/r l/f Response e xample 1 : 0 c/r l/f .......................................... Emergency stop is of f.
11- 21 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (17) @?PV A Reads the point v ariable P . In multi-task operation, this command reads the program information on the task currently selected.
11- 22 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (20-1) @?PRM <parameter number> Reads the data from a specified parameter . Parameter number : This is a number used to identify each parameter and can be from 0 to 99. T ransmission example : @?PRMl c/r l/f .
11- 23 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (21-2) @?P <point number>,<point number> Reads multiple point data from the fir st point n umber to the second point number . If unregistered points exist, the y will be skipped.
11- 24 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (22-3) @READ PNT Reads all point data. T ransmission example : @READ PNT c/r l/f Response example : P0=0.00 c/r l/f P1=350.00 c/r l/f P2=196.47 c/r l/f P254=-0.27 c/r l/f ^Z (=1AH) OK c/r l/f (22-4) @READ PRM Reads all parameter data.
11- 25 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (22-6) @READ DIO Reads the on/off status of DIO. Refer to "4-3-4 DIO monitor screen".
11- 26 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (23-2) @WRITE PNT Writes the point data. The controller will transmit READ Y when this command is receiv ed. Con- fi rm that READ Y is received and then transmit the point data. Alw ays transmit ^Z (=1AH) at the end of the data.
11- 27 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (23-4) @WRITE ALL Writes all data (parameters, programs and points) at one time. The controller will transmit READ Y when this command is recei ved. Confirm that READ Y is recei ved and then transmit all data.
11- 28 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (26) @?CSEL Reads the currently specif ied element number of the counter ar ray v ariable C. In multi-task opera- tion, this command reads the program information on the task currently selected.
11- 29 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC 1 1-5-3 Utilities (1-1) @INIT PGM Initializes all program data. T ransmission example : @INIT PGM c/r l/f Response example : OK c/r l/f (1-2) @INIT PNT Initializes all point data.
11- 30 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (2) @SWI <program number> This command switches the ex ecution program number . When a program is reset, progr am execu- tion will always retur n to the first step of the program selected here.
11- 31 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (5) @SDEL <program number>,<step number> Deletes a specified step. Program number : This is a number used to identify each program and can be from 0 to 99. Step number : This is a number used to identify each step and can be from 1 to 255.
11- 32 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (8) @DEL <program number> Deletes a program. Program number : This is a number used to identify each program and can be from 0 to 99. T ransmission example : @DEL 10 c/r l/f .
12- 1 12 MESSAGE T ABLES Chapter 12 MESSAGE T ABLES This section lists all of the messages that are displayed on the TPB or sent to the PC (personal computer) to inform the operator of an error in operation or a current status. F or a list of the alar m messages displa yed if any trouble occurs, refer to "13-2 Alarm and Countermeasures".
12- 2 12 MESSAGE T ABLES 12-1 Error Messages 12-1 Error Messages 12-1-1 Error message specifications The error message transmission format is as follo ws. <Error No.> : <Error message> c/r l/f The length of the <error message> character string is 17 characters.
12- 3 12 MESSAGE T ABLES 12-1 Error Messages 12-1-3 Operation error message Error No. 30 Error No. 31 Error No. 32 Error No. 33 Error No. 34 Error No. 35 Error No.
12- 4 12 MESSAGE T ABLES 12-1 Error Messages 12-1-4 Program error message Error No. 40 Error No. 41 Error No. 42 Error No. 43 Error No. 44 Error No. 45 Message Cause Action Message Cause Action Messag.
12- 5 12 MESSAGE T ABLES 12-1 Error Messages 12-1-5 System error message Error No. 50 Error No. 51 Error No. 52 Error No. 53 Error No. 54 Error No. 56 Error No.
12- 6 12 MESSAGE T ABLES 12-2 TPB Error Messages 12-2 TPB Error Messages Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Remedy SIO error 1. Parity error in data receiv ed from controller.
12- 7 12 MESSAGE T ABLES 12-3 Stop Messages 12-3 Stop Messages 12-3-1 Message specifications The stop message transmission format is as follo ws. <Message No.> : <Stop message> c/r l/f The length of the <stop message> character string is 17 characters.
12- 8 12 MESSAGE T ABLES 12-4 Displaying the Error History A history of past errors can be displayed. Up to 100 errors can be stored in the controller .
12- 9 12 MESSAGE T ABLES 12-4 Displaying the Error History 5) History numbers, time that errors occurred (total elapsed time from controller start-up) and error descriptions are displayed. One screen displays the past 4 errors in the order from the most recent error .
12- 10 MEMO.
13- 1 13 TROUBLESHOOTING Chapter 13 TROUBLESHOOTING This chapter explains ho w to take correcti ve action when a problem or breakdo wn occurs, by categorizing it into one of two cases depending on whether or not an alarm is output from the controller .
13- 2 13 TROUBLESHOOTING 13-1 If A T rouble Occurs 13-1 If A T rouble Occurs If trouble or breakdo wn occurs, contact Y AMAHA or your Y AMAHA dealer, pro viding us with the follo wing information in as much detail as possible.
13- 3 13 TROUBLESHOOTING 13-2 Alarm and Countermeasures 13-2 Alarm and Countermeasures If the READ Y signal is turned off e xcept in cases of emergency stop, then an alarm has probably been issued. The status LED on the front panel of the controller lights up in red.
13- 4 13 TROUBLESHOOTING 13-2 Alarm and Countermeasures 13-2-2 Alarm message list Action Lower the operation duty on the robot or reduce the acceleration parameter, or correct the payload parameter. If the motor armature resistance is too low, contact our sales office or representative.
13- 5 13 TROUBLESHOOTING 13-2 Alarm and Countermeasures Action Check whether robot moving parts are locked. Check the motor wire and position signal wire connections. Initialize the parameters. In emergency stop, turn power on and check point data. If part of the data is defective, correct the data.
13- 6 13 TROUBLESHOOTING 13-2 Alarm and Countermeasures Action Lower the operation duty on the robot, or install a cooling fan. Check the power supply voltage. If the error occurs frequently, then the LSI is probably defective, so replace the SRCP controller.
13- 7 13 TROUBLESHOOTING 13-3 T roubleshooting for Specific Symptom 13-3 T roubleshooting for Specific Symptom If any problems de velop while the controller is being used, check the items below for the appropriate way to handle them.
13- 8 13 TROUBLESHOOTING 13-3 T roubleshooting for Specific Symptom Items to Check • Make sure there is no loose parts where the robot is installed. • Check whether the motor case is properly grounded.
13- 9 13 TROUBLESHOOTING 13-3 T roubleshooting for Specific Symptom 13-3-2 Relating to the I/O Items to Check • Check the wiring. • Check the operation with the manual instruction of the TPB general-purpose output. (Refer to "7-4 Manual Control of General-Purpose Output".
13- 10 13 TROUBLESHOOTING 13-3 T roubleshooting for Specific Symptom 13-3-3 Other Items to Check • Check the signal input (by using a PLC monitor, etc.). • Check the cable wiring. • Try connecting another TPB if available. • Check that the TPB version is 12.
13- 11 13 TROUBLESHOOTING 13-4 Displaying the Alarm History 13-4 Displaying the Alarm History A history of past alarms can be displayed. Up to 100 alarms can be stored in the controller .
13- 12 13 TROUBLESHOOTING 5) History numbers, time that alarms occurred (total elapsed time from controller start-up) and alarm descriptions are displayed. One screen displays the past 4 alarms in the order from the most recent alarm. Pressing the X Z – and X Z + ke ys displays the hidden items.
14- 1 14 MAINTENANCE AND W ARRANTY Chapter 14 MAINTENANCE AND W ARRANTY For safety purposes, al ways turn the power of f before starting robot maintenance, cleaning or repairs, etc.
14- 2 14 MAINTENANCE AND W ARRANTY 14-1 W arranty 14-1 W arranty The Y AMAHA robot and/or rela ted product you ha ve purchased are warranted ag ainst the defects or malfunctions as described below .
14- 3 14 MAINTENANCE AND W ARRANTY 14-2 Replacing the System Backup Battery 14-2 Replacing the System Backup Battery If an alarm is issued indicating that the system backup battery voltag e is low , replace the battery using the procedure listed belo w .
14- 4 14 MAINTENANCE AND W ARRANTY 14-3 Updating the System 14-3 Updating the System Y AMAHA may request, on occasion, that you update the system in your equipment.
15- 1 15 SPECIFICA TIONS Chapter 15 SPECIFICA TIONS.
15- 2 15 SPECIFICA TIONS 15-1 SRCP sereis 15-1 SRCP sereis 15-1-1 Basic specifications Model Specification item SRCP-10 SRCP-20 SRCP-05 Basic specifi- cations Axis control Memory Command mode I/O I/O interface Normal mode Max. power consumption External dimensions W e ight No.
15- 3 15 SPECIFICA TIONS 15-1 SRCP sereis Error detection items Ambient temperature Storage temperature Ambient humidity Noise immunity Peripheral options Overcurrent, overload, wire breakage, runaway, etc. 0 to 40 ° C -10 to 65 ° C 35 to 85%RH (no condensation) Conforms to IEC61000-4-4 Level 2 TPB (Ver.
15- 4 15 SPECIFICA TIONS 15-2 TPB 15-2 TPB 15-2-1 Basic specifications TPB Basic specifications External dimensions Weight Power consumption Power supply Cable length Serial interface Display Keyboard.
15- 5 15 SPECIFICA TIONS 15-3 Regenerative Unit (RGU-2) 15-3 Regenerative Unit (RGU-2) 15-3-1 Basic specifications RGU-2 Basic specifications External dimensions Weight Cable length Regenerative voltage Regenerative stop voltage Ambient temperature Storage temperature Ambient humidity Noise immunity W40 × H250 × D157mm 1.
MEMO 15- 6.
16- 1 16 APPENDIX Chapter 16 APPENDIX.
16- 2 16 APPENDIX 16-1 How to Handle Options 16-1 How to Handle Options 16-1-1 Memory card A memory card (option) can be used with the TPB to back up the SRCP controller data. ■ Using the memory card 1. Insert the memory card into the TPB as sho wn in Fig.
16- 3 16 APPENDIX 16-1 How to Handle Options ■ Data size that can be saved Data size that can be sa ved on one memory card is as follows: Memory card capacity 8KB 64KB 1024KB (1MB) DPB Cannot be used. Cannot be used. TPB Ver. 2.18 or earlier TPB Ver.
16- 4 16 APPENDIX 16-1-2 POPCOM communication cable This cable is used to operate the SRCP controller from POPCOM software which runs on a PC and allows easy and ef ficient robot programming and operation. This POPCOM cable is dif ferent from typical communication cables, so do not use it for other pur- pose.
MEMO.
Ve r. 1.01 Ve r. 2.00 Ve r. 2.01 Ve r. 2.02 Ve r. 2.03 Ve r. 2.04 English manual V er . 1.01 is based on Japanese manual V er . 1.01. English manual V er . 2.00 is based on Japanese manual V er . 3.04. English manual V er . 2.01 is based on Japanese manual V er .
Un punto importante, dopo l’acquisto del dispositivo (o anche prima di acquisto) è quello di leggere il manuale. Dobbiamo farlo per diversi motivi semplici:
Se non hai ancora comprato il Yamaha SRCP è un buon momento per familiarizzare con i dati di base del prodotto. Prime consultare le pagine iniziali del manuale d’uso, che si trova al di sopra. Dovresti trovare lì i dati tecnici più importanti del Yamaha SRCP - in questo modo è possibile verificare se l’apparecchio soddisfa le tue esigenze. Esplorando le pagine segenti del manuali d’uso Yamaha SRCP imparerai tutte le caratteristiche del prodotto e le informazioni sul suo funzionamento. Le informazioni sul Yamaha SRCP ti aiuteranno sicuramente a prendere una decisione relativa all’acquisto.
In una situazione in cui hai già il Yamaha SRCP, ma non hai ancora letto il manuale d’uso, dovresti farlo per le ragioni sopra descritte. Saprai quindi se hai correttamente usato le funzioni disponibili, e se hai commesso errori che possono ridurre la durata di vita del Yamaha SRCP.
Tuttavia, uno dei ruoli più importanti per l’utente svolti dal manuale d’uso è quello di aiutare a risolvere i problemi con il Yamaha SRCP. Quasi sempre, ci troverai Troubleshooting, cioè i guasti più frequenti e malfunzionamenti del dispositivo Yamaha SRCP insieme con le istruzioni su come risolverli. Anche se non si riesci a risolvere il problema, il manuale d’uso ti mostrerà il percorso di ulteriori procedimenti – il contatto con il centro servizio clienti o il servizio più vicino.
