YAMAHA SINGLE-AXIS ROBOT CONTROLLER SRCP User’s Manual ENGLISH E E84-Ver. 2.
General Contents Chapter 1 OVERVIEW ........................................................................................................... 1-1 1-1 1-2 1-3 Features of the SRCP Series Controller ................................................................................... 1-2 Setting Up for Operation ....................................................................................................... 1-3 External View and Part Names ............................................................
Chapter 4 BASIC OPERATION OF THE TPB ......................................................................... 4-1 4-1 Connecting and Disconnecting the TPB ................................................................................. 4-2 4-1-1 4-1-2 4-2 4-3 Basic Key Operation .............................................................................................................. 4-4 Reading the Screen ............................................................................................
8-4 Robot Language Description .................................................................................................. 8-6 8-4-1 8-4-2 8-4-3 8-4-4 8-4-5 8-4-6 8-4-7 8-4-8 8-4-9 8-4-10 8-4-11 8-4-12 8-4-13 8-4-14 8-4-15 8-4-16 8-4-17 8-4-18 8-4-19 8-4-20 8-4-21 8-4-22 8-4-23 8-4-24 8-4-25 8-4-26 8-4-27 8-4-28 8-4-29 8-4-30 8-4-31 8-4-32 8-4-33 8-5 Sample Programs .................................................................................................................
10-6 Using a Memory Card ........................................................................................................ 10-14 10-6-1 10-6-2 10-6-3 10-6-4 Saving controller data to a memory card ................................................................................................... Loading data from a memory card ............................................................................................................. Formatting a memory card ........................................
Chapter 15 SPECIFICATIONS ............................................................................................... 15-1 15-1 SRCP sereis ..........................................................................................................................15-2 15-1-1 Basic specifications ..................................................................................................................................... 15-2 15-1-2 Robot number list .................................................
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Chapter 1 OVERVIEW 1 1- 1 OVERVIEW Thank you for purchasing the YAMAHA single-axis robot controller SRCP series (hereafter called "SRCP controller" or simply "SRCP" or "this controller"). This manual describes SRCP controller features and operating procedures. When used with a YAMAHA single-axis PHASER series robot, the SRCP controller performs positioning and pick-and-place tasks of various mechanical parts and devices.
1-1 Features of the SRCP Series Controller 1-1 1 Features of the SRCP Series Controller OVERVIEW The SRCP series is a high-performance robot controller using a 32-bit RISC chip CPU. When used with a YAMAHA single-axis PHASER series robot, the SRCP controller performs positioning tasks of various mechanical parts and devices. The SRCP controller also performs I/O control of solenoid valves and sensors, and controls communication with a PC (personal computer).
1-2 Setting Up for Operation 1-2 Setting Up for Operation 1 Basic steps Operation Installation Wiring and connection Setting parameters Programming Running the robot Information to be familiar with Refer to • Installing the controller 2-1 • Connecting the power supply 2-2 • Grounding 2-3 • Connecting peripheral equipment 2-4 to 2-8 • Understanding the I/O interface Chapter 3 • Understanding basic TPB operations Chapter 4 • Setting the various parameters Chapter 5 • Inputting or edi
1-3 External View and Part Names 1-3 1 External View and Part Names OVERVIEW This section explains part names of the SRCP controller and TPB along with their functions. Note that the external view and specifications are subject to change without prior notice to the user. 1-3-1 SRCP controller 1. Status Display Lamp This lamp indicates the operating status of the robot and controller. Refer to "15-1-3 LED display" for information on controller status and the matching LED display. 2.
1-3 External View and Part Names Fig.
1-3 External View and Part Names Fig. 1-2 Three-side view of the SRCP controller 1 SRCP-05 78 OVERVIEW 157 注意 CAUTION 高温注意 19 40 5.5 ERR (R) PWR (G) ESC SRCP HIGH TEMPERATURE MOTOR TPB U V W ROB I/O 290 265 250 COM L ACIN N I/O 200-230V~ 50-60Hz MAX. 400VA EMG 24V 2 24G SRCP 05 MODEL. SER. NO. FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN SRCP-10, 20 157 78 40 19 5.
1-3 External View and Part Names 1-3-2 TPB 1 2. Memory Card Slot An IC memory card can be inserted here. Be careful not to insert the card upside-down. 3. Control Keys The TPB can be operated in interactive data entry mode. Instructions are input through the control keys while reading the contents on the LCD screen. 4. Connection Cable This cable connects the TPB to the SRCP controller. 5. DC Power Input Terminal Not used. 6. Emergency Stop Button This is the emergency stop button.
1-4 System Configuration 1-4 1 System Configuration OVERVIEW 1-4-1 System configuration The SRCP controller can be combined with various peripheral units and optional products to configure a robot system as shown below. Fig.
1-5 Accessories and Options 1-5 Accessories and Options 1 The SRCP robot controller comes with the following accessories. After unpacking, check that all items are included. 1. EXT. CN connector Connector : 733-104 made by WAGO 1 piece 2. I/O. CN connector with flat cable (option) Connector : XG4M-4030-U made by OMRON 1 piece 3. RS-232C dust cover XM2T-2501 1 piece made by OMRON 1-5-2 Peripheral options The following options are available for the SRCP controller: 1.
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Chapter 2 INSTALLATION AND CONNECTION This chapter contains precautions that should be observed when installing the controller, as well as procedures and precautions for wiring the controller to the robot and to external equipment.
2-1 Installing the SRCP Controller 2-1 Installing the SRCP Controller 2-1-1 Installation method 2 INSTALLATION AND CONNECTION Using the L-shaped brackets attached to the top and bottom of the controller, install the controller from the front or rear position. (See Fig.1-2 Three-side view of the SRCP controller.) 2-1-2 Installation location ■ Install the controller in locations where the ambient temperature is between 0 to 40°C and the humidity is between 35 to 85% without condensation.
2-2 Connecting the Power Supply 2-2 Connecting the Power Supply 2-2-1 Power supply 2 Type and Item Power supply voltage No.
2-2 Connecting the Power Supply c 2 INSTALLATION AND CONNECTION w CAUTION The SRCP series controller does not have a power switch. Be sure to provide a power supply breaker (insulation) of the correct specifications that will turn the power on or off to the entire system including the robot controller. Power to EXT. CN must first be supplied before supplying power to the power supply terminal block. If this order is reversed, an alarm (06: 24V POWER OFF) might be issued to prevent operation. (See "2.
2-2 Connecting the Power Supply 2-2-5 Installing current control switches When controlling the power on/off of the robot controller from an external device such as a PLC, a current control switch (contactor, breaker, etc.) may be used. In this case, the current control switch usually creates a large on/off inrush current. To minimize this on/off inrush current, surge killers must be installed for surge absorption.
2-5 Connecting to the Robot 2-5 Connecting to the Robot First make sure that the power 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. Fully insert the robot cable until it clicks in position. 2 INSTALLATION AND CONNECTION * When the robot cable is disconnected from the controller, an alarm (15: FEEDBACK ERROR 2) is issued.
2-6 Connecting to the I/O. CN Connector 2-6 Connecting to the I/O. CN Connector The mating connector with a flat cable (option) for the I/O. CN terminal on the SRCP series controller is as follows: Mating connector type No. SRCP's I/O. CN connector type No. : XG4M-4030-U (OMRON) : XG4C-4034 A20 A19 A18 A17 A16 A15 .. .. .. .. . A6 A5 A4 A3 A2 A1 B20 A20 B19 A19 B18 A18 .. .. .. .. . B3 A3 B2 A2 B1 A1 B20 B19 B18 B17 B16 B15 .. .. .. .. .
2-7 Connecting to the EXT. CN Connector 2-7 Connecting to the EXT. CN Connector Connect an emergency stop circuit and a 24V power supply for I/O control to the EXT. CN connector. Make the necessary wiring hookup (see below) to the mating connector that comes with the SRCP controller and then plug it into the EXT. CN connector. Make sure the wiring is correct since miswiring may cause serious accidents such as fire.
2-8 Connecting to the Regenerative Unit 2-8 Connecting to the Regenerative Unit Some types of robots must be connected to a regenerative unit. In such cases, use the interconnection cable to connect the SRCP controller to the regenerative unit. Fig. 2-3 Connecting the SRCP controller to a regenerative unit 2 INSTALLATION AND CONNECTION Use the interconnection cable to make connections.
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Chapter 3 I/O INTERFACE 1 3- 3 I/O INTERFACE The SRCP series has I/O interface connectors (EXT. CN and I/O. CN) as a standard feature. The EXT. CN is used for emergency stop input and 24V power input for I/O control. The I/O. CN consists of an interlock input, 7 dedicated command inputs, 3 dedicated outputs, 8 general-purpose inputs, 5 general-purpose outputs, feedback pulse outputs, etc. These I/O interfaces allow exchanging commands and data between the SRCP series and external equipment.
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. The EXT. CN is used for emergency stop input and 24V power input for I/O control. The I/O. CN is used for interlock signal input, dedicated command input, dedicated output, general-purpose input and output, and feedback pulse output. 3 3-1-1 I/O. CN connector signals I/O INTERFACE The I/O.
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 emergency stop input fed to the EXT. CN terminal. * DI7 functions as the SERVICE mode input when the SERVICE mode function is enabled. In this case, 7 general-purpose inputs are available.
3-2 Input Signal Description ■ Absolute point movement command (ABS-PT) This command moves the robot to an absolute position specified by a point number at a specified speed along an axis coordinate whose origin is defined as 0. The point number and speed are specified by general-purpose input. (See "3-2-2 General-purpose input (DI0 to DI7)".
3-2 Input Signal Description ■ Return-to-origin command (ORG-S) This command returns the robot to its origin position by using stroke-end detection as the origin detection method. n c c CAUTION If the robot is operated while return-to-origin is still incomplete, the necessary thrust to move the robot is unavailable and an alarm or abnormal operation occurs. Always perform return-to-origin before starting robot operation.
3-2 Input Signal Description 3-2-2 General-purpose input (DI0 to DI7) These general-purpose inputs are available to users for handling data input in a program. These inputs are usually connected to sensors or switches. These inputs can also be directly connected to a PLC output circuit. As a special function during execution of an ABS-PT or INC-PT point movement command, these general- purpose inputs can be used to specify the point numbers and movement speed.
3-2 Input Signal Description 3-2-3 SERVICE mode input (SVCE) When the SERVICE mode function is enabled, DI7 functions as the SERVICE mode input (SVCE). The SERVICE mode input is used to notify the SRCP controller whether the current state is a "SERVICE mode state". This input should be turned off (contact open) in "SERVICE mode state". Refer to "10-4 SERVICE mode function" for details on the SERVICE mode function.
3-3 Output Signal Description 3-3 Output Signal Description The output signals consist of 3 dedicated outputs (READY, BUSY and END), 5 general-purpose outputs, and feedback pulse outputs. In this section, terms "ON" and "OFF" mean the output transistors are "on" and "off". 3-3-1 Dedicated output 3 I/O INTERFACE The dedicated outputs are used for exchanging signals between the SRCP controller and an external device such as a PLC.
3-3 Output Signal Description 3-3-2 General-purpose output (DO0 to DO4) These general-purpose outputs are available to users for freely controlling on/off operation in a program. These outputs are used in combination with an external 24V power supply, to drive loads such as solenoid valves and LED lamps. These outputs of course, can be directly connected to a PLC input circuit. All general-purpose outputs are reset (turned off) when the SRCP controller is turned on or the program is reset.
3-4 I/O Circuits 3-4 I/O Circuits This section provides the SRCP controller I/O circuit specifications and examples of how the I/O circuits should be connected. Refer to these specifications and diagrams when connecting to external equipment such as a PLC. 3-4-1 I/O circuit specifications 3 I/O INTERFACE ■ Input Power DC24V±10% (supplied through EXT.
3-4 I/O Circuits 3-4-2 I/O circuit and connection example I/O circuit and connection example Photocoupler 3 Push-button Input signal DI I/O INTERFACE NPN transistor DI Incandescent lamp DO Output signal Solenoid valve DO 24V 24G + - FG External DC24V power supply Controller side Pulse output circuit connection example Controller side PA+ PA- PB+ 26LS32 or equivalent PB- 26LS31 or equivalent PZ+ PZ- PZM+ PZM- 11 3-
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 AY51 output unit 3 I/O INTERFACE AY51 type output unit R R SRCP series controller Y00 TB 1 Y01 2 Y02 3 Y03 4 Y04 5 Y05 6 Y06 7 Y07 8 Y08 9 Y09 10 Y0A 11 Y0B 12 Y0C 13 Y0D 14 Y0E 15 Y0F 16 R I/O.
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 3 I/O. CN TB 1 B12 BUSY A12 END B11 DO 0 A9 DO 1 B9 DO 2 A10 DO 3 B10 DO 4 A11 3 24G 4 2 X01 3 X02 4 X03 5 X04 6 X05 7 X06 8 X07 9 DC24V R R Internal circuit Photocoupler EXT.
3-6 I/O Control Timing Charts 3-6 I/O Control Timing Charts The following shows typical timing charts for I/O control. Refer to these diagrams when creating a sequence program.
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 received. Whether the received command has ended normally can be checked with the END signal status at the point that the BUSY signal turns off. When the END signal is on, this means that the command has ended normally. If it is off, the command has not ended normally. ■ The dedicated command input must be a pulse input.
3-6 I/O Control Timing Charts (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 off (contact open) the dedicated command input, as in the examples listed below.) • A movement command (ABS-PT, INC-PT) for a very short distance was executed. • A reset command (RESET) was executed. • A step run was executed using a command with a very short execution time such as the L and DO statements.
3-6 I/O Control Timing Charts (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.) Dedicated command BUSY END 30ms or less 1ms or less 30ms or less (1) At the rising edge of the dedicated command input, the END signal turns off and the BUSY signal turns on. (2) Turn off (contact open) the dedicated command input after checking that the BUSY signal turns on.
3-6 I/O Control Timing Charts (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 emergency stop was triggered during execution of a dedicated command. • The SERVICE mode input was changed during execution of a dedicated command. • An error was caused due to a jump to an unregistered program or point during automatic operation.
3-6 I/O Control Timing Charts 3-6-4 When emergency stop is input Emergency stop EMG 3 Dedicated command I/O INTERFACE BUSY END READY 5ms or less 1ms or less ■ The READY signal turns off. The BUSY signal also turns off while a dedicated command is being executed. The END signal remains unchanged. ■ To enable robot operation, cancel emergency stop to turn on the READY signal, then input the servo recovery command (SERVO).
3-6 I/O Control Timing Charts 3-6-6 When executing a point movement command ■ When executing a point movement command (ABS-PT, INC-PT), the point data and speed data must first be input before inputting the command. The point data and speed data can be specified with DI0 to DI7 (or DI0 to DI6 when SERVICE mode is enabled). Refer to "3-2-2 General-purpose input (DI0 to DI7)".
Chapter 4 BASIC OPERATION OF THE TPB The TPB is a hand-held, pendant-type programming box that connects to the SRCP controller to edit or run programs for robot operation. The TPB allows interactive user operation on the display screen so that even first-time users can easily operate the robot with the TPB. This chapter describes the basic operation of the TPB. The TPB used with the SRCP series controller must be version 12.50 or later.
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 CAUTION Do not modify the TPB cable or use any type of relay unit for connecting the TPB to the SRCP controller. Doing so might cause communication errors or malfunctions.
4-1 Connecting and Disconnecting the TPB 4-1-2 Disconnecting the TPB from the SRCP controller To disconnect the TPB from the controller while a program or an I/O dedicated command is being executed, pull out the TPB while holding down the ESC switch on the front panel of the controller. Failing to hold down the ESC switch will trigger emergency stop in the controller and turn off the servo.
4-2 Basic Key Operation 4-2 Basic Key Operation A 1) Selectable menu items are displayed on the 4th line (bottom line) of the TPB screen. Example A is the initial screen that allows you to select the following modes. [MENU] select menu 1 EDIT 2 OPRT 3 SYS 4 MON BASIC OPERATION OF THE TPB 4 1EDIT2OPRT3SYS 4MON B The number to the left of each mode corresponds to the function keys from F1 to F4 .
4-3 Reading the Screen 4-3 Reading the Screen The following explains the basic screen displays and what they mean. 4-3-1 Program execution screen The display method slightly differs depending on the version of TPB. Ver. 12.50 or earlier 1 5 Ver. 12.51 or later 2 1 3 [OPRT-STEP] 100 0:31 [ [STEP] 100% 0: [ 0.00] 4 0.00] 1SPD 2RSET3CHG 4next 6 4 31 062:MOVA 200,100 4 1SPD 2RSET3CHG 4next 3 6 1. 2. 3. 4. Current mode Execution speed No. of task being executed No.
4-3 Reading the Screen 4-3-3 Point edit screen (teaching playback) 1 4 2 [EDIT-PNT-TCH](1)100 P255 = 123.45 [ 3 [mm] 0.00] 5 1CHG 2SPD 3S_SET4next 4 BASIC OPERATION OF THE TPB 1. 2. 3. 4. 5. Current mode Speed selection number Speed parameter (%) Edit point number Current position 4-3-4 DIO monitor screen 1 2 DI 00000000 00000000 DO 10100000 O:0 S:1 3 4- 6 4 1. General-purpose input From left DI7 to DI0 3. Dedicated and general-purpose outputs From left READY, BUSY, END, DO4 to DO0 2.
4-4 Hierarchical Menu Structure 4-4 Hierarchical Menu Structure INFORMATION (System information) PGM (Program Edit) EDIT (Editing) PNT (Point Edit) MOD (Step Edit) INS (Step Insert) DEL (Step Delete) CHG (Program Change) MDI (Manual Data Input) CHG (Point Change) TCH (Teaching Playback) CHG (Point Change) SPD (Speed Change) S_SET (Speed Set) DO (General-purpose Output Control) TRC (Point trace) UTL (Utility) ORG (Origin Return) POWER ON OPRT (Operation) STEP (Step Run) COPY (Program Copy) DEL (
4-5 Restricting Key Operation by Access Level 4-5 Restricting Key Operation by Access Level The TPB key operations can be limited by setting the access levels (operation levels). A person not trained in robot operation might accidentally damage the robot system or endanger others by using the TPB incorrectly. Set the access levels to restrict TPB key operations and prevent such accidents. n 4 NOTE The access level settings are protected by a password so that changes cannot be instantly made.
4-5 Restricting Key Operation by Access Level Memory card Level Description 0 All operations are permitted. 1 Loading the parameters and all data to the SRCP is prohibited. (Point data or program data can be loaded.) 2 Loading any data to the SRCP is prohibited. (Data can be saved and the memory card formatted.) 3 Use of memory card is prohibited. (Cannot enter SYS-B.UP mode.) 4 1) Press F3 (SYS) on the initial screen.
4-5 Restricting Key Operation by Access Level 5) Select the item you want to change. To change the access level for editing, press F1 (EDIT). To change the access level for operation, press F2 (OPRT). To change the access level for system-related data, press F3 (SYS). To change the access level for memory card, press F4 (CARD). [SYS-SAFE-ACLV] select menu 1EDIT2OPRT3SYS 4CARD 4 BASIC OPERATION OF THE TPB 6) The currently set access level appears.
Chapter 5 PARAMETERS The SRCP controller uses a software servo 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). This chapter contains a detailed description of each of the parameters, and explains how to use the TPB to change and specify parameter settings.
5-1 Setting the Parameters 5-1 Setting the Parameters 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] 5 select menu PARAMETERS 2) Next, press F1 (PRM). 1PRM 2B.UP3INIT 4next 3) Select the parameter group you want to edit. When editing PRM0 to PRM63, press F1 (PRM1). When editing PRM64 onward, press F2 (PRM2). [SYS-PRM] select menu 1PRM12PRM2 4) The current PRM0 (robot type number ) setting appears on the screen.
5-2 Parameter Description 5-2 Parameter Description The parameters are described in order below. c CAUTION Parameters not displayed on the TPB screen are automatically set or optimized to match the robot type when the robot parameters are initialized. You usually do not have to change these parameter settings. If for some special reason you need to change or check these hidden parameters, use any of the following methods. • Turn on the power to the controller while holding down the ESC key on the TPB.
5-2 Parameter Description PRM3: Payload This specifies the total weight of the workpiece and tool attached to the robot. In cases where this weight varies, 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. If set too small, abnormal vibration or overheat may occur resulting in troubles with the robot or controller.
5-2 Parameter Description PRM7: I/O point movement command speed This parameter sets the movement speed to execute a point movement command (ABSPT, INC-PT) and also determines the number of points that can be used with a point movement command. (See "3-2-2 General-purpose input (DI0 to DI7)".) Input range: 0 to 100 (%) Default value: 100 PRM8: No.
5-2 Parameter Description PRM11: No. of encoder pulses (4✕ mode) This parameter indicates the constant that is determined by the linear scale. Default value: Depends on robot type. PRM12: Lead length This parameter indicates the constant that is determined by the linear scale. Default value: Depends on robot type. PRM13: Origin detection method This parameter specifies the origin (reference point) detection method. The SRCP controller uses the stroke-end detection method.
5-2 Parameter Description PRM18: Speed integration gain This sets the speed control gain. Typically, PRM17 and PRM18 should be input at a ratio of 3 : 2. Generally, the larger the gain, the higher the acceleration will be. However, if the gain is set too high, abnormal oscillation or noise might be generated, causing serious problems in the robot and controller. Use caution when selecting this parameter to avoid such problems. Default value: Depends on robot type.
5-2 Parameter Description PRM24: Teaching count data (TPB entry) This is entered in the TPB and cannot be used. Default value: 0 PRM25: Not used Default value: 0 PRM26: Teaching movement data This parameter is used during movement with a communication command @X+ or @XINC. This is also used for point teaching playback. 5 PARAMETERS Input range: 1 to 100 (%) Default value: 100 PRM27: Teaching movement data 1 (for TPB) This is entered in the TPB and cannot be used.
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. When this parameter is set to 1, the alarm number is output as a 5-bit binary signal through DO0 to DO4. Input range: Meaning: 0 or 1 0: No output 1: Output Default value: 0 Example of alarm Number - DO output Alarm No.
5-2 Parameter Description PRM34: System mode selection This parameter specifies the system operation mode. When you want to use the SRCP series in operating specifications that differ from normal mode, change this parameter as explained below. This parameter functions are allocated in bit units. Input range: 0 to 255 Default value: 0 Function allocation in bit units Bit 0 PARAMETERS 5 Function Setting Addition value 0 0 ON when emergency stop is canceled.
5-2 Parameter Description Bit 7: END output sequence setting at command execution completion (supported by Ver. 24.32 and later versions): This selects the END output sequence at dedicated command completion. With the standard setting ("0"), the command's execution result is output to the END output when the command is completed. When set to "1", the command's execution result is output to the END output when the command is completed, but only after the command signal turns off.
5-2 Parameter Description PRM41: I/O point movement command speed 1 This parameter sets the speed at which the robot moves when a point movement command (ABS-PT, INC-PT) is executed. The speed set here is the movement speed used in normal mode (SERVICE mode disabled) with PRM7set to 0, DI6 turned on and DI7 turned off.
5-2 Parameter Description PRM46: Servo status output This parameter selects whether to output the axis servo status as a general-purpose output. When this parameter is set to 1, DO3 turns on and off along with servo on/off. Input range: Meaning: 0 or 1 0: Does not output the servo status. 1: Outputs the servo status. Default value: 0 * When this parameter is set to 1, DO3 is not affected by program reset (in other words, DO3 does not turn off even when the program is reset).
5-2 Parameter Description PRM51: Lead program number This parameter sets the lead program number. Default value: 0 n NOTE The lead program is the program that has been selected as the execution program by the TPB or POPCOM. (See "9-4 Switching the Execution Program".) The lead program can also be selected by executing a communication command "@SWI". It may also be switched when the program data is loaded into the controller from the memory card. PRM52: Hold gain 5 Default value: Depends on the robot.
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 DATA".) When the robot enters the specified zone, its result is output to the specified port. Point numbers and output port that can be used for each zone output are listed below. Zone setting range and output port c Zone No.
5-2 Parameter Description PRM54: Magnetic pole detection level Default value: Depends on the robot. PRM55: Magnetic pole position Default value: 0 PRM56: Controller version 2 This parameter reads out the version information (2) on the control software in the controller. This is a read-only parameter. 5 PARAMETERS PRM57: Servo braking selection (available for version 24.15 or later) This parameter is used to select the servo braking method.
Chapter 6 PROGRAMMING In this chapter we will try programming some operations. First, you will learn how to enter a program using the TPB programming box.
6-1 Basic Contents 6-1 Basic Contents 6-1-1 Robot language and point data The SRCP controller uses the YAMAHA robot language that is very similar to BASIC. It allows you to easily create programs for robot operation. In programs created with the YAMAHA robot language, the robot position data (absolute position, amount of movement) are not expressed in terms of direct numeric values. Instead, point numbers are used to express the position data indirectly.
6-2 Editing Programs 6-2 Editing Programs "Program editing" refers to operations such as creating a program right after initialization, creating a new program, changing an existing program, and deleting or copying a program. In this section, you will learn the basic procedures for program editing using the TPB.
6-2 Editing Programs 6-2-1 Creating programs after initialization 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F1 (PGM). [EDIT] select menu 1PGM 2PNT 3UTL 6 PROGRAMMING 3) Since no program is registered after initialization, an error message appears on the screen, indicating that no program exists. [EDIT] select menu 43:cannot find PGM 1PGM 2PNT 3UTL 4) Press the ESC key to reset the error.
6-2 Editing Programs 7) After selecting the robot language command, enter the operand data. When you press + , the cursor moves to operand 1, so enter the data with the number keys. (Do not press at this point.) + While pressing or – to move the cursor, enter all necessary operand data as needed. X Z X Z X Z 8) After entering the operand data, press [EDIT-PGM] 001:MOVA 0 No 0 ,100 (point No)0→999 1P .
6-2 Editing Programs 6-2-2 Creating a new program 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F1 (PGM). [EDIT] select menu 1PGM 2PNT 3UTL 6 PROGRAMMING 3) The execution program number and step are displayed on the screen. Press F4 (CHG) here. [EDIT-PGM] No10 017:MOVA 254,100 1MOD 2INS 3DEL 4CHG 4) Enter the new program number with the number keys and press . [EDIT-PGM] PGM No = _ (Program No) 0→99 5) A confirmation message appears.
6-2 Editing Programs 6-2-3 Adding a step 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F1 (PGM). [EDIT] select menu 1PGM 2PNT 3UTL [EDIT-PGM] PROGRAMMING 3) The execution program number and step are displayed on the screen. Press F4 (CHG) here. 6 No10 017:MOVA 254,100 1MOD 2INS 3DEL 4CHG 4) Enter the program number you want to edit with .
6-2 Editing Programs 7) Select F1 to F3 or a robot language command shown on the lower part of each number key. To change the robot language menu display, press F4 (next). To go back to the previous menu display, press the BS key. 8) After selecting the robot language command, enter the operand data. When you press + , the cursor moves to operand 1, so enter the data with the number keys. (Do not press at this point.) + While pressing or – to move the cursor, enter all necessary operand data as needed.
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 correct with the number keys and press . [EDIT-PGM] PGM No = 10 STEP No = _ (REG.steps) 50 3) Press F1 (MOD). [EDIT-PGM] No10 010:MOVA 999,100 6 4) Select F1 to F3 or a robot language command shown on the lower part of each number key. To change the robot language menu display, press F4 (next).
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 keys and press . [EDIT-PGM] PGM No = 10 STEP No = _ (REG steps) 50 3) Press F2 (INS). [EDIT-PGM] 6 No10 PROGRAMMING 010:MOVA 999,100 1MOD 2INS 3DEL 4CHG 4) Select F1 to F3 or a robot language command shown on the lower part of each number key. To change the robot language menu display, press F4 (next).
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 . [EDIT-PGM] PGM No = 10 STEP No = _ (REG steps) 50 3) Press F3 (DEL). [EDIT-PGM] No10 6 010:MOVA 999,100 4) A confirmation message appears. To delete the step, press F1 (yes). To cancel the deletion, press F2 (no).
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 1EDIT2OPRT3SYS 4MON 2) Next, press F3 (UTL). 6 [EDIT] PROGRAMMING select menu 1PGM 2PNT 3UTL 3) Press F1 (COPY). [EDIT-UTL] select menu 1COPY2DEL 3LIST 4) Enter the program number you want to copy from with the number keys, and then press . [EDIT-UTL-COPY] Copy from No = _ (Program No) 0→99 5) Enter the program number you want to copy to .
6-3 Program Utility 6) If program data is already registered with the selected program number, a confirmation message appears. To overwrite the program, press F1 (yes). To cancel, press F2 (no). [EDIT-UTL-COPY] Copy from No = 0 No99 overwrite OK ? 1yes 2no 7) When the program has been copied, the screen returns to step 3. [EDIT-UTL] select menu 1COPY2DEL 3LIST 6 PROGRAMMING 6-3-2 Deleting a program 1) Use the same procedure up to step 2 in "6-3-1 Copying a program". 2) Press F2 (DEL).
6-3 Program Utility 6-3-3 Viewing the program information 1) Use the same procedure up to 2 in "6-3-1 Copying a program". 2) Press F3 (LIST). [EDIT-UTL] select menu 1COPY2DEL 3LIST 3) The program numbers are displayed on the screen, along with the number of registered steps and the number of available remaining steps. To view other program information, press the STEP STEP UP and DOWN keys to scroll the screen. PROGRAMMING 6 4) Press the step 2.
Chapter 7 EDITING POINT DATA There are three methods to enter point data: manual data input (MDI), teaching playback, and direct teaching. Manual data input allows you to directly enter point data with the TPB number keys. Teaching playback moves the robot in manual operation to a desired position and then obtains that position as point data. Direct teaching is basically the same as teaching playback, except that you move the robot by hand.
7-1 Manual Data Input 7-1 Manual Data Input 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F2 (PNT). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press F1 (MDI). 7 [EDIT-PNT] EDITING POINT DATA select menu 1MDI 2TCH 3DTCH4DEL 4) The currently selected point data in the execution program appears on the screen. If you want to edit another point data, press the STEP and STEP keys to scroll the point data.
7-2 Teaching Playback 7-2 Teaching Playback 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PNT). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press F2 (TCH). [EDIT-PNT] 7 select menu 4) The currently selected point data in the execution program appears on the screen. If you want to edit another point data, press the STEP and STEP keys to scroll the point data. DOWN UP To directly select the point data, press F1 (CHG).
7-2 Teaching Playback 6) Move the robot to the teaching position with the – or + keys. Each time the – or + key is pressed, the robot moves a certain amount in the direction indicated by the key and then stops. Holding down the – or + key moves the robot continuously at a constant speed until the key is released. The amount of robot movement and the speed are proportional to the number (teaching movement data) displayed on the upper right of the screen.
7-3 Direct Teaching 7-3 Direct Teaching 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F2 (PNT). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press F3 (DTCH). [EDIT-PNT] 7 select menu EDITING POINT DATA 1MDI 2TCH 3DTCH4DEL 4) Following the message, press the emergency stop button on the TPB. [EDIT-PNT-DTCH] press EMG.button 5) The currently selected point data in the execution program appears on the screen.
7-3 Direct Teaching 7) Move the robot to the teaching position by hand. [EDIT-PNT-DTCH] P500 = 19.27 [ [mm] 0.00] 1CHG 2DO 3BRK to input the current position as point 8) Press data. Use the same procedure to input all other necessary point data, and then press the ESC key. [EDIT-PNT-DTCH] P500 = 167.24 [ 1CHG 2DO 9) Following the message, release the emergency stop button on the TPB. 7 [mm] 167.24] 3BRK [EDIT-PNT-DTCH] EDITING POINT DATA release EMG.
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 general-purpose output through the I/O interface to operate a gripper or other tools, you may want to check the position of workpiece by actually moving it. For this reason, the SRCP controller is designed to allow manual control of general-purpose outputs from the TPB.
7-5 Manual Release of Holding Brake 7-5 Manual Release of Holding Brake The holding brake on the vertical type robot can be released. Since the movable part will drop when the brake is released, attaching a stopper to protect the tool tip from being damaged is recommended. 1) Use the same procedure up to step 4 in "7-3 Direct Teaching". 2) Press F3 (BRK). [EDIT-PNT-DTCH] P0 = 0.00 [mm] [ 0.00] 1CHG 2DO 3BRK 3) A confirmation message appears asking whether to release the brake.
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". 2) Press F4 (DEL). [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL 3) Enter the point number at the start to delete point data with the number keys and press . [EDIT-PNT-DEL] DEL range P_ -P (point No) 0→999 7 [EDIT-PNT-DEL] EDITING POINT DATA 4) Enter the point number at the end to delete point data with the number keys and press .
7-7 Tracing Points (Moving to a registered data point) 7-7 Tracing Points (Moving to a registered data point) The robot can be moved to the position specified by a registered data point. You can check the input point data by actually moving the robot. 1) Use the same procedure up to step 5 in "7-2 Teaching Playback". 2) Press F4 (next) to change the menu display and then press F2 (TRC). [EDIT-PNT-TCH](1)100 P10 1DO 3) The coordinate data of the movement destination and the movement speed are displayed.
Chapter 8 ROBOT LANGUAGE This chapter explains the robot language. It describes what kind of commands are available and what they mean. The SRCP series uses the YAMAHA robot language. This is an easy-to-learn BASIC-like programming language. Even a first-time user can easily create programs to control complex robot and peripheral device movements. At the beginning of this chapter, you will find a convenient table of robot language commands.
8-1 Robot Language Table 8-1 Robot Language Table Instruction MOVA MOVI MOVF JMP JMPF JMPB L CALL DO WAIT TIMR P P+ 8 P- ROBOT LANGUAGE SRVO STOP ORGN TON TOFF JMPP MAT MSEL MOVM JMPC JMPD CSEL C C+ CD D+ DSHFT Description and Format Moves to point data position. MOVA , Moves from current position by amount of point data. MOVI , Moves until specified DI input is received.
8-2 Robot Language Syntax Rules 8-2 Robot Language Syntax Rules 8-2-1 Command statement format The robot language command statement format for the SRCP controller is as follows. When creating a program using the TPB, each command statement can be automatically entered in this format, so you do not have to be aware of this format while creating the program.
8-2 Robot Language Syntax Rules 8-2-2 Variables Variable are used in a program to hold data. The following variables can be used with the SRCP controller. ■ Point variable P A point variable can contain a point number. It is used in movement commands such as MOVA and MOVI statements instead of specifying the point number directly. Sometimes the number of program steps can be reduced by using point variables.
8-3 Program Function 8-3 Program Function 8-3-1 Multi-task function A multi-task function allows simultaneous executing two or more programs (tasks). The SRCP controller can execute a maximum of 4 programs at the same time. Since the multi-task function simultaneously executes two or more programs, the following processing can be performed. ■ Other processing can be performed during robot movement.
8-4 Robot Language Description 8-4 Robot Language Description 8-4-1 MOVA Function: Format: Example: Explanation: 8 Moves to a point specified by a point number (Moves to an absolute position relative to the origin point). MOVA , MOVA 51, 80 Moves to P51 at speed 80. This command moves the robot to a position on the absolute coordinates whose origin position is defined as 0.
8-4 Robot Language Description 8-4-3 MOVF Function: Format: Example: Explanation: Other: 8-4-4 JMP Function: Format: Example: Explanation: Other: Jumps to a specified step in a specified program. JMP
8-4 Robot Language Description 8-4-5 JMPF Function: Format: Example: Explanation: 8 ROBOT LANGUAGE c If the conditional jump input matches the setting value, program execution jumps to a specified label in a specified program. JMPF
8-4 Robot Language Description 8-4-6 JMPB Function: Format: Example: Explanation: Jumps to a specified label when a specified general-purpose input or memory input is ON or OFF. JMPB
8-4 Robot Language Description 8-4-8 CALL Function: Format: Example: Explanation: Other: ROBOT LANGUAGE 8 Calls and executes another program. CALL , CALL 5, 2 Calls program 5 and executes it twice. Program execution then proceeds to the next step. When repeating the same operation a number of times, the CALL statement is used as needed to call and execute the subroutine defined as a separate program.
8-4 Robot Language Description 8-4-10 WAIT Function: Format: Example: Explanation: Waits until a specified general-purpose input or memory input changes to a specified state. WAIT , WAIT 5, 1 Waits until DI5 turns on. This command adjusts the timing according to the general-purpose input or memory input state. (1) DI or MI number Specify one of the general-purpose input numbers from 0 to 7 (8 points) or memory input numbers from 100 to 147 (48 points).
8-4 Robot Language Description 8-4-12 P Function: Format: Example: Explanation: Other: Sets a point variable P. P P 200 Sets a point variable P to 200. The point variable can contain a point number as a variable, which can be from 0 to 999. By using a movement command such as MOVA with a P+ or P- statement, the number of steps required to create a repeating program can be reduced.
8-4 Robot Language Description 8-4-15 SRVO Function: Format: Example: Explanation: Turns the servo on and off. SRVO SRVO 1 This turns the servo on. SRVO 0 This turns the servo off. This command is used to prevent an overload on the motor that may occur if the robot is locked mechanically after positioning is completed. This command is executed after the specified axis enters the positioning-completed pulse range. (1) Servo status "1" means "on" and "0" means "off.
8-4 Robot Language Description 8-4-17 ORGN Function: Format: Example: Explanation: Others: ROBOT LANGUAGE 8 8- 14 Performs return-to-origin by using the stroke-end detection method. ORGN ORGN Performs return-to-origin by the stroke-end detection method. Return-to-origin is performed based on return-to-origin parameter data. • The magnetic pole is detected simultaneously with return-to-origin operation. Each time the power is turned on, return-to-origin becomes incomplete.
8-4 Robot Language Description 8-4-18 TON Function: Format: Example: Explanation: Others: Executes a specified task. TON , , TON 1,2,0 Newly executes program 2 as task 1. This command starts multiple tasks and can be used to control the I/O signals in parallel with the axis movement and perform different processing for each axis. (1) Task number The task number is a number used to identify the four individual tasks from 0 to 3.
8-4 Robot Language Description 8-4-20 JMPP Function: Format: Example: Explanation: Others: Jumps to a specified label when the axis position relation meets the specified conditions. JMPP
8-4 Robot Language Description 8-4-21 MAT Function: Format: Example: Explanation: Others: D C B A A B C D reference point end of row 1 end of column 1 last point Matching point numbers for inputting pallet numbers and coordinate values A to D Pallet No. 0 1 n 31 A p251 p247 p(251-4n) p127 B p252 p248 p(252-4n) p128 C p253 p249 p(253-4n) p129 D p254 p250 p(254-4n) p130 17 8- 8 ROBOT LANGUAGE Defines the number of rows and columns of the matrix.
8-4 Robot Language Description 8-4-22 MSEL Function: Format: Example: Explanation: Others: ROBOT LANGUAGE 8 8- 18 Specifies a matrix where the robot moves with a MOVM statement. MSEL MSEL 0 Points where the robot moves with a MOVM statement are calculated based on matrix data of pallet number 0. This command selects a matrix and is always used with a MOVM statement as a pair. (1) Pallet number This number is used for matrix identification and can be set from 0 to 31.
8-4 Robot Language Description 8-4-23 MOVM Function: Format: Example: Explanation: Others: C D 33 40 25 32 17 24 9 16 Example of pallet work position in 5 × 8 matrix Work Position A: Reference point A 1 2 3 4 5 6 7 8 B Position No. 1 B: End of row 1 8 C: End of column 1 33 D: Last point 40 19 8- 8 ROBOT LANGUAGE Moves to a point on the specified matrix.
8-4 Robot Language Description 8-4-24 JMPC Function: Format: Example: Explanation: Jumps to a specified label when the counter array variable C matches a specified value. JMPC
8-4 Robot Language Description 8-4-26 CSEL Function: Format: Example: Explanation: Others: Specifies an array element of the counter array variable C to be used. CSEL CSEL 1 The counter array variable of element number 1 is used in the subsequent steps. This command designates an array element number of the counter array variable C. The array element data designated with the CSEL statement is used in the C statement, C+ statement, C- statement, JMPC statement and MOVM statement.
8-4 Robot Language Description 8-4-28 C+ Function: Format: Example: Explanation: Adds a specified value to the counter array variable C. C+ [] C+ 100 Adds 100 to the counter array variable C. (C←C+100) C+ Adds 1 to the counter array variable C. (C←C+1) This command adds a specified value to the counter array variable C specified with the CSEL statement. The addition value can be set to any value from 1 to 65535.
8-4 Robot Language Description 8-4-32 DFunction: Format: Example: Explanation: Subtracts a specified value from the counter variable D. D- [] D- 100 Subtracts 100 from the counter variable D. (D←D-100) DSubtracts 1 from the counter variable D. (D←D-1) This command subtracts a specified value from the counter variable D. The subtraction value can be set to any value from 1 to 65535. If the subtraction value is omitted, then 1 is subtracted from the counter variable D.
8-5 Sample Programs 8-5 Sample Programs 8-5-1 Moving between two points P1 P2 Program [NO0] 001: L 002: MOVA 003: MOVA 004: TIMR 005: JMP Comment 0 1, 100 2, 100 100 0, 0 ; Label definition ; Moves to P1 ; Moves to P2 ; Delays for one second : Returns to L0 8-5-2 Moving at an equal pitch P0 ROBOT LANGUAGE 8 50mm 50mm 50mm 50mm 50mm Point P0 P1 Program [NO0] 001: L 002: MOVA 003: MOVI 004: MOVI 005: MOVI 006: MOVI 007: MOVI 008: JMP 8- 24 Start position Movement distance: 50mm Comment 0
8-5 Sample Programs 8-5-3 Positioning 2 points and sending job commands to a PLC at each position P2 P1 Job 1 Job 2 Point P1 P2 Position at which job 1 is complete Position at which job 2 is complete General-purpose input DI1 Job 1 completion 1: Complete 0: Not complete DI2 Job 2 completion 1: Complete 0: Not complete General-purpose output DO1 Job 1 command 1: Output DO2 Job 2 command 1: Output Comment 1, 2, 1 1, 1, 1, 1, 2, 2, 2, 2, 1, 0 0 100 1 1 0 100 1 1 0 0 8 ; Cancels job 1 command ; Cance
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 X-axis Upper end limit switch (DI0) AC servo Air cylinder (DO0) Lower end limit switch (DI1) Air chuck (DO1) q P0 Workpiece detection sensor (DI2) w e P1 P2 Operation q Moves to the workpiece feed position from the standby position, and picks up a workpiece. w Moves to the workpiece mount position and places the workpiece. e Returns to the standby position.
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 [TOP VIEW] Front conveyor Workpiece Next conveyors 2nd 1st 3rd Next single-axis robot [SIDE VIEW] 8 AC servo Air cylinder (DO0) Lower end limit switch (DI1) ROBOT LANGUAGE Upper end limit switch (DI0) Air chuck (DO1) q w Workpiece detection sensor (DI2 to DI4) P0 P1 Horizontal direction Vertical direction Hold w Moves to the workpiece mount position
8-5 Sample Programs ROBOT LANGUAGE 8 8- 28 Program [NO1] 001: L 002: JMPB 003: JMPB 004: JMPB 005: JMP 006: L 007: P 008: JMP 009: L 010: P 011: JMP 012: L 013: P 014: L 015: CALL 016: CALL 017: JMP 1 2, 3, 4, 1, 2 1 5, 3 2 5, 4 3 5 2, 3, 1, [NO2] 001: MOVA 002: DO 003: WAIT 004: DO 005: TIMR 006: DO 007: WAIT 0, 0, 1, 1, 100 0, 0, 100 1 1 1 [NO3] 001: MOVA 002: DO 003: WAIT 004: DO 005: TIMR 006: DO 007: WAIT P, 0, 1, 1, 100 0, 0, 100 1 1 0 2, 3, 4, 1 1 1 1 1 1 0 1 0 1 1 1 1 Comment <
8-5 Sample Programs 8-5-6 Switching the program from I/O The SRCP series controller does not accept dedicated command inputs for program switching. To switch the program through the I/O, use the program selection signal as a conditional jump input as explained below. The following method is an example for switching among 16 kinds of programs. Parameter Since the number of programs to be selected is 16, set the PRM8 (No. of conditional input points) to 4.
8-5 Sample Programs Program [NO0] 001: L 002: WAIT 003: DO 004: WAIT 005: JMPF 006: JMPF 007: JMPF 008: JMPF 009: JMPF 010: JMPF 011: JMPF 012: JMPF 013: JMPF 014: JMPF 015: JMPF 016: JMPF 017: JMPF 018: JMPF 019: JMPF 020: JMPF 021: JMP 8 Comment 0 7, 0, 7, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, ROBOT LANGUAGE [NO1] 001: L 1 002: DO 0, - - - - JMP 0, [NO2] 001: L 1 002: DO 0, - - - - JMP 0, 1 1 0 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 0 0 0 0 0 8- 30 ; Label definitio
8-5 Sample Programs 8-5-7 Axis movement and I/O multi-task The robot moves between two points and performs multi-task I/O operation in asynchronous mode.
8-5 Sample Programs 8-5-8 Turning ON general-purpose outputs during robot movement after a certain time has elapsed P0 P1 3 sec. 3 sec. DO0=1 3 sec.
8-5 Sample Programs 8-5-9 Turning ON a general-purpose output during robot movement when it has passed a specified position P0 P1 P10 P11 DO0=1 DO0=0 Point P0 P1 P10 P11 Start position Target position Position at DO0=1 Position at DO0=0 ■ When P1 is nearer to the plus side than P0: Program [NO0] 001: L 002: MOVA 003: TON 004: MOVA 005: JMP 0 0, 1, 1, 0, 100 1, 10 0 0 ; Label definition ; Moves to P0 at speed 100 ; Starts program NO1 as task 1 ; Moves to P1 at speed 10 ; Returns to L0 8 Commen
MEMO 8- 34
Chapter 9 OPERATING THE ROBOT This chapter describes how to actually operate the robot. If the program has already been completed, you will be able to operate the robot by the time you finish reading this chapter. There are two types of robot operation: step and automatic. In step operation, the program is executed one step at a time, with a step being carried out each time the RUN key on the TPB is pressed. This is used when you want to check the program as it is being carried out.
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 explains the procedure to perform return-to-origin using the stroke-end detection. The magnetic pole is detected simultaneously with return-to-origin operation. Each time the power is turned on, return-to-origin becomes incomplete. Always perform return-to-origin after turning on the power to the controller, before starting operation.
9-1 Performing Return-to-Origin c CAUTION When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".) • Return-to-origin movement speed is limited to 10mm/s or less in "SERVICE mode state" when the robot movement speed limit is enabled. • If the hold-to-run function is enabled, robot movement stops upon releasing F1 (yes) in step 3 in "SERVICE mode state". (You must hold down F1 (yes) until return-to-origin is complete.
9-2 Using Step Operation 9-2 Using Step Operation The following procedure explains how to perform step operation. In the case of a multi-task program, only the task currently selected is executed in step operation. 1) On the initial screen, press F2 (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F2 (STEP). [OPRT] select menu 1ORG 2STEP3AUTO 3) If the program number displayed on the screen is not the one to be run, press F3 (CHG). [OPRT-AUTO] 100 0: 0 001:MOVA 254,100 9 [ 0.
9-2 Using Step Operation 7) The screen returns to step 5. Pressing this point executes the first step. RUN at [OPRT-STEP] 50 0:10 001:MOVA 999,50 [ 0.00] 1SPD 2RSET3CHG 4next 8) This screen is displayed while the program is being executed. [OPRT-STEP] running ... 9) Pressing STOP during execution brings the robot to a halt and displays a message on the screen. To return to step 7, press the ESC key. Pressing RUN again executes the interrupted step. [OPRT-STEP] 50 0:10 001:MOVA 999,50 [ 201.
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 CAUTION When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".) • Step operation cannot be performed in "SERVICE mode state" when automatic operation and step operation are prohibited.
9-3 Using Automatic Operation 9-3 Using Automatic Operation The following procedure explains how to perform automatic operation. All the tasks started in a multi-task program are executed by automatic operation. 1) On the initial screen, press F2 (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F3 (AUTO). [OPRT] select menu 1ORG 2STEP3AUTO 3) If the program number displayed on the screen is not the one to be run, press F3 (CHG). [OPRT-AUTO] 100 0: 0 001:MOVA 254,100 [ 0.
9-3 Using Automatic Operation 8) This is the screen displayed while the program is being executed. [OPRT-AUTO] running ··· 9) Pressing STOP during execution brings the robot to a halt and displays the message "stop key". Press the ESC key to display the step where execution was interrupted. Pressing RUN will cause execution to resume from the step where it was interrupted. When the last step has been executed, the message "program end" is displayed.
9-4 Switching the Execution Program 9-4 Switching the Execution Program The following procedure explains how to switch the program in automatic operation. Use the same procedure in step operation. The program selected by this procedure will be the lead program to which the execution sequence always returns after program reset. When the program is switched, reset is automatically performed, so all general-purpose outputs are turned off.
9-5 Emergency Stop Function 9-5 Emergency Stop Function There are two ways to trigger emergency stop on the SRCP controller. One way is by using the pushbutton on the TPB. The other is to use the I/O emergency stop input. In either case for safety reasons, a contact B (normally closed) input is used (when the contact is opened, emergency stop is triggered). The SRCP controller can recover from an emergency stop condition without turning off the power so return-to-origin is not necessary.
9-5 Emergency Stop Function 3) After the emergency stop is released, a message appears asking whether to turn the servo on. To turn the servo on, press F1 (yes). [OPRT-STEP] 100 0: 7 servo on ready ? To leave the servo off , press F2 (no). 1yes 2no 4) Then, another message appears asking if ready to operate. To restart operation, press F1 (yes). To cancel restarting, press F2 (no). [OPRT-STEP] 100 0: 7 continue OK ? 1yes 2no 5) Operation starts when F1 (yes) was pressed in step 4.
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 (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F2 (STEP) or F3 (AUTO). The STEP or AUTO mode screen appears. The following steps are explained using the STEP mode screen. [OPRT] select menu 1ORG 2STEP3AUTO 3) Press F4 (next) twice to change the menu display and then press F1 (MIO).
9-7 Displaying the Variables 9-7 Displaying the Variables The point data variable "P", counter array variable "C" and counter variable "D" values can be displayed on the TPB screen. 1) On the initial screen, press F2 (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F2 (STEP) or F3 (AUTO). The following explains the procedure for displaying the variables on the screens in step operation. [OPRT] select menu 1ORG 2STEP3AUTO 3) Press F4 (next) to change the menu display and then press F1 (VAL).
MEMO 9- 14
Chapter 10 OTHER OPERATIONS The TPB has many convenient functions in addition to those already covered. For example, memories can be initialized, and options such as memory cards can be used.
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 values. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F3 (INIT). [SYS] select menu 1PRM 2B.UP3INIT4next 3) Select the data to be initialized. To initialize the program data, press F1 (PGM).
10-1 Initialization 6) Finally, enter the robot payload. Enter the payload with the number keys and then press . 7) A confirmation message appears on the screen. To execute the initialization, press F1 (yes). To cancel the initialization, press F2 (no). [SYS-INIT-PRM] robot type : 516 stroke : 400 [mm] weight : 3_ [kg] [SYS-INIT-PRM] parameter data initialize OK ? 1yes 2no 8) When initialization is complete, the screen returns to step 3.
10-2 DIO Monitor Display 10-2 DIO Monitor Display Data indicating whether the I/O signals are on or off can be displayed on the screen. The operation procedure is explained below. 10-2-1 Display from the monitor menu 1) On the initial screen, press F4 (MON). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F1 (DIO). [MON] select menu 1DIO 2DUTY 3) The ON/OFF status of I/O signals is displayed. [MON-DIO] For information about what the display shows, refer to "4-3-4 DIO monitor screen".
10-2 DIO Monitor Display 10-2-2 Display from the DIO key operation 1) Hold down the DIO key. [OPRT-AUTO] running... 2) The ON/OFF status of I/O signals is displayed as long as the key is held down. For information about what the display shows, refer to "4-3-4 DIO monitor screen". [OPRT-AUTO] running... DI 00000000 00000000 DO 11100000 O:0 S:1 3) Releasing the key returns the screen to the previous screen. [OPRT-AUTO] running...
10-4 SERVICE mode function 10-4 SERVICE mode function The SERVICE 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 move the robot to perform maintenance or adjustment while using the TPB. This situation is referred to as "SERVICE mode state" and requires extra caution. Limits should be placed on controller operation at this time to ensure operator safety.
10-4 SERVICE mode function 10-4-1 Safety settings for SERVICE mode Safety controls that work in "SERVICE mode state" are explained in detail below. ■ Limiting command input from any device other than TPB When the operator is working within the robot safety enclosure using the TPB, permitting any command input from devices (such as via I/O) other than the TPB is very hazardous to the TPB operator.
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. (For example, when the operator is in the safety enclosure, a hazardous situation may occur if someone runs a robot program without letting the operator know about it.
10-4 SERVICE mode function 10-4-2 Enabling/disabling the SERVICE mode function To enable or disable the SERVICE mode function, follow these steps. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to change the menu display and then press F1 (SAFE). [SYS] select menu 1SAFE2OPT 3UTL 4next 3) The password request screen appears. Enter the . password and then press [SYS-SAFE] Password: 24.
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 OTHER OPERATIONS 10 10- 10 NOTE The password is identical to the SRCP controller's version number. For example, if the controller version is 24.00, enter 24.00 as the password. Once the password is accepted, it will not be requested unless the TPB is disconnected from the controller or the controller power is turned off.
10-4 SERVICE mode function 10-4-3 Setting the SERVICE mode functions 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to change the menu display and then press F1 (SAFE). [SYS] select menu 1SAFE2OPT 3UTL 4next 3) The password request screen appears. Enter the password and then press . [SYS-SAFE] Password: 24.00_ input password 4) When the password is correct, the screen shown on the right appears. Press F2 (SVCE) here.
10-4 SERVICE mode function 7) When the setting has been changed, the memory write screen appears. To save the change permanently (retain the change even after the controller power is turned off), press F1 (SAVE). To save the change temporarily (retain the change until the power is turned off), press F2 (CHG). To cancel changing the setting, press F3 (CANCEL). 8) When writing is complete, the screen returns to step 6.
10-5 System utilities 10-5 System utilities 10-5-1 Viewing hidden parameters Parameters hidden in the normal state can be viewed. Use extra caution to avoid accidentally changing the parameters when these hidden parameters are displayed. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to change the menu display and then press F3 (UTL). [SYS] select menu 1SAFE2OPT 3UTL 4next 3) Press F1 (HDPR) here.
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. 10-6-1 Saving controller data to a memory card 1) Insert the memory card into the TPB. 2) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 3) Next, press F2 (B.UP). [SYS] select menu 1PRM 2B.
10-6 Using a Memory Card 7) If data already exists in the area specified in step 5, a confirmation message appears. To overwrite the data in the selected area, press F1 (yes). To change the selected area, press F2 (no). [B.UP-SAVE] AREA 1 already saved delete OK ? 1yes 2no 8) Set an ID number for the data being saved. Using the number keys (0 to 9), the "-" (minus) key, and the "." (period) key, enter a number of up to eight characters and then press . [B.
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 3) Next, press F2 (B.UP). [SYS] select menu 1PRM 2B.UP3INIT4next 4) Press F2 (LOAD). Press F1 (CARD) before pressing F2 (LOAD) if the SRCP controller version is 24.10 or later and the TPB version is 12.51 or later. [SYS-B.UP] select menu 1SAVE2LOAD3FMT 4ID 5) Specify the load area in the memory card.
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. To load the program data, press F1 (PGM). To load the point data, press F2 (PNT). To load the parameter data, press F3 (PRM). To load all of the program, point and parameter data, press F4 (ALL). 8) When F1 (PGM) or F2 (PNT) was selected in step 7, a confirmation message appears asking whether to overwrite the data.
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 3) Next, press F2 (B.UP). [SYS] select menu 1PRM 2B.UP3INIT 4next 4) Press F3 (FMT). Press F1 (CARD) before pressing F3 (FMT) if the SRCP controller version is 24.10 or later and the TPB version is 12.51 or later. [SYS-B.UP] select menu 1SAVE2LOAD3FMT 4ID 5) A confirmation message appears.
10-6 Using a Memory Card 10-6-4 Viewing 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 3) Next, press F2 (B.UP). [SYS] select menu 1PRM 2B.UP3INIT 4next 4) Press F4 (ID). Press F1 (CARD) before pressing F4 (ID) if the SRCP controller version is 24.10 or later and the TPB version is 12.51 or later. [SYS-B.UP] select menu 1SAVE2LOAD3FMT 4ID 10 [B.
10-7 Duty (load factor) monitor 10-7 Duty (load factor) monitor The SRCP controller has a duty (load factor) monitor to allow you to operate the robot under the most optimal conditions. The duty monitor checks the robot's motor load factor and displays it in percent (%) versus the motor rating. An overload error might appear if the duty exceeds 100% during robot operation. If this happens, either lower the robot acceleration or maximum speed, or increase the robot stop time (lower the duty ratio).
10-7 Duty (load factor) monitor [Method 2] 1) Add the robot language command "DUTY 1" to the beginning of the interval 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 interval.
10-7 Duty (load factor) monitor 10-7-1 Measuring the duty (load factor) 1) While moving the robot 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. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F2 (DUTY). [MON] select menu 1DIO 2DUTY 3) Press F1 (RUN) to start measuring the operation duty. [MON-DUTY] select menu 1RUN 2STOP3RSLT 4) Press F2 (STOP) to stop measuring the operation duty.
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 rewritten and the robot operates based on this parameter data written in the RAM. The SRCP also has an internal flash ROM for backup of this parameter data in the RAM. The parameter data backed up in the flash ROM can be loaded back into the RAM.
10-8 Using the internal flash ROM 10-8-1 Saving the parameter data onto the flash ROM n NOTE The internal flash ROM can be used when the SRCP controller version is 24.10 or later and the TPB version is 12.51 or later. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F2 (B.UP). [SYS] select menu 1PRM 2B.UP3INIT 4next 3) Press F2 (FROM). [SYS-B.
10-8 Using the internal flash ROM 8) A confirmation message appears. To save the parameter data, press F1 (yes). To cancel, press F2 (no). [FROM-SAVE] save OK ? ID=04.04.10 1yes 2no 9) This screen is displayed during saving of data. [FROM-SAVE] saving ... 10)After saving the data onto the flash ROM, the auto load function is set to "Invalid" (disabled). If you want to change the auto load function, press F1 (ALOAD) to display the auto load function setup screen.
10-8 Using the internal flash ROM 10-8-2 Manually loading the data from flash ROM n NOTE The internal flash ROM can be used when the SRCP controller version is 24.10 or later and the TPB version is 12.51 or later. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F2 (B.UP). [SYS] select menu 1PRM 2B.UP3INIT 4next 3) Press F2 (FROM). [SYS-B.
10-8 Using the internal flash ROM 8) The screen returns to step 4 when loading is complete. [SYS-B.UP-FROM] FROM : 04.03.01 auto load : Invalid 1SAVE 2LOAD 3INIT c CAUTION When loading the data from the flash ROM, make sure that the I/O. CN connector is disconnected and the emergency stop button is pressed. Do not move the robot or turn off the SRCP controller during loading of data.
10-8 Using the internal flash ROM 10-8-3 Initializing the flash ROM data n NOTE The internal flash ROM can be used when the SRCP controller version is 24.10 or later and the TPB version is 12.51 or later. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F2 (B.UP). [SYS] select menu 1PRM 2B.UP3INIT 4next 3) Press F2 (FROM). [SYS-B.
10-8 Using the internal flash ROM 8) The screen returns to step 4 when initialization is complete. After initializing the flash ROM, the auto load function is set to "Invalid" (disabled). [SYS-B.UP-FROM] FROM : auto load : Invalid 1SAVE 2LOAD 3INIT c CAUTION When initializing the flash ROM data, make sure that the I/O. CN connector is disconnected and the emergency stop button is pressed. Do not move the robot or turn off the SRCP controller during initialization.
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Chapter 11 COMMUNICATION WITH PC The SRCP controller allows 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. This chapter describes how to set the communication parameters required to communicate between the PC and the SRCP controller, and also explains the communication command specifications.
11-1 Communication Parameter Specifications 11-1 Communication Parameter Specifications The communication parameters on the PC should be set as follows. For the setting procedure, refer to the computer operation manual.
11-2 Communication Cable Specifications 11-2 Communication Cable Specifications c CAUTION Pins 10, 12, 18 and 21 of the controller's connector are specifically used for TPB connection. To avoid possible accidents do not connect other inputs to these pins. When using optional POPCOM software, make connections while referring to the POPCOM operation manual since it shows the different connection specifications.
11-3 Communication Command Specifications 11-3 Communication Command Specifications On the SRCP controller, a command interface resembling the BASIC programming language is provided as standard, to facilitate easy communication with a PC. Communication commands are divided into the following four categories: 1. 2. 3. 4.
11-4 Communication Command List 11-4 Communication Command List 1. Robot movement No. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12.
11-4 Communication Command List 2. Data handling No. COMMUNICATION WITH PC 11 11- 6 Operation code Operand 1 1. 2. 3. 4. 5. 6. ?POS ?NO ?SNO ?TNO ?PNO ?STP 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. ?MEM ?VER ?ROBOT ?CLOCK ?ALM ?ERR ?EMG ?SRVO ?ORG ?MODE ?PVA ?DI 19. ?DO output number 20. ?PRM 21. ?P 22. READ parameter number parameter number point number point number program number PGM PNT PRM ALL 23. WRITE DIO MIO INF PGM PNT PRM ALL 24. 25. 26.
11-4 Communication Command List 3. Utility No. 1. Operation code INIT Operand 1 PGM PNT PRM CLOCK 2. 3. 4. 5. 6. 7. SWI SWITSK SINS SDEL SMOD COPY 8. 9.
11-5 Communication Command Description 11-5 Communication Command Description 11-5-1 Robot movements (1)@ORG @ORGN Returns the robot to its origin position and outputs the machine reference value when completed correctly. Transmission example : @ORG c/r l/f ................................ Performs return-to-origin. Response example 1 : OK c/r l/f 52% c/r l/f OK c/r l/f Response example 2 : NG c/r l/f ...................................... The robot is running.
11-5 Communication Command Description (2)@RESET This returns the program execution step to the first step of the program selected with the '@SWI' statement, and turns all general-purpose outputs (DO0 to DO4) and memory output off. The "current position in the program" used as a reference for the relative movement command (MOVI) is initialized to the current position of the robot, and the point variable P is also cleared to 0.
11-5 Communication Command Description (6)@X+, (@X-) @X+ moves the robot to the + side and @X- to the - side based on the following equation. Movement distance = 1 × (PRM26/100) (mm) PRM26: Teaching movement data (%) (7)@XINC, (@XDEC) @XINC moves the robot to the + side and @XDEC to the - side at a speed calculated by the equation below. The robot continues moving until the ^C code is input or the robot reaches the soft limit. Movement speed = 100 × (PRM26/100) (mm/sec.
11-5 Communication Command Description (9)@MOVA , Moves the robot to a position specified by a point number at a specified 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). Data for the point numbers can be edited with the @WRITE PNT statement. The point variable "P" can also be used. Speed : The speed can be set to any level between 1 and 100.
11-5 Communication Command Description (11)@MOVF ,, This command moves the robot toward a position specified by a point number until a specified DI input condition is met. When the DI condition is met, the robot stops and the command terminates. Even if the DI condition is not met, the command terminates when the target point is reached. 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).
11-5 Communication Command Description (15)@P Sets the point variable P. Point number : This can be any value from 0 to 999. Transmission example : @P 100 c/r l/f ............................... Set the point variable P to 100. Response example : OK c/r l/f c CAUTION The contents of the point variable P are held even when the SRCP is turned off.
11-5 Communication Command Description (18)@MOVM , Moves the robot to a specified pallet work position at a specified 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). The counter array variable C or counter variable D can also be used. Speed : The speed can be set to any level between 1 and 100.
11-5 Communication Command Description (21)@CSEL Specifies an array 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 variable C, and can be from 0 to 31. The counter variable D can also be specified here as the array element. Transmission example : @CSEL 1 c/r l/f ............................ Uses the counter array variable C of element number 1 in the subsequent steps.
11-5 Communication Command Description (26)@D+ [] Adds a specified value to the counter variable D. Addition value : This can be any value from 1 to 65535. If this value is omitted, then 1 is added to the counter variable. Transmission example : @D+ c/r l/f ................................... Increments the counter variable D. (D ← D+1) Response example : OK c/r l/f (27)@D- [] Subtracts a specified value from the counter variable D.
11-5 Communication Command Description 11-5-2 Data handling (1)@?POS Reads the current position. Transmission 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. In multi-task operation, this command reads the program information on the task currently selected. Transmission example : @?NO c/r l/f Response example 1 : 31 c/r l/f ........................................ Program No.31 is being OK c/r l/f executed.
11-5 Communication Command Description (6)@?STP Reads the total number of steps in the specified program. Program number : This is a number used to identify each program and can be 0 to 99 (a total of 100). Transmission example : @?STP 10 c/r l/f ........................... Reads the total number of steps for program No. 10. Response example : 140 c/r l/f OK c/r l/f (7)@?MEM Reads the number of steps that can be added.
11-5 Communication Command Description (11) @?ALM [,] Displays a specified number of past alarms, starting from a specified history number. A maximum of 100 past alarms can be displayed. This alarm history shows the time (total elapsed time from controller start-up) that each alarm occurred and a description of the alarm. History number : This number is assigned to each alarm sequentially from 0 to 99 in the order the alarms occurred.
11-5 Communication Command Description (13)@?EMG Reads the emergency stop status. Transmission example : @?EMG c/r l/f Response example 1 : 0 c/r l/f .......................................... Emergency stop is off. OK c/r l/f Response example 2 : 1 c/r l/f .......................................... Emergency stop is on. OK c/r l/f (14)@?SRVO Reads the servo status. Transmission example : @?SRVO c/r l/f Response example 1 : 0 c/r l/f .......................................... Servo is off.
11-5 Communication Command Description (17)@?PVA Reads the point variable P. In multi-task operation, this command reads the program information on the task currently selected. Transmission example : @?PVA c/r l/f Response example : 0 c/r l/f OK c/r l/f c CAUTION The contents of the point variable P are held even when the SRCP is turned off.
11-5 Communication Command Description (20-1) @?PRM 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. Transmission example : @?PRMl c/r l/f ............................. Reads the data from PRM1 (parameter 1). Response example 1 : 350 c/r l/f OK c/r l/f Response example 2 : c/r l/f ............................................. No data is registered in PRM1 OK c/r l/f (parameter 1).
11-5 Communication Command Description (21-2) @?P , Reads multiple point data from the first point number to the second point number. If unregistered points exist, they will be skipped. Point number : This is a number used to identify each point data and can be from 0 to 999. Transmission example : @?P15,22 c/r l/f ........................... Reads the data from points 15 to 22. Response example : P15=100.00 c/r l/f P16=32.11 c/r l/f P20=220.00 c/r l/f P22=0.
11-5 Communication Command Description (22-3) @READ PNT Reads all point data. Transmission 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. Transmission example : @READ PRM c/r l/f Response example : PRM0=516 c/r l/f PRM1=350 c/r l/f : : PRM40=2 c/r l/f ^Z (=1AH) OK c/r l/f (22-5) @READ ALL Reads all data (parameters, programs, points) at one time.
11-5 Communication Command Description (22-6) @READ DIO Reads the on/off status of DIO. Refer to "4-3-4 DIO monitor screen". Transmission example : @READ DIO c/r l/f Response example : D I 00000000 00000000 c/r l/f DO 11100000 O:0 S:1 c/r l/f OK c/r l/f (22-7) @READ MIO Reads the on/off status of memory I/O. From the left, the top line shows MIO numbers from 115 to 100, the middle line from 131 to 116, and the bottom line from 147 to 132.
11-5 Communication Command Description (23-2) @WRITE PNT Writes the point data. The controller will transmit READY when this command is received. Confirm that READY is received and then transmit the point data. Always transmit ^Z (=1AH) at the end of the data. Transmission example : Send @WRITE PNT c/r l/f Receive READY c/r l/f P0=0.00 c/r l/f P1=350.00 c/r l/f P254=-0.27 c/r l/f ^Z(=1AH) OK c/r l/f c CAUTION When @WRITE PNT is executed, the previous data of the same point number is overwritten.
11-5 Communication Command Description (23-4) @WRITE ALL Writes all data (parameters, programs and points) at one time. The controller will transmit READY when this command is received. Confirm that READY is received and then transmit all data. Always transmit ^Z (=1AH) at the end of the data. Transmission example : Send @WRITE ALL c/r l/f Receive READY c/r l/f PRM0=516 c/r l/f PRM1=350 c/r l/f c/r l/f NO10 c/r l/f CALL 0, 20 c/r l/f STOP c/r l/f c/r l/f P1=550.
11-5 Communication Command Description (26)@?CSEL Reads the currently specified element number of the counter array variable C. In multi-task operation, this command reads the program information on the task currently selected. Transmission example : @?CSEL c/r l/f Response example : 0 c/r l/f OK c/r l/f (27)@?C [] Reads the value in the counter array variable C of the specified element number.
11-5 Communication Command Description 11-5-3 Utilities (1-1) @INIT PGM Initializes all program data. Transmission example : @INIT PGM c/r l/f Response example : OK c/r l/f (1-2) @INIT PNT Initializes all point data. Transmission example : @INIT PNT c/r l/f Response example : OK c/r l/f (1-3) @INIT PRM Initializes the parameter data to match the specified robot. For robot numbers, refer to "15-1-2 Robot number list". Transmission example : @INIT PRM 516 c/r l/f ................
11-5 Communication Command Description (2)@SWI This command switches the execution program number. When a program is reset, program execution will always return to the first step of the program selected here. The program is reset when the @SWI command is executed. Program number : This is a number used to identify each program and can be from 0 to 99.
11-5 Communication Command Description (5)@SDEL , 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. Transmission example : @SDEL 31,99 c/r l/f .................... Deletes step 99 of program No. 31. Response example 1 : OK c/r l/f Response example 2 : NG c/r l/f ......................................
11-5 Communication Command Description (8)@DEL Deletes a program. Program number : This is a number used to identify each program and can be from 0 to 99. Transmission example : @DEL 10 c/r l/f ............................ Deletes program No. 10. Response example 1 : OK c/r l/f Response example 2 : NG c/r l/f ...................................... The program to be deleted is 43: cannot find PGM c/r l/f not registered. (9)@PDEL , Deletes point data.
Chapter 12 MESSAGE TABLES 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. For a list of the alarm messages displayed if any trouble occurs, refer to "13-2 Alarm and Countermeasures".
12-1 Error Messages 12-1 Error Messages 12-1-1 Error message specifications The error message transmission format is as follows. : c/r l/f The length of the character string is 17 characters. (Spaces are added until the message contains 17 characters.) Thus, the character string length containing the c/r l/f will be 22 characters. 12-1-2 Command error message Message no start code Cause The start code (@) has not been added at the beginning of the command.
12-1 Error Messages 12-1-3 Operation error message Message soft limit over Cause Executing the command will move the robot to a position that exceeds the soft limit set by parameter. Action Review the point data or soft limit parameter. Message running Cause Another command is already being executed, so the command cannot be accepted. Action Wait until execution of the current command finishes before inputting another command.
12-1 Error Messages 12-1-4 Program error message Message stack overflow q Seven or more successive CALL statements were used within a CALL statement. Error No. Cause 40 Action w In the program called as a subroutine by a CALL statement, a jump was made to another program by a JMP or JMPF statement. q Reduce the number of CALL statements used in a CALL statement to 6 or less. w Review the program. Message cannot find label Cause The specified label cannot be found.
12-1 Error Messages 12-1-5 System error message Message system error Cause An unexpected error occurred. Action Contact YAMAHA and describe the problem. Message illegal opecode Cause There is an error in a registered program. Action Check the program. Message no point data Cause No data has been registered for the specified point number. Action Register the point data. Message PRM0 data error Cause This error will not occur in the SRCP controller. Error No. 50 Error No. 51 Error No.
12-2 TPB Error Messages 12-2 TPB Error Messages MESSAGE TABLES 12 12- 6 Message SIO error Cause 1. Parity error in data received from controller. 2. TPB was connected when dedicated command input was on. Action 1. Contact YAMAHA for consultation. 2. Turn all dedicated command inputs off before connecting the TPB. Message bad format Cause The memory card is not formatted. Action Format the memory card. Message save error Cause Error in writing to the memory card.
12-3 Stop Messages 12-3 Stop Messages 12-3-1 Message specifications The stop message transmission format is as follows. : c/r l/f The length of the character string is 17 characters. (Spaces are added until the message contains 17 characters.) Thus, the character string length containing the c/r l/f will be 22 characters. 12-3-2 Stop messages Message program end Meaning Execution has stopped because the program has ended.
12-4 Displaying the Error History 12-4 Displaying the Error History A history of past errors can be displayed. Up to 100 errors can be stored in the controller. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F4 (next) to change the menu display and then press F3 (UTL). [SYS] select menu 1SAFE2OPT 3UTL 4next 3) Press F2 (REC). [SYS-UTL] select menu 1HDPR2REC 4) Press F2 (ERR).
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. Pressing the – and + keys displays the hidden items. STEP Press the STEP UP and DOWN keys to sequentially scroll through the error list.
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Chapter 13 TROUBLESHOOTING This chapter explains how to take corrective action when a problem or breakdown occurs, by categorizing it into one of two cases depending on whether or not an alarm is output from the controller.
13-1 If A Trouble Occurs 13-1 If A Trouble Occurs If trouble or breakdown occurs, contact YAMAHA or your YAMAHA dealer, providing us with the following information in as much detail as possible. Item What you were using Description (example) ・Controller model name : SRCP-xxxx ・Robot model name : MR16T-400 ・Controller version : Ver. 24.00 ・Power : AC 200V ・I/O 24V power supply : External power supply was used.
13-2 Alarm and Countermeasures 13-2 Alarm and Countermeasures If the READY signal is turned off except 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. 13-2-1 Alarm specifications ■ If an alarm is issued: If an alarm is issued, keep the power turned on and connect the TPB or set the POPCOM on-line to check the contents of the alarm. An alarm message appears on the screen.
13-2 Alarm and Countermeasures 13-2-2 Alarm message list Alarm No.
13-2 Alarm and Countermeasures Alarm No. Alarm Message Possible Cause Meaning Action 07 q Mechanical lock q Check whether robot moving parts are P.E. COUNTER Overflow in position deviation locked. OVER w Motor wire is broken or connected w Check the motor wire and position counter wrong. signal wire connections. e Parameter error e Initialize the parameters. 08 PNT DATA DESTROY Point data has been corrupted. q Backup circuit failure w Power was turned off while writing data.
13-2 Alarm and Countermeasures Alarm No. Alarm Message 16 17 18 19 Meaning Possible Cause Action ABNORMAL VOLTAGE Excessive voltage q Rise in regenerative absorption resistor temperature (above (higher than 120°C).
13-3 Troubleshooting for Specific Symptom 13-3 Troubleshooting for Specific Symptom If any problems develop while the controller is being used, check the items below for the appropriate way to handle them. If the problem cannot be corrected using the steps listed below, please contact our sales office or sales representative right away. 13-3-1 Relating to the robot movement No.
13-3 Troubleshooting for Specific Symptom No. 4 Symptom Position deviation or offset occurs. Possible Cause 1) Robot is not securely installed. 2) Robot is at fault. If this occurs, leave the power 3) Malfunction caused by noise on and perform return-to-origin. Depending on the results of the return-toorigin, there are two possible causes of the problem: • If position 4) Controller failure offset is not corrected by the return-toorigin: Mechanical offset - See causes 1) to 2).
13-3 Troubleshooting for Specific Symptom 13-3-2 Relating to the I/O No. 1 2 Items to Check Action Output signal 1) Wiring to external cannot be devices is controlled. incorrect. • In cases other than cause 2, the output 2) Misprogramming signal cannot be controlled even with the 3) Output transistor manual is defective. instruction of TPB generalpurpose output. Symptom • Check the wiring. • Check the operation with the manual instruction of the TPB general-purpose output.
13-3 Troubleshooting for Specific Symptom 13-3-3 Other No. 1 2 TROUBLESHOOTING 13 13- 10 Symptom Possible Cause An error 1) A dedicated I/O occurs when command input is the TPB is on. connected. The TPB cannot be 2) The TPB cable is broken. used. Programs can be input only up to NO. 31, or point data can be specified only up to P254, or DIO monitor display format is incorrect. Items to Check Action • Check the signal input (by using a PLC • Always turn off dedicated command monitor, etc.).
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. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press F4 (next) to change the menu display and then press F3 (UTL). [SYS] select menu 1SAFE2OPT 3UTL 4next 3) Press F2 (REC). [SYS-UTL] select menu 1HDPR2REC 4) Press F1 (ALM).
13-4 Displaying the Alarm History 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 – and + keys displays the hidden items. STEP keys to sequentially Press the STEP and DOWN UP scroll through the alarm list.
Chapter 14 MAINTENANCE AND WARRANTY For safety purposes, always turn the power off before starting robot maintenance, cleaning or repairs, etc.
14-1 Warranty 14-1 Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. 14-1-1 Warranty description If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and/or related product within the warranty period, then YAMAHA will repair or replace those parts free of charge (hereafter called "warranty repair").
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 voltage is low, replace the battery using the procedure listed below. (1) First, make a backup copy of all necessary data using a memory card or POPCOM software, because that data in the controller might be lost or destroyed during battery replacement. (2) Unplug all connectors from the controller and then remove the top cover.
14-3 Updating the System 14-3 Updating the System YAMAHA may request, on occasion, that you update the system in your equipment. The following steps describe how to update the system. Before updating the system, you must set up a system that allows communications between the controller and a PC (personal computer). Use a communication cable which conforms to the specifications listed in "11-2 Communication Cable Specifications".
Chapter 15 SPECIFICATIONS 15 SPECIFICATIONS 1 15-
15-1 SRCP sereis 15-1 SRCP sereis 15-1-1 Basic specifications Model Specification item SRCP-05 200V, Applicable motor capacitance *1) SRCP-10 SRCP-20 SRCP-05A SRCP-10A SRCP-20A 200V, 200V, 200V, 200V, 200V, 100W or less 200W or less 600W or less 100W or less 200W or less 600W or less Max. power consumption Basic External dimensions specifications Weight 400VA 600VA 1000VA 400VA 600VA 1000VA W78×H250×D157mm 1.
15-1 SRCP sereis Protective Error detection items function Overcurrent, overload, wire breakage, runaway, etc. Ambient temperature 0 to 40°C Storage temperature -10 to 65°C General specification Ambient humidity Others *1) 35 to 85%RH (no condensation) Noise immunity Conforms to IEC61000-4-4 Level 2 Peripheral options TPB (Ver. 12.
15-2 TPB 15-2 TPB 15-2-1 Basic specifications Model TPB Specification item External dimensions W107 × H235 × D47mm Weight 590g Basic Power consumption specifications Power supply I/O General specification Others SPECIFICATIONS 15 15- 4 5 V, 200 mA max. DC12V (supplied form the controller) Cable length Standard 3.
15-3 Regenerative Unit (RGU-2) 15-3 Regenerative Unit (RGU-2) 15-3-1 Basic specifications Model RGU-2 Specification item External dimensions Basic Weight specifications Cable length W40 × H250 × D157mm Regenerative voltage Special specifications Regenerative stop voltage Approx. 380V or more Ambient temperature General Storage temperature specifications Ambient humidity Noise immunity 1.1kg 300mm Approx.
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Chapter 16 APPENDIX 16 APPENDIX 1 16-
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 shown in Fig. 16-1. 2. Back up the data by referring to section "10-6 Using a Memory Card" in Chapter 10. Fig. 16-1 Inserting the memory card YAMAHA TPB TPB EMG Memory card Fig.
16-1 How to Handle Options ■ Data size that can be saved Data size that can be saved on one memory card is as follows: Memory card capacity 8KB 64KB 1024KB (1MB) DPB TPB Ver. 2.18 or earlier TPB Ver. 12.50 or later Cannot be used. Cannot be used. Up to 3 units of SRCP Cannot be used.
16-1 How to Handle Options 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 efficient robot programming and operation. This POPCOM cable is different from typical communication cables, so do not use it for other purpose. Pins 18 and 21 on the SRCP controller are used for emergency stop input.
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Revision record Manual version Issue date Description Ver. 1.01 Ver. 2.00 Ver. 2.01 Ver. 2.02 Ver. 2.03 Ver. 2.04 Nov. 2003 Apr. 2006 Aug. 2006 Jan. 2007 Jul. 2007 Oct. 2007 English manual Ver. 1.01 is based on Japanese manual Ver. 1.01. English manual Ver. 2.00 is based on Japanese manual Ver. 3.04. English manual Ver. 2.01 is based on Japanese manual Ver. 3.05. English manual Ver. 2.02 is based on Japanese manual Ver. 3.06. English manual Ver. 2.03 is based on Japanese manual Ver. 3.07.
