YAMAHA SINGLE-AXIS ROBOT CONTROLLER SRCD/SRCP PulseTrain Mode User’s Manual ENGLISH E E86-Ver. 2.
Introduction Thank you for purchasing the YAMAHA robot controller SRCP/SRCD series. The SRCP/SRCD series controller can be used with a YAMAHA single-axis robot of the PHASER series or FLIP-X series to perform various tasks in FA (factory automation) applications such as pick and place work on conveyor lines, semiconductor manufacturing equipment and assembly machines.
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General Contents Chapter 1 Overview............................................................. 1-1 1-1 1-2 SRCP/SRCD series functions and features ........................................................ 1-1 Pulse train mode functions and features ........................................................... 1-1 Chapter 2 Specifications .................................................... 2-1 Chapter 3 Setup ..................................................................
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Chapter 1 Overview 1-1 SRCP/SRCD series functions and features 1 ■ Variation Type Operable robot SRCP series SRCP-05, 05A, 10, 10A, 20, 20A PHASER series SRCD series SRCD-05, 05A, 10, 10A, 20, 20A FLIP-X series Overview Series name * Use a correct combination of robot and controller. ■ Control mode The following two control modes can be selected by setting a parameter (PRM64: Input type).
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Chapter 2 Specifications ■ SRCP/SRCD series basic specifications Description Item W78 × H250 × D157 mm Dimensions 1.
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Chapter 3 Setup 3-1 Installation and connection For information on how to install the controller and to connect it to the power supply and robot, refer to the controller user's manual. 3-2 I/O specifications and wiring ■ I/O signal table [EXT.CN] No. Signal name Meaning Description 1 EMG1 2 EMG2 3 24V Signal input for 4 24G sequence I/O DC 24V input terminals for sequence input. Connect the positive (+) polarity of a DC 24 V power supply to "24V", and the negative (-) polarity to "24G".
3-2 I/O specifications and wiring No. Signal name Setup 3 A9 DO0 B9 DO1 A10 DO2 B10 DO3 A11 DO4 B11 IN-POS A12 SRDY B12 ALM A13 B13 Meaning Description Type General-purpose output 0 General-purpose output: 5 points General-purpose output 1 Assign function Return-to-origin completed output (Can be set with General-purpose output 2 DO4 and PRM33.) Servo ON status output (Can be set with DO3 and General-purpose output 3 PRM46.
3-2 I/O specifications and wiring ■ I/O wiring diagram 9 26LS32 or equivalent % 3&/5 38/6 $ 38/6 % ',5 $ ',5 % *1' $ 3$ $ % ', 3$ % $ ', 3% $ % ', 3% % $ ', 3= $ % ', 3= $ 25* 6 9 6* % 5(6(7 $ 6(592 6* % ,1+ $ ', 26LS31 or equivalent $ '2 6* % '2 $ '2 Ȑ 3 Ȑ % *1 $ *1 PZM- % *1' % )* % PZM+ % ', Ȑ Setup $ ', 6* Ȑ 6* , 2 &1 % '2 $ '2 % ,1 326 $ 65'< % $/0 $
3-2 I/O specifications and wiring ■ Pulse circuit description [Line driver input] The line receiver used here is the 26LS32or equivalent item. A maximum pulse input of 2Mpps is allowed here. Use a twisted-pair cable to make the connection. Setup 3 * The robot controller's SG must be connected to the pulse train controller's SG . The SG terminals (pin No. A14 and B14) are isolated from 24G (pin No. 4 of EXT. CN). Wire each of them securely.
3-2 I/O specifications and wiring ■ Signal description Deviation clear input (PCLR) Pin No. B2 (I/O.CN) Sequence input [Function] • At ON ignores input pulses and clears the deviation counter. * This signal must be ON at least 1ms or more. A pulse shorter than this may not clear the counter. Return-to-origin input (ORG-S) Pin No. A3 (I/O.CN) Sequence input Alarm reset input (RESET) Pin No. B3 (I/O.CN) Sequence input [Function] • Clears the alarm at ON.
3-2 I/O specifications and wiring Command pulse input Command direction input Pin No. A15, B15, A16, B16 (I/O.
3-2 I/O specifications and wiring Feedback pulse output Pin No. A17, B17, A18, B18, A19, B19, A20, B20 (I/O.CN) Pulse output • Outputs current position information as differential output.
3-2 I/O specifications and wiring ■ Signal timing ● Power-ON to pulse input Setup 3 Power input for I/O (24V, 24G) ON Main power supply (L, N) ON Alarm output (ALM) ON Positioning completed output (IN-POS) ON Servo ON input (SERVO) ON Servo ready output (SRDY) ON OFF OFF OFF OFF OFF 200ms to 2 sec* OFF • Power input for I/O must always be set to ON before turning on main power supply. • Pulse inputs can be accepted when Servo ready (SRDY) is ON.
Chapter 4 Operation 4-1 Setup for operation After correctly installing and connecting the controller to the robot, turn on the power and then make ready for operation. [Initial setting] • The normal mode is the default (factory) setting. To use in the pulse train mode, make the mode setting after first turning the power on.(PRM64: Input type) • To make the mode setting, unplug the I/O.CN connector and set in emergency stop.
4-2 Defining the CW and CCW directions 4-2 Defining the CW and CCW directions The following descriptions define the direction the robot moves versus the input pulses. ■ PHASER series CCW direction CW direction R direction L direction • On the PHASER series, the CW direction is to the right when viewed from the cable carrier side.
4-3 Magnetic pole detection 4-3 Magnetic pole detection When using the SRCP series controller to operate a PHASER series robot, the magnetic poles must first be detected before beginning the robot operation. Failure to do so may trigger alarms and lead to operating malfunctions. Use the following methods to detect the magnetic poles. • Return-to-origin (ORG-S) • Passing through phase ZM during position control by pulse train input The magnetic pole detection method can be selected by setting a parameter.
4-4 Electronic gear function 4-4 Electronic gear function This function allows the robot to move at a rate equal to the number of pulses that is determined by multiplying the input command pulse count by the electronic gear ratio. This function is effective in the following cases. • When the pulse output from the host device is insufficient. • When you want to set an optional movement distance per pulse. ■ Setting examples 1.
4-5 Monitor function 4-5 Monitor function ■ Monitoring the I/O signals The sequence I/O status can be monitored on the TPB. [Display screen] w q [MON-DIO] DI 00000000 00000001 DO 11000000 O:1 S:1 e r * For information on how to display the monitor screen, refer to section 10-2, "DIO Monitor Display", in the controller user's manual.
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Chapter 5 Parameters 5-1 Parameter setting For information on how to set parameters with the TPB, refer to "5-1 Setting parameters" in the SRCP controller user's manual. A TPB version of V12.50 or higher is required. 5-2 Parameter list • Some parameters become effective by turning the power off and then on again. After changing those parameters be sure to turn the power off once and then back on again.
5-2 Parameter list Parameters 5 32 Alarm number output 0 to 1 0 – S 33 Output accompanying return-to-origin 0 to 3 2 – Common 34 System mode selection – 0 – S 35 Origin shift -9999 to 9999 0 .
5-3 Parameter description 5-3 Parameter description This section describes parameters required for operation in pulse train mode. • For other parameters not listed below, refer to "5-2 Parameter description" in the SRCP controller user's manual. • The shaded PRM (parameter) numbers are hidden parameters and usually cannot be displayed on the TPB. See "10-5-1 Viewing hidden parameters" in the SRCP controller user's manual for information on how to write and display these parameters.
5-3 Parameter description ■ Pulse train mode parameters PRM64 Input type Input range 0 to 3 Default value 0 Unit – Switches the mode and selects the input type for pulse train mode. Setting value 0 1 2 3 Description Normal mode Phase A / phase B (pulse train mode) Pulse train / code input (pulse train mode) CW / CCW input (pulse train mode) * For information on each input form, refer to "signal description" in "3-2 I/O specifications and wiring".
5-3 Parameter description PRM70 Servo-off sequence Input range 0 to 3 Default value 0 Unit – Sets the deviation counter processing when an alarm or servo-OFF occurs. Setting value 0 1 2 3 Description Clears the deviation counter when an alarm or servo-OFF occurs. Clears the deviation counter only when an alarm occurs. Clears the deviation counter only when servo-OFF occurs. Holds the deviation counter even when an alarm or servo-OFF occurs.
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Chapter 6 Alarms The SRCP/SRCD series controllers turns off the alarm output (ALM) when an error is detected. To cancel the alarm: ■ Turn the power off and then on again. ■ Apply the alarm reset input (RESET) for at least the specified period of time. (Note that some alarms can only be canceled by turning the power off and then on again.) * Canceling the alarm while servo-on input (SERVO) is on is dangerous, as it allows the servo to turn on immediately.
6-2 Alarm list 6-2 Alarm list ■ Alarm message No. 6 Message 01 OVER LOAD 02 OVER CURRENT 03 Description Motor overload Power off and then on Not required Motor drawing excess current Required OVER HEAT Transistor heatsink temperature exceeds 90°C. Required 04 POWER DOWN Supply voltage is less than 85% of rated value. Required 05 BATT.LOW-VOLTAGE 06 24V POWER OFF 24 volt power is not supplied. Not required 07 P.E.COUNTER OVER Position deviation counter overflow.
6-3 Troubleshooting 6-3 Troubleshooting ■ Alarms * For details on alarms, refer to the SRCP controller user's manual. ■ Troubleshooting No. Problem 1 Robot won’t move even with pulse input Possible cause Checkpoints • Connect the TPB, monitor the I/O information, and check the servo input on/off operation. • Check the status LED • Set servo signal to ON • Correct the wiring In emergency stop • Check the status LED • Set emergency stop input to ON.
Revision record Manual version Issue date Description Ver. 1.10 Ver. 1.30 Ver. 2.00 Ver. 2.01 Feb. 2004 Oct. 2004 Apr. 2006 May 2007 English manual Ver. 1.10 is based on Japanese manual Ver. 1.10. English manual Ver. 1.30 is based on Japanese manual Ver. 1.30. English manual Ver. 2.00 is based on Japanese manual Ver. 2.01. English manual Ver. 2.01 is based on Japanese manual Ver. 2.01. Supplementary Manual SRCP/SRCD Series Robot Controller Pulse Train Mode May 2007 Ver. 2.
