Yamaha SRCP manuel d'utilisation

User ’ s Manual ENGLISH E Y AMAHA SINGLE-AXIS ROBOT CONTROLLER E84-V er . 2.04 SRCP[...]

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i General Contents Chapter 1 OVER VIEW ........................................................................................................... 1-1 1-1 Featur es of the SRCP Series Controller ................................................................................... 1-2 1-2 Setting Up for Oper ation .....................................[...]

ii Chapter 4 BASIC OPERA TION OF THE TPB ......................................................................... 4-1 4-1 Connecting and Disconnecting the TPB ................................................................................. 4-2 4-1-1 Connecting the TPB to the SRCP controller ........................................................[...]

iii 8-4 Robot Language Description .................................................................................................. 8-6 8-4-1 MO V A ........................................................................................................................................................... 8-6 8-4-2 MO VI ...........................[...]

iv 10-6 Using a Memor y Card ........................................................................................................ 10-14 10-6-1 Saving controller data to a memor y card .................................................................................. ................. 10-14 10-6-2 Loading data from a memory car d ...............[...]

v Chapter 15 SPECIFICA TIONS ............................................................................................... 15-1 15-1 SRCP sereis ................................................................................................................ .......... 15-2 15-1-1 Basic specifications ..............................................[...]

vi MEMO[...]

1- 1 1 OVERVIEW Chapter 1 OVER VIEW Thank you for purchasing the Y AMAHA single-axis robot controller SRCP series (hereafter called "SRCP control- ler" or simply "SRCP" or "this controller"). This manual describes SRCP controller features and operating proce- dures. When used with a Y AMAHA single-axis PHASER series ro[...]

1- 2 1 OVER VIEW 1-1 Features of the SRCP Series Controller 1-1 Features of the SRCP Series Controller The SRCP series is a high-performance robot controller using a 32-bit RISC chip CPU. When used with a Y AMAHA single-axis PHASER series robot, the SRCP controller performs posi- tioning tasks of v arious mechanical parts and devices. The SRCP cont[...]

1- 3 1 OVERVIEW 1-2 Setting Up for Operation 1-2 Setting Up for Operation The chart belo w illustrates the basic steps to follow from the time of purchase of this controller until it is ready for use. The chapters of this user's manual are organized according to the operation proce- dures, and allow f irst time users to proceed one step at a t[...]

1- 4 1 OVER VIEW 1-3 External V iew and Part Names 1-3 External V iew and Part Names This section explains part names of the SRCP contr oller and TPB along with their functions. Note that the external vie w and specifications are subject to change without prior notice to the user . 1-3-1 SRCP controller 1 . Status D isplay L amp This lamp indicates[...]

1- 5 1 OVERVIEW 1-3 External V iew and Part Names Fig. 1-1 Exterior of the SRCP controller SRCP-05 SRCP-10, 20 SRCP-05A, 10A, 20A 1 2 3 8 9 10 4 5 6 7 1 2 3 8 10 4 5 6 7 11 1 2 3 8 9 10 4 5 6 7 11 11[...]

1- 6 1 OVER VIEW 1-3 External V iew and Part Names Fig. 1-2 Three-side view of the SRCP controller COM L N T1 T2 ACIN1 (PWR) N P U V W PWR (G) ESC TPB ROB I/O I/O RGEN MOTOR ERR (R) NC NC SRCP MODEL. SER. NO. FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN EMG 24V 24G SRCP 10 DONT CONNECT • 200-230V~ 50-60Hz MAX.1000VA T1/T2 250 265 290 157 78 19 5.5 [...]

1- 7 1 OVERVIEW 1-3 External V iew and Part Names 1-3-2 TPB 1. Liquid Crystal Display (LCD) Screen This display has four lines of twenty characters each and is used as a program console. 2. Memory Card Slot An IC memory card can be inserted here. Be careful not to insert the card upside-do wn. 3. Control Keys The TPB can be operated in interacti ve[...]

1- 8 1 OVER VIEW 1-4 System Configuration 1-4 System Configuration 1-4-1 System configuration The SRCP controller can be combined with v arious peripheral units and optional products to configure a robot system as shown belo w . * Programming box TPB and support software POPCOM are sold separately. SRCP Controller RS-232C communication control or T[...]

1- 9 1 OVERVIEW 1-5 Accessories and Options 1-5-1 Accessories The SRCP robot controller comes with the follo wing accessories. After unpacking, check that all items are included. 1 . EXT . CN connector Connector : 733-104 made by W A GO 1 piece 2. I/O. CN connector with flat cable (option) Connector : XG4M-4030-U made by OMR ON 1 piece 3. RS-232C d[...]

1- 10 MEMO[...]

2- 1 2 INST ALLA TION AND CONNECTION Chapter 2 INST ALLA TION AND CONNECTION This chapter contains precautions that should be observed when installing the contr oller , as well as pr ocedures and precautions for wiring the controller to the robot and to external equipment.[...]

2- 2 2 INST ALLA TION AND CONNECTION 2-1 Installing the SRCP Controller 2-1 Installing the SRCP Controller 2-1-1 Installation method Using the L-shaped brackets attached to the top and bottom of the controller , install the controller from the front or rear position. (See Fig.1-2 Three-side vie w of the SRCP controller .) 2-1-2 Installation locatio[...]

2- 3 2 INST ALLA TION AND CONNECTION 2-2 Connecting the Power Supply 2-2 Connecting the Power Supply 2-2-1 Power supply No. of phases Single-phase Type and Item SRCP-05 SRCP-10 SRCP-20 Frequency 50/60Hz Max. power consumption 400VA or less Power supply voltage AC200 to 230V ± 10% Single-phase 50/60Hz 600VA or less AC200 to 230V ± 10% Single-phase[...]

2- 4 2 INST ALLA TION AND CONNECTION 2-2 Connecting the Power Supply c CA UTION The SRCP series controller does not have a pow er switch. Be sure to provide a po wer supply breaker (insulation) of the correct specifications that will turn the pow er on or off to the entire system including the robot controller . P ower to EXT . CN must first be sup[...]

2- 5 2 INST ALLA TION AND CONNECTION 2-2 Connecting the Power Supply 2-2-5 Installing current control switches When controlling the po wer on/off of the robot controller from an exter nal device such as a PLC, a current control switch (contactor , breaker , etc.) may be used. In this case, the current control switch usually creates a lar ge on/off [...]

2- 6 2 INST ALLA TION AND CONNECTION 2-5 Connecting to the Robot 2-5 Connecting to the Robot First make sure that the po wer to the SRCP controller is turned off, and then connect the robot cable to the robot I/O connector and motor connector on the front panel of the SRCP controller . Fully insert the robot cable until it clicks in position. * Whe[...]

2- 7 2 INST ALLA TION AND CONNECTION 2-6 Connecting to the I/O. CN Connector 2-6 Connecting to the I/O. CN Connector The I/O. CN connector is used for connecting the SRCP controller to exter nal equipment suc h as a PLC. When using external equipment for I/O control, connect the wiring to the I/O. CN connector (with a flat cable) supplied as an acc[...]

2- 8 2 INST ALLA TION AND CONNECTION 2-7 Connecting to the EXT . CN Connector Connect an emergenc y stop circuit and a 24V power supply for I/O control to the EXT . CN connec- tor . Make the necessary wiring hookup (see below) to the mating connector that comes with the SRCP controller and then plug it into the EXT . CN connector . Make sure the wi[...]

2- 9 2 INST ALLA TION AND CONNECTION 2-8 Connecting to the Regenerative Unit 2-8 Connecting to the Regenerative Unit Some types of robots must be connected to a re generative unit. In such cases, use the interconnection cable to connect the SRCP controller to the re generative unit. Fig. 2-3 Connecting the SRCP controller to a regenerative unit Use[...]

2- 10 MEMO[...]

3- 1 3 I/O INTERF ACE Chapter 3 I/O INTERF ACE The SRCP series has I/O interface connectors (EXT . CN and I/O. CN) as a standard feature. The EXT . CN is used for emerg ency stop input and 24V power input for I/O control. The I/O. CN consists of an interlock input, 7 dedicated command inputs, 3 dedicated outputs, 8 general-purpose inputs, 5 general[...]

3- 2 3 I/O INTERF ACE 3-1 I/O Signals 3-1 I/O Signals The SRCP controller has two I/O interface connectors (EXT . CN and I/O. CN) as a standard feature. The EXT . CN is used for emergenc y 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 [...]

3- 3 3 I/O INTERF ACE 3-2 Input Signal Description 3-2 Input Signal Description Input signals consist of 7 dedicated command inputs, 8 general-purpose inputs and interlock signals fed to the I/O. CN terminal, as well as an emer gency stop input fed to the EXT . CN ter minal. * DI7 functions as the SER VICE mode input when the SER VICE mode function[...]

3- 4 3 I/O INTERF ACE 3-2 Input Signal Description ■ Absolute point movement command (ABS-PT) This command mov es the robot to an absolute position specified by a point number at a specif ied speed along an axis coordinate whose origin is defined as 0. The point number and speed are specified by general-purpose input. (See "3-2-2 General-pur[...]

3- 5 3 I/O INTERF ACE 3-2 Input Signal Description ■ Return-to-origin command (ORG-S) This command returns the robot to its origin position by using strok e-end detection as the origin detection method. n NO TE The magnetic pole is detected simultaneously with r eturn-to-origin operation. Return-to-origin is incomplete eac h time the power is tur[...]

3- 6 3 I/O INTERF ACE 3-2 Input Signal Description 3-2-2 General-purpose input (DI0 to DI7) These general-purpose inputs are a vailable to users for handling data input in a program. These inputs are usually connected to sensors or switches. These inputs can also be directly con- nected to a PLC output circuit. As a special function during ex ecuti[...]

3- 7 3 I/O INTERF ACE 3-2 Input Signal Description 3-2-3 SERVICE mode input (SVCE) When the SER VICE mode function is enabled, DI7 functions as the SER VICE mode input (SVCE). The SER VICE mode input is used to notify the SRCP controller whether the current state is a "SER V - ICE mode state". This input should be turned off (contact open[...]

3- 8 3 I/O INTERF ACE 3-3 Output Signal Description 3-3 Output Signal Description The output signals consist of 3 dedicated outputs (READ Y , BUSY and END), 5 general-purpose outputs, and feedback pulse outputs. In this section, terms "ON" and "OFF" mean the output transis- tors are "on" and "of f". 3-3-1 Ded[...]

3- 9 3 I/O INTERF ACE 3-3 Output Signal Description 3-3-2 General-purpose output (DO0 to DO4) These general-purpose outputs are av ailable to users for freely controlling on/of f operation in a pro- gram. These outputs are used in combination with an exter nal 24V power supply , to drive loads suc h as solenoid v alves and LED lamps. These outputs [...]

3- 10 3 I/O INTERF ACE 3-4 I/O Circuits 3-4 I/O Circuits This section pro vides the SRCP contr oller I/O circuit specif ications and examples of ho w the I/O circuits should be connected. Refer to these specifications and diagr ams when connecting to external equipment such as a PLC. 3-4-1 I/O circuit specifications ■ Input Power DC24V ± 10% (su[...]

3- 11 3 I/O INTERF ACE 3-4 I/O Circuits 3-4-2 I/O circuit and connection example I/O circuit and connection e xample External DC24V power supply Push-button NPN transistor Incandescent lamp Solenoid valve Input signal Photocoupler Output signal Controller side DI DO DO DI 24V 24G FG + - Pulse output circuit connection example 26L S 32 or eq u iv a [...]

3- 12 3 I/O INTERF ACE 3-5 I/O Connection Diagram 3-5 I/O Connection Diagram 3-5-1 Connection to PLC output unit Connection to the Mitsubishi © PLC A Y51 output unit AY51 type output unit SRCP series controller External DC 24V power supply + - Y00 Y01 Y02 Y03 Y04 Y05 Y06 Y07 Y08 Y09 Y0A Y0B Y0C Y0D Y0E Y0F DC24V 0V Y10 Y11 Y12 Y13 Y14 Y15 Y16 Y17 [...]

3- 13 3 I/O INTERF ACE 3-5 I/O Connection Diagram 3-5-2 Connection to PLC input unit Connection to the Mitsubishi © PLC AX41 input unit AX41 type input unit SRCP series controller External DC 24V power supply Photocoupler Internal circuit X01 X00 X02 X03 X04 X05 X06 X07 DC24V X08 X09 X0A X0B X0C X0D X0E X0F DC24V B12 A12 B11 A9 B9 A10 B10 A11 TB 1[...]

3- 14 3 I/O INTERF ACE 3-6 I/O Control Timing Charts 3-6 I/O Control T iming Charts The follo wing shows typical timing charts for I/O control. Refer to these diagrams when creating a sequence program. 3-6-1 When turning the power on When emergency stop is triggered: AC power supply READY END 300ms or more DC24V power supply When emergency stop is [...]

3- 15 3 I/O INTERF ACE 3-6 I/O Control Timing Charts 3-6-2 When executing a dedicated input command ■ The BUSY signal turns on when a dedicated command is recei ved. Whether the recei ved com- mand has ended normally can be checked with the END signal status at the point that the B USY signal turns of f. When the END signal is on, this means that[...]

3- 16 3 I/O INTERF ACE (2) When a command with a short execution time runs and ends normally: (Command execution has already ended and the END signal is on before turning of f (contact open) the dedicated command input, as in the examples listed below .) •A mov ement command (ABS-PT , INC-PT) for a very short distance was e xecuted. •A reset co[...]

3- 17 3 I/O INTERF ACE (3) When a command cannot be executed from the beginning: (Command execution is impossible from the beginning and the END signal does not turn on, as in the examples listed below .) •A mov ement command (ABS-PT , INC-PT) was ex ecuted without return-to-origin being com- pleted. • An operation start command (A UTO-R, STEP-[...]

3- 18 3 I/O INTERF ACE (4) When command execution cannot be completed: (Command execution stops before completion and the END signal does not turn on, as in the examples listed below .) • An interlock or emergenc y stop was triggered during ex ecution of a dedicated command. •T he SER VICE mode input was changed during e xecution of a dedicated[...]

3- 19 3 I/O INTERF ACE 3-6-4 When emergency stop is input READY END BUSY EMG Emergency stop 5ms or less 1ms or less Dedicated command ■ The READ Y signal turns off. T he BUSY signal also turns off while a dedicated command is being ex ecuted. The END signal remains unchanged. ■ To enable robot operation, cancel emergenc y stop to turn on the RE[...]

3- 20 3 I/O INTERF ACE 3-6-6 When executing a point movement command ■ When ex ecuting a point movement command (ABS-PT , INC-PT), the point data and speed data must first be input bef or e inputting the command . The point data and speed data can be specif ied with DI0 to DI7 (or DI0 to DI6 when SER VICE mode is enabled). Refer to "3-2-2 Ge[...]

4- 1 4 BASIC OPERA TION OF THE TPB Chapter 4 BASIC OPERA TION OF THE TPB The TPB is a hand-held , pendant-type programming box that connects to the SRCP controller to edit or run pro- grams for robot operation. The TPB allo ws interactiv e user operation on the display screen so that ev en first-time users can easily operate the robot with the TPB.[...]

4- 2 4 BASIC OPERA TION OF THE TPB 4-1 Connecting and Disconnecting the TPB 4-1 Connecting and Disconnecting the TPB 4-1-1 Connecting the TPB to the SRCP controller c CA UTION Do not modify the TPB cable or use any type of relay unit for connecting the TPB to the SRCP controller . Doing so might cause communication errors or malfunctions. ■ When [...]

4- 3 4 BASIC OPERA TION OF THE TPB 4-1 Connecting and Disconnecting the TPB 4-1-2 Disconnecting the TPB from the SRCP controller T o disconnect the TPB from the controller while a program or an I/O dedicated command is being ex ecuted, pull out the TPB while holding do wn the ESC switch on the front panel of the controller . Failing to hold do wn t[...]

4- 4 4 BASIC OPERA TION OF THE TPB 4-2 Basic Key Operation 4-2 Basic Key Operation 1) Selectable menu items are displayed on the 4th line (bottom line) of the TPB screen. Example A is the initial screen that allows you to select the follo wing modes. ↓ ↑ A D C E F2 F2 F3 ESC ESC ESC ↓ ↑ ↑ ↓ [MENU] select menu 1EDIT2OPRT3SYS 4MON [OPRT-S[...]

4- 5 4 BASIC OPERA TION OF THE TPB 4-3 Reading the Screen 4-3 Reading the Screen The follo wing explains the basic screen displays and what they mean. 4-3-1 Program execution screen The display method slightly dif fers depending on the version of TPB. [OPRT-STEP] 100 0:31 062:MOVA 200,100 [ 0.00] 1SPD 2RSET3CHG 4next 4 5 3 2 1 6 [STEP] 100% 0: 31 0[...]

4- 6 4 BASIC OPERA TION OF THE TPB 4-3-3 Point edit screen (teaching playback) [EDIT-PNT-TCH](1)100 P255 = 123.45 [mm] [ 0.00] 1CHG 2SPD 3S_SET 4next 5 1 2 3 4 1. Current mode 2. Speed selection number 3. Speed parameter (%) 4. Edit point number 5. Current position 4-3-4 DIO monitor screen 1 2 3 4 DI 00000000 00000000 DO 10100000 O:0 S:1 1. General[...]

4- 7 4 BASIC OPERA TION OF THE TPB 4-4 Hierarchical Menu Structure POWER ON MOD (Step Edit) INS (Step Insert) DEL (Step Delete) CHG (Program Change) MDI (Manual Data Input) TCH (Teaching Playback) DTCH (Direct Teaching) DEL (Delete) COPY (Program Copy) DEL (Program Delete) LIST (Program List) SPD (Execution Speed Change) RSET (Program Reset) CHG (P[...]

4- 8 4 BASIC OPERA TION OF THE TPB 4-5 Restricting Key Operation by Access Level 4-5 Restricting Key Operation by Access Level The TPB k ey operations can be limited by setting the access lev els (operation lev els). A person not trained in robot operation might accidentally damage the robot system or endanger others by using the TPB incorrectly . [...]

4- 9 4 BASIC OPERA TION OF THE TPB 4-5 Restricting Key Operation by Access Level Memory card Level 0 1 2 3 Description All operations are permitted. Loading the parameters and all data to the SRCP is prohibited. (Point data or program data can be loaded.) Loading any data to the SRCP is prohibited. (Data can be sav ed and the memory card formatted.[...]

4- 10 4 BASIC OPERA TION OF THE TPB 4-5 Restricting Key Operation by Access Level 5) Select the item you want to change. T o change the access level for editing, press F1 (EDIT). T o change the access level for operation, press F2 (OPR T). T o change the access level f or system-related data, press F3 (SYS). T o change the access level for memory c[...]

5- 1 5 P ARAMETERS Chapter 5 P ARAMETERS The SRCP controller uses a software serv o system, so no adjustment of hardware components such as potentiometers or DIP switches are required. Instead, the SRCP controller uses parameters that can be easily set or changed by the TPB or PC (personal computer). This chapter contains a detailed description of [...]

5- 2 5 P ARAMETERS 5-1 Setting the Parameters 5-1 Setting the Parameters 1) On the initial screen, press F3 (SYS). [SYS-PRM-PRM1] PRM1 = 450 [mm] (+)soft limit range -9999 → 9999 [SYS-PRM-PRM1] PRM1 = 450_ [mm] (+)soft limit range -9999 → 9999 [SYS-PRM-PRM1] PRM0 = 20 robot type read only select menu [SYS] select menu 1PRM 2B.UP 3INIT [MENU] se[...]

5- 3 5 P ARAMETERS 5-2 Parameter Description 5-2 Parameter Description The parameters are described in order belo w . c CA UTION P arameters not displayed on the TPB screen are automatically set or optimized to match the robot type when the robot parameters are initialized. Y ou usually do not have to change these parameter settings. If for some sp[...]

5- 4 5 P ARAMETERS 5-2 Parameter Description PRM3: Payload This specifies the total weight of the w orkpiece and tool attached to the robot. In cases where this weight var ies, enter the maximum payload. Based on this parameter , the controller determines the optimum acceleration speed for the robot, so ensure that the correct payload is set. If se[...]

5- 5 5 P ARAMETERS 5-2 Parameter Description PRM7: I/O point movement command speed This parameter sets the mov ement speed to execute a point mo vement command (ABS- PT , INC-PT) and also determines the number of points that can be used with a point mov ement command. (See "3-2-2 General-purpose input (DI0 to DI7)".) Input range: 0 to 10[...]

5- 6 5 P ARAMETERS 5-2 Parameter Description PRM1 1: No. of encoder pulses (4 ✕ mode) This parameter indicates the constant that is determined by the linear scale. Default v alue: Depends on robot type. PRM12: Lead length This parameter indicates the constant that is determined by the linear scale. Default v alue: Depends on robot type. PRM13: Or[...]

5- 7 5 P ARAMETERS 5-2 Parameter Description PRM18: Speed integration gain This sets the speed control gain. T ypically , PRM17 and PRM18 should be input at a ratio of 3 : 2. Generally , the larger the gain, the higher the acceleration will be. Ho wev er , if the gain is set too high, abnormal oscillation or noise might be generated, causing seriou[...]

5- 8 5 P ARAMETERS 5-2 Parameter Description PRM24: T eaching count data (TPB entry) This is entered in the TPB and cannot be used. Default v alue: 0 PRM25: Not used Default v alue: 0 PRM26: T eaching movement data This parameter is used during mov ement with a communication command @X+ or @XINC. This is also used for point teaching playback. Input[...]

5- 9 5 P ARAMETERS 5-2 Parameter Description PRM32: Alarm number output When an alarm is issued, this parameter selects whether the alarm number is to be output as a general-purpose output. W hen this parameter is set to 1, the alarm number is output as a 5-bit binary signal through DO0 to DO4. Input range: 0 or 1 Meaning: 0: No output 1: Output De[...]

5- 10 5 PA RAMETERS 5-2 Parameter Description PRM34: System mode selection This parameter specifies the system oper ation mode. When you w ant to use the SRCP series in operating specifications that dif fer from normal mode, change this parameter as e xplained belo w . This parameter functions are allocated in bit units. Input range: 0 to 255 Defau[...]

5- 11 5 PA RAMETERS 5-2 Parameter Description Bit 7: END output sequence setting at command execution completion (supported by V er . 24.32 and later versions): This selects the END output sequence at dedicated command completion. W ith the standard setting ("0"), the command's execution result is output to the END output when the co[...]

5- 12 5 P ARAMETERS 5-2 Parameter Description PRM41: I/O point movement command speed 1 This parameter sets the speed at which the robot mov es when a point movement command (ABS-PT , INC-PT) is ex ecuted. The speed set here is the mo vement speed used in normal mode (SER VICE mode disabled) with PRM7set to 0, DI6 turned on and DI7 turned off. Inpu[...]

5- 13 5 P ARAMETERS 5-2 Parameter Description PRM46: Servo status output This parameter selects whether to output the axis serv o status as a general-purpose output. When this parameter is set to 1, DO3 turns on and of f along with servo on/of f. Input range: 0 or 1 Meaning: 0: Does not output the servo status. 1: Outputs the serv o status. Default[...]

5- 14 5 PA RAMETERS 5-2 Parameter Description PRM51: Lead program number This parameter sets the lead program number . Default v alue: 0 n NO TE The lead pr ogram is the pr ogram that has been selected as the execution pr ogram by the TPB or POPCOM. (See "9-4 Switching the Execution Pr ogram".) The lead pr ogram can also be selected by ex[...]

5- 15 5 PA RAMETERS 5-2 Parameter Description Zone output function To use the zone output function, the desired zone must be specified with point data. (See Chapter 7, "EDITING POINT D A T A".) When the r obot enter s the specif ied zone, its re- sult is output to the specif ied port. P oint numbers and output port that can be used for ea[...]

5- 16 5 P ARAMETERS 5-2 Parameter Description PRM54: Magnetic pole detection level Default v alue: Depends on the robot. PRM55: Magnetic pole position Default v alue: 0 PRM56: Controller version 2 This parameter reads out the version information (2) on the control softw are in the con- troller . This is a read-only parameter . PRM57: Servo braking [...]

6- 1 6 PROGRAMMING Chapter 6 PROGRAMMING In this chapter we will try programming some operations. First, you will learn ho w to enter a program using the TPB programming box.[...]

6- 2 6 PROGRAMMING 6-1 Basic Contents 6-1 Basic Contents 6-1-1 Robot language and point data The SRCP controller uses the Y AMAHA robot language that is very similar to B ASIC. It allows you to easily create programs for robot operation. In programs created with the Y AMAHA robot language, the robot position data (absolute position, amount of mov e[...]

6- 3 6 PROGRAMMING 6-2 Editing Programs 6-2 Editing Programs "Program editing" refers to operations such as creating a program right after initialization, creating a ne w program, changing an existing program, and deleting or copying a pro gram. In this section, you will learn the basic procedures for program editing using the TPB. "[...]

6- 4 6 PROGRAMMING 6-2 Editing Programs 6-2-1 Creating programs after initialization 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT2OPRT 3SYS 4MON [EDIT] select menu 1PGM 2PNT 3UTL [EDIT] select menu 43:cannot find PGM 1PGM 2PNT 3UTL [EDIT-PGM] PGM No = 0 New entry OK ? 1yes 2no [EDIT-PGM] PGM No = _ (Program No) 0 → 99 [EDIT[...]

6- 5 6 PROGRAMMING 6-2 Editing Programs 7) After selecting the robot language command, enter the operand data. When you press X Z + , the cursor mov es to op- erand 1, so enter the data with the number keys. (Do not press at this point.) While pressing X Z + or X Z – to mov e the cur- sor , enter all necessary operand data as needed. [EDIT-PGM] N[...]

6- 6 6 PROGRAMMING 6-2 Editing Programs 6-2-2 Creating a new program 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT 2OPRT3SYS 4MON [EDIT] select menu 1PGM 2PNT 3UTL [EDIT-PGM] No10 017:MOVA 254,100 1MOD 2INS 3DEL 4CHG [EDIT-PGM] PGM No = _ (Program No) 0 → 99 [EDIT-PGM] PGM No = 14 New entry OK ? 1yes 2no [EDIT-PGM] No14 001:[...]

6- 7 6 PROGRAMMING 6-2 Editing Programs 6-2-3 Adding a step 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT 2OPRT3SYS 4MON [EDIT-PGM] No10 017:MOVA 254,100 1MOD 2INS 3DEL 4CHG [EDIT-PGM] PGM No = _ (Program No) 0 → 99 [EDIT-PGM] PGM No = 10 STEP No = _ (REG.steps) 50 [EDIT-PGM] No10 050:WAIT 3 ,1 1MOD 2INS 3DEL 4CHG [EDIT] sel[...]

6- 8 6 PROGRAMMING 6-2 Editing Programs 7) Select F1 to F3 or a robot language com- mand sho wn on the lower part of each number key . T o change the robot langua ge menu display , press F4 (next). T o go back to the previous menu display , press the BS key . [EDIT-PGM] No10 051:JMPF 0 ,10 ,1 (label No) 0 → 255 [EDIT-PGM] No10 051:JMPF 10 ,31 ,5_[...]

6- 9 6 PROGRAMMING 6-2 Editing Programs 6-2-4 Correcting a step 1) Use the same procedure up to step 4 in "6-2-3 Adding a step". 2) Enter the number of the step you want to cor - rect with the number keys and pr ess . [EDIT-PGM] PGM No = 10 STEP No = _ (REG.steps) 50 [EDIT-PGM] No10 010:MOVA 999,100 1MOD 2INS 3DEL 4CHG [EDIT-PGM] No10 010[...]

6- 10 6 PROGRAMMING 6-2 Editing Programs 6-2-5 Inserting a step 1) Use the same procedure up to step 4 in "6-2-3 Adding a step". 2) Enter the number of the step where you want to insert a step with the number ke ys and press . [EDIT-PGM] PGM No = 10 STEP No = _ (REG steps) 50 [EDIT-PGM] No10 010:MOVA 999,100 1MOD 2INS 3DEL 4CHG [EDIT-PGM][...]

6- 11 6 PROGRAMMING 6-2 Editing Programs 6-2-6 Deleting a step 1) Use the same procedure up to step 4 in "6-2-3 Adding a step". 2) Enter the number of the step you want to delete with the number keys and press . [EDIT-PGM] PGM No = 10 STEP No = _ (REG steps) 50 [EDIT-PGM] No10 010:MOVA 999,100 1MOD 2INS 3DEL 4CHG [EDIT-PGM] No10 010:MOVA [...]

6- 12 6 PROGRAMMING 6-3 Program Utility 6-3 Program Utility 6-3-1 Copying a program 1) On the initial screen, press F1 (EDIT). [MENU] select menu 1EDIT 2OPRT3SYS 4MON [EDIT] select menu 1PGM 2PNT 3UTL [EDIT-UTL] select menu 1COPY2DEL 3LIST [EDIT-UTL-COPY] Copy from No = _ (Program No) 0 → 99 [EDIT-UTL-COPY] Copy from No = 0 Copy to No = 99_ (Prog[...]

6- 13 6 PROGRAMMING 6-3 Program Utility 6) If program data is already re gister ed with the selected program number , a confirmation mes- sage appears. T o overwrite the prog ram, press F1 (yes). T o cancel, press F2 (no). [EDIT-UTL-COPY] Copy from No = 0 No99 overwrite OK ? 1yes 2no [EDIT-UTL] select menu 1COPY 2DEL 3LIST 7) When the program has b[...]

6- 14 6 PROGRAMMING 6-3 Program Utility 6-3-3 V iewing the program information 1) Use the same procedure up to 2 in "6-3-1 Copy- ing a program". 2) Press F3 (LIST). [EDIT-UTL] select menu 1COPY2DEL 3LIST [EDIT-UTL-LIST] free 678 steps No 0 57 steps No 1 255 steps [EDIT-UTL] select menu 1COPY 2DEL 3LIST 3) The program numbers are displayed[...]

7- 1 7 EDITING POINT DA TA Chapter 7 EDITING POINT DA T A There are three methods to enter point data: manual data input (MDI), teaching playback, and direct teaching. Manual data input allo ws you to directl y enter point data with the TPB number keys. T eaching playback moves the robot in man ual operation to a desired position and then obtains t[...]

7- 2 7 EDITING POINT DA TA 7-1 Manual Data Input 7-1 Manual Data Input 1) On the initial screen, press F1 (EDIT). [EDIT] select menu 1PGM 2PNT 3UTL [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL [MENU] select menu 1EDIT 2OPRT3SYS 4MON [EDIT-PNT-MDI] P0 = 0.00 [mm] input data[_ ] input data[_ ] 1CHG [EDIT-PNT-MDI] P500 = -19.27 [mm] input data[21. 76_ ][...]

7- 3 7 EDITING POINT DA TA 7-2 T eaching Playback 7-2 T eaching Playback 1) On the initial screen, press F1 (EDIT). [EDIT-PNT-TCH](1) 50 Pn : n = _ (point No) 0 → 999 [EDIT-PNT] select menu 1MDI 2TCH 3DTCH 4DEL [MENU] select menu 1EDIT2OPRT3SYS 4MON [EDIT] select menu 1PGM 2PNT 3UTL [EDIT-PNT-TCH](1) 50 P0 = 0.00 [mm] [ 0.00] 1CHG 2SPD3S_SET4next[...]

7- 4 7 EDITING POINT DA TA 7-2 T eaching Playback 6) Move the robot to the teaching position with the X Z – or X Z + keys. Each time the X Z – or X Z + key is pr essed , the robot moves a certain amount in the direction indicated by the ke y and then stops. Holding down the X Z – or X Z + key mo ves the robot continuously at a constant speed [...]

7- 5 7 EDITING POINT DA TA 7-3 Direct T eaching 7-3 Direct T eaching 1) On the initial screen, press F1 (EDIT). [EDIT-PNT-DTCH] P0 = 0.00 [mm] [ 0.00] 1CHG 2DO 3BRK [EDIT-PNT-DTCH] Pn : n = _ (point No) 0 → 999 [EDIT-PNT-DTCH] press EMG.button [EDIT] select menu 1PGM 2PNT 3UTL [MENU] select menu 1EDIT 2OPRT3SYS 4MON [EDIT-PNT] select menu 1MDI 2T[...]

7- 6 7 EDITING POINT DA TA 7-3 Direct T eaching 7) Move the robot to the teaching position by hand. [EDIT-PNT-DTCH] P500 = 19.27 [mm] [ 0.00] [EDIT-PNT-DTCH] servo on ready ? 1yes 2no [EDIT-PNT] select menu 1MDI 2TCH 3DTCH 4DEL [EDIT-PNT-DTCH] release EMG.button [EDIT-PNT-DTCH] P500 = 167.24 [mm] [ 167.24] 1CHG 2DO 3BRK 1CHG 2DO 3BRK 8) Press to in[...]

7- 7 7 EDITING POINT DA TA 7-4 Manual Control of General-Purpose Output 7-4 Manual Control of General-Purpose Output When performing teaching playback or direct teaching with systems that use a 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 mo ving it[...]

7- 8 7 EDITING POINT DA TA 7-5 Manual Release of Holding Brake 7-5 Manual Release of Holding Brake The holding brake on the v ertical type robot can be released. Since the movable part will drop w hen the brake is released, attaching a stopper to protect the tool tip from being damaged is recommended. 1) Use the same procedure up to step 4 in "[...]

7- 9 7 EDITING POINT DA TA 7-6 Deleting Point Data 7-6 Deleting Point Data 1) Use the same procedure up to step 2 in "7-1 Manual Data Input". 2) Press F4 (DEL). [EDIT-PNT] select menu 1MDI 2TCH 3DTCH 4DEL [EDIT-PNT-DEL] DEL range P100-P_ (point No) 0 → 999 [EDIT-PNT-DEL] DEL range P_ -P (point No) 0 → 999 [EDIT-PNT-DEL] DEL range P100[...]

7- 10 7 EDITING POINT DA TA 7-7 T racing Points (Moving to a registered data point) 7-7 T racing Points (Moving to a registered data point) The robot can be mov ed to the position specified by a re gistered data point. Y ou can check the input point data by actually moving the robot. 1) Use the same procedure up to step 5 in "7-2 T eaching Pla[...]

8- 1 8 ROBOT LANGUAGE Chapter 8 ROBOT LANGUAGE This chapter e xplains the robot language. It describes what kind of commands are av ailable and what they mean. The SRCP series uses the Y AMAHA robot language. This is an easy-to-learn BASIC-lik e programming language. Even a f irst-time user can easily create programs to control complex robot and pe[...]

8- 2 8 ROBOT LANGUAGE 8-1 Robot Language T able 8-1 Robot Language T able MOVA MOVI MOVF JMP JMPF JMPB L CALL DO WAIT TIMR P P+ P- SRVO STOP ORGN TON TOFF JMPP MAT MSEL MOVM JMPC JMPD CSEL C C+ C- D D+ D- SHFT Moves to point data position. MOVA <point number>, <maximum. speed> Moves from current position by amount of point data. MOVI &l[...]

8- 3 8 ROBOT LANGUAGE 8-2 Robot Language Syntax Rules 8-2 Robot Language Syntax Rules 8-2-1 Command statement format The robot language command statement for mat for the SRCP controller is as follo ws. When creating a program using the TPB, each command statement can be automa tically entered in this format, so you do not have to be a ware of this [...]

8- 4 8 ROBOT LANGUAGE 8-2 Robot Language Syntax Rules 8-2-2 V ariables Va r i a b l e are used in a program to hold data. The following v ariables can be used with the SRCP controller . ■ Point variable P A point var i ab le can contain a point number . It is used in mov ement commands such as MO V A and MO VI statements instead of specifying the[...]

8- 5 8 ROBOT LANGUAGE 8-3 Program Function 8-3 Program Function 8-3-1 Multi-task function A multi-task function allo ws simultaneous e xecuting tw o or more programs ( tasks ) . The SRCP con- troller can ex ecute a maximum of 4 programs at the same time. Since the m ulti-task function simultaneously e xecutes two or more programs, the follo wing pr[...]

8- 6 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4 Robot Language Description 8-4-1 MOV A Function: Mov es to a point specified by a point number (Mov es to an absolute position relati ve to the origin point). Format: MO V A <point number>, <maximum speed> Example: MO V A 51, 80 Mov es to P51 at speed 80. Explanation: This command[...]

8- 7 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-3 MOVF Function: Mov es until a specified DI number input is recei ved. Format: MO VF <point number> <DI number> <DI status> Example: MO VF 1, 2 , 1 The r obot mov es tow ard P1 and stops when DI 2 turns on. Program ex- ecution then proceeds to the ne xt step. Explanation: T[...]

8- 8 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-5 JMPF Function: If the conditional jump input matches the setting value, program execu- tion jumps to a specified la bel in a specified program. Format: JMPF <label number>, <pro gram number>, <input condition v alue> Example: JMPF 1 2 , 3 , 5 If the conditional jump input [...]

8- 9 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-6 JMPB Function: Jumps to a specif ied label w hen a specif ied general-purpose input or memory input is ON or OFF . Format: JMPB <label number>, <DI or MI number>, <input status> Example: JMPB 1 2 , 2 , 1 Jumps to label 1 2 when DI 2 input is ON. If DI 2 is OFF , the progra[...]

8- 10 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-8 CALL Function: Calls and ex ecutes another program. Format: CALL <program number>, <number of times> Example: CALL 5 , 2 Calls program 5 and executes it twice. Pr ogram execution then proceeds to the next step. Explanation: When repeating the same operation a number of times, t[...]

8- 11 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-10 W AIT Function: W aits until a specified general-purpose input or memory input changes to a specif ied state. Format: W AIT <DI or MI number>, <input status> Example: W AIT 5 , 1 W aits until DI 5 turns on. Explanation: This command adjusts the timing according to the general-[...]

8- 12 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-12 P Function: Sets a point va ri a bl e P. Format: P <point number> Example: P 200 Sets a point va ri a b le P to 200 . Explanation: The point va r ia b l e can contain a point number as a v ariable, which can be from 0 to 999 . By using a mo vement command such as MO V A with a P+ or[...]

8- 13 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-15 SR VO Function: T urns the servo on and of f. Format: SR VO <serv o status> Example: SR VO 1 This turns the serv o on. SR VO 0 This turns the serv o off. Explanation: This command is used to pre vent an ov erload on the motor that may occur if the robot is locked mechanically after [...]

8- 14 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-17 ORGN Function: Performs return-to-origin by using the stroke-end detection method. Format: ORGN Example: ORGN Performs return-to-origin by the stroke-end detection method. Explanation: Return-to-origin is performed based on return-to-origin parameter data. Others: • The magnetic pole is[...]

8- 15 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-18 TON Function: Executes a specif ied task. Format: TON <task number>, <prog ram number>, <start type> Example: TON 1,2,0 Ne wly executes program 2 as task 1. Explanation: This command starts multiple tasks and can be used to control the I/O signals in parallel with the ax[...]

8- 16 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-20 JMPP Function: Jumps to a specified la bel when the axis position relation meets the speci- fied conditions. Format: JMPP <label number>, <axis position condition> Example: JMPP 3,1 Jumps to label 3 if the X-axis position is smaller than the point specified with the point v ar[...]

8- 17 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-21 MA T Function: Defines the n umber of rows and columns of the matrix. Format: MA T <number of ro ws>, <number of columns>, <pallet number> Example: MA T 3, 6, 0 Defines a ma trix of 3 × 6 on pallet number 0. Explanation: This command defines a ma tr ix for palletizing m[...]

8- 18 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-22 MSEL Function: Specifies a matrix where the robot mo ves with a MO VM statement. Format: MSEL <pallet number> Example: MSEL 0 Points where the robot moves with a MO VM statement are calculated based on matrix data of pallet number 0. Explanation: This command selects a matrix and is[...]

8- 19 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-23 MOVM Function: Mov es to a point on the specified matrix. Format: MO VM <pallet work position>, <maximum speed> Example: MO VM 23, 100 Mov es to the point at row 3, column 7 at speed 100 when a matrix of 5 × 8 is def ined by the MA T statement. Explanation: This command mov e[...]

8- 20 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-24 JMPC Function: Jumps to a specified label when the counter array v ariable C matches a specified v alue. Format: JMPC <label number>, <counter v alue> Example: JMPC 5, 100 Jumps to label 5 when the counter array v ariable C is 100. Program ex ecution proceeds to the next step [...]

8- 21 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-26 CSEL Function: Specifies an ar ray element of the counter array variable C to be used. Format: CSEL <array element number> Example: CSEL 1 The counter array v ariable of element number 1 is used in the subse- quent steps. Explanation: This command designates an array element number [...]

8- 22 ROBOT LANGUAGE 8-4 Robot Language Description 8 8-4-28 C+ Function: Adds a specif ied value to the counter array variab le C. Format: C+ [<addition value>] Example: C+ 100 Adds 100 to the counter array v ariable C. (C ← C+100) C+ Adds 1 to the counter array v ariable C. (C ← C+1) Explanation: This command adds a specified v alue to [...]

8- 23 8 ROBOT LANGUAGE 8-4 Robot Language Description 8-4-32 D- Function: Subtracts a specif ied value from the counter v ariable D. Format: D- [<subtraction v alue>] Example: D- 100 Subtracts 100 from the counter v ariable D. (D ← D-100) D- Subtracts 1 from the counter v ariable D. (D ← D-1) Explanation: This command subtracts a specif i[...]

8- 24 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5 Sample Programs 8-5-1 Moving between two points P1 P2 Program Comment [NO0] 001: L 0 ; Label definition 002: MOVA 1, 100 ; Mov es to P1 003: MOVA 2, 100 ; Mov es to P2 004: TIMR 100 ; Delays for one second 005: JMP 0, 0 : Returns to L0 8-5-2 Moving at an equal pitch P0 50mm 50mm 50mm 50mm 50mm P0 P1 St[...]

8- 25 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-3 Positioning 2 points and sending job commands to a PLC at each position P1 P2 Position at which job 1 is complete Position at which job 2 is complete Point DI1 DI2 Job 1 completion 1: Complete 0: Not complete Job 2 completion 1: Complete 0: Not complete General-purpose input DO1 DO2 Job 1 command 1: [...]

8- 26 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece Horizontal direction Vertical direction Hold AC servo motor Air cylinder Air chuck Actuator DI0 DI1 DI2 Upper end limit switch 1: ON 0: OFF Lower end limit switch 1: ON 0: OFF Workpiece detection sensor 1: Detected 0:[...]

8- 27 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-5 Picking up 3 kinds of workpieces flowing on the front conveyor and placing them on the next conveyors while sorting Horizontal direction Vertical direction Hold AC servo motor Air cylinder Air chuck Actuator DI0 DI1 DI2 DI3 DI4 Upper end limit switch 1: ON 0: OFF Lower end limit switch 1: ON 0: OFF W[...]

8- 28 8 ROBOT LANGUAGE 8-5 Sample Programs Program Comment [NO1] <<Main routine>> 001: L 1 ; Label definition 002: JMPB 2, 2, 1 ; Jumps to L2 when workpiece A is detected 003: JMPB 3, 3, 1 ; Jumps to L3 when workpiece B is detected 004: JMPB 4, 4, 1 ; Jumps to L4 when workpiece C is detected 005: JMP 1, 1 ; Returns to L1 006: L 2 ; Labe[...]

8- 29 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-6 Switching the program from I/O T he SRCP series controller does not accept dedicated command inputs for program s witching. T o switch the program through the I/O, use the program selection signal as a conditional jump input as e xplained belo w . T he follo wing method is an example for switching am[...]

8- 30 8 ROBOT LANGUAGE 8-5 Sample Programs Program Comment [NO0] 001: L 0 ; Label definition 002: WAIT 7, 1 ; W aits for confirmation ON of the selected program Handshaking 003: DO 0, 1 ; Program selection start turns on 004: WAIT 7, 0 ; W aits for confirmation OFF of the selected program 005: JMPF 1, 1, 0 ; Jumps to L1 of NO1 when input is 0 006: [...]

8- 31 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-7 Axis movement and I/O multi-task The robot mo ves between two points and performs multi-task I/O operation in asynchronous mode. General-purpose input/output DI0 Job status detection DO0 Job owner's output P0 P1 Progr am Comment [NO0] 001: TON 1, 1, 0 ; Starts program NO1 as task 1 002: L 0 ; La[...]

8- 32 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-8 T urning ON general-purpose outputs during robot movement after a certain time has elapsed Point P0 Start position P1 Target position 3 sec. 3 sec. 3 sec. P0 P1 DO0=1 DO1=1 DO2=1 Program Comment [NO0] 001: L 0 ; Label definition 002: MOVA 0, 100 ; Mov es to P0 at speed 100 003: DO 0, 0 ; T urns DO0 o[...]

8- 33 8 ROBOT LANGUAGE 8-5 Sample Programs 8-5-9 T urning ON a general-purpose output during robot movement when it has passed a specified position Point P0 Start position P1 Target position P10 Position at DO0=1 P11 Position at DO0=0 P0 P1 DO0=1 P10 P11 DO0=0 ■ When P1 is nearer to the plus side than P0: Progr am Comment [NO0] 001: L 0 ; Label d[...]

8- 34 MEMO[...]

9- 1 9 OPERA TING THE ROBOT Chapter 9 OPERA TING THE ROBOT This chapter describes ho w to actually operate the robot. If the program has already been completed, you will be able to operate the robot by the time you f inish reading this chapter . There are two types of robot operation: ste p and automatic. In step operation, the program is e xecuted[...]

9- 2 9 OPERA TING THE ROBOT 9-1 Performing Return-to-Origin 9-1 Performing Return-to-Origin The stroke-end detection is used as the origin (reference point) detection method . The following e xplains the procedure to perform return-to-origin using the stroke-end detection. The magnetic pole is detected simultaneously with return-to-origin operation[...]

9- 3 9 OPERA TING THE ROBOT 9-1 Performing Return-to-Origin c CA UTION When the SERVICE mode function is enabled, the follo wing safety control will function. (See "10-4 SERVICE mode function".) • Return-to-origin movement speed is limited to 10mm/s or less in "SER VICE mode state" when the robot movement speed limit is ena bl[...]

9- 4 9 OPERA TING THE ROBOT 9-2 Using Step Operation 9-2 Using Step Operation The following procedur e explains how to perform step operation. In the case of a multi-task prog ram, only the task currently selected is e xecuted in step operation. 1) On the initial screen, press F2 (OPR T). [MENU] select menu 1EDIT 2OPRT3SYS 4MON [OPRT] select menu 1[...]

9- 5 9 OPERA TING THE ROBOT 9-2 Using Step Operation 7) The screen returns to step 5. Pressing RUN at this point executes the f irst step. [OPRT-STEP] 50 0:10 001:MOVA 999,50 [ 0.00] 1SPD 2RSET3CHG 4next [OPRT-STEP] running ... [OPRT-STEP] 50 0:10 001:MOVA 999,50 [ 201.11] 1SPD 2RSET3CHG 4next [OPRT-STEP] 60:program end [OPRT-STEP] 50 1:11 001:WAIT[...]

9- 6 9 OPERA TING THE ROBOT 9-2 Using Step Operation 14) The screen returns to step 5, and the process is repeated from that point. [OPRT-STEP] 50 0:10 001:MOVA 999,50 [ 250.00] 1SPD 2RSET3CHG 4next c CA UTION When the SERVICE mode function is enabled, the follo wing safety control will function. (See "10-4 SERVICE mode function".) • St[...]

9- 7 9 OPERA TING THE ROBOT 9-3 Using Automatic Operation 9-3 Using Automatic Operation The follo wing procedure explains ho w to perform automatic operation. All the tasks started in a multi-task program are e xecuted by automatic operation. 1) On the initial screen, press F2 (OPR T). [OPRT-AUTO] 100 0: 0 001:MOVA 254,100 [ 0.00] 1SPD 2RSET3CHG 4n[...]

9- 8 9 OPERA TING THE ROBOT 9-3 Using Automatic Operation 8) This is the screen displayed while the program is being ex ecuted. [OPRT-AUTO] running ··· [OPRT-AUTO] 60:program end [OPRT-AUTO] 50 1:11 010:WAIT 0 ,1 [ 250.00] 1VAL 2S_ON3CHGT 4next [OPRT-AUTO] 50 2:12 015:DO 1 ,1 [ 250.00] 1VAL 2S_ON3CHGT 4next [OPRT-AUTO] 50 0:10 035:TIMR 100 [ 250[...]

9- 9 9 OPERA TING THE ROBOT 9-4 Switching the Execution Program 9-4 Switching the Execution Program The follo wing procedure explains how to switc h the program in automatic operation. Use the same procedure in step operation. The program selected by this procedure will be the lead progr am to which the execution sequence alw ays returns after prog[...]

9- 10 9 OPERA TING THE ROBOT 9-5 Emergency Stop Function 9-5 Emergency Stop Function There are two ways to trigger emer gency stop on the SRCP controller . One way is by using the push- button on the TPB. The other is to use the I/O emer gency stop input. In either case for safety reasons, a contact B (normally closed) input is used (when the conta[...]

9- 11 9 OPERA TING THE ROBOT 9-5 Emergency Stop Function 3) After the emergency stop is released, a mes- sage appears asking whether to turn the servo on. T o turn the servo on, press F1 (yes). T o leav e the servo of f , press F2 (no). [OPRT-STEP] 100 0: 7 001:MOVA 254,100 [ 0.00] 1SPD 2RSET3CHG 4next [OPRT-STEP] 100 0: 7 servo on ready ? 1yes 2no[...]

9- 12 9 OPERA TING THE ROBOT 9-6 Displaying the Memory I/O Status 9-6 Displaying the Memory I/O Status The memory I/O status can be displayed on the screen. 1) On the initial screen, press F2 (OPR T). [MENU] select menu 1EDIT2OPRT 3SYS 4MON [OPRT] select menu 1ORG 2STEP3AUTO [OPRT-STEP] 100 0: 0 001:MOVA 254,100 [ 0.00] 1MIO 2 3 4next [OPRT-STEP] 1[...]

9- 13 9 OPERA TING THE ROBOT 9-7 Displaying the V ariables The point data v ariable "P", counter array variab le "C" and counter variable "D" v alues can be dis- played on the TPB screen. 1) On the initial screen, press F2 (OPR T). [OPRT-STEP] 100 0: 0 001:MOVA 254,100 [ 0.00] 1VAL 2S_ON3CHGT 4next [MENU] select menu 1[...]

9- 14 MEMO[...]

10- 1 10 OTHER OPERA TIONS Chapter 10 OTHER OPERA TIONS The TPB has man y conv enient functions in addition to those already co vered. For e xample, memories can be initialized, and options such as memory cards can be used. This chapter will describe these additional functions[...]

10- 2 10 OTHER OPERA TIONS 10-1 Initialization 10-1 Initialization Initializing the programs and points erases all the program data and point data currently stored in the controller . Initializing the parameters resets the parameters to their initial v alues. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT 3SYS 4MON [SYS] se[...]

10- 3 10 OTHER OPERA TIONS 10-1 Initialization 6) Finally , enter the robot payload. Enter the payload with the number keys and then press . [SYS-INIT-PRM] robot type : 516 stroke : 400 [mm] weight : 3_ [kg] [SYS-INIT-PRM] parameter data initialize OK ? 1yes 2no [SYS-INIT] select menu 1PGM 2PNT 3PRM 4ALL 7) A confirmation message appears on the scr[...]

10- 4 10 OTHER OPERA TIONS 10-2 DIO Monitor Display 10-2 DIO Monitor Display Data indicating whether the I/O signals are on or off can be display ed on the screen. The operation procedure is explained belo w . 10-2-1 Display from the monitor menu 1) On the initial screen, press F4 (MON). [MENU] select menu 1EDIT 2OPRT3SYS 4MON [MENU] select menu 1E[...]

10- 5 10 OTHER OPERA TIONS 10-2 DIO Monitor Display 10-2-2 Display from the DIO key operation 1) Hold down the DIO key . [OPRT-AUTO] running... [OPRT-AUTO] running... running... [OPRT-AUTO] DI 00000000 00000000 DO 11100000 O:0 S:1 2) The ON/OFF status of I/O signals is displayed as long as the key is held do wn. For information about what the displ[...]

10- 6 10 OTHER OPERA TIONS 10-4 SERVICE mode function 10-4 SERVICE mode function The SER VICE mode function is explained in this section. The robot operator or others sometimes need to enter the hazardous area in the robot safety enclosure and mov e the robot to perform maintenance or adjustment while using the TPB. This situa tion is referred to a[...]

10- 7 10 OTHER OPERA TIONS 10-4 SERVICE mode function 10-4-1 Safety settings for SER VICE mode Safety controls that w or k in "SER VICE mode state" are explained in detail belo w . ■ 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 [...]

10- 8 10 OTHER OPERA TIONS 10-4 SERVICE mode function ■ Prohibiting the automatic operation and step operation Running an automatic operation or step operation while an operator is working within the robot safety enclosure is very dangerous to that operator . (For e xample, when the operator is in the safety enclosure, a hazardous situation may o[...]

10- 9 10 OTHER OPERA TIONS 10-4 SERVICE mode function 10-4-2 Enabling/disabling the SER VICE mode function T o enable or disable the SER VICE mode function, follo w these steps. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1SAFE2OPT 3UTL 4next [SYS-SAFE] Password: 24.00_ input password [SYS-SAFE[...]

10- 10 10 OTHER OPERA TIONS 10-4 SERVICE mode function 7) When writing is complete, the screen returns to step 6. [SYS-SAFE-SVCE-SET] SERVICE mode = 1 0:Invalid 1:Valid n NO TE The password is identical to the SRCP contr oller's version number . F or example, if the contr oller version is 24.00, enter 24.00 as the passwor d. Once the password [...]

10- 11 10 OTHER OPERA TIONS 10-4 SERVICE mode function 10-4-3 Setting the SER VICE mode functions 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1SAFE2OPT 3UTL 4next [SYS-SAFE] Password: 24.00_ input password [SYS-SAFE] select menu 1ACLV2SVCE [SYS-SAFE-SVCE] select menu 1SET 2DEV 3SPD 4next [SYS-S[...]

10- 12 10 OTHER OPERA TIONS 10-4 SERVICE mode function 7) When the setting has been changed, the memory write screen appears. T o save the change permanently (retain the change e ven after the controller power is turned of f), press F1 (SA VE). T o save the change temporarily (retain the change until the po w er is turned of f), press F2 (CHG). T o[...]

10- 13 10 OTHER OPERA TIONS 10-5 System utilities 10-5 System utilities 10-5-1 V iewing hidden parameters Parameter s hidden in the normal state can be viewed. Use extr a caution to a void accidentally changing the parameters when these hidden parameter s are displayed. 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MO[...]

10- 14 10 OTHER OPERA TIONS 10-6 Using a Memory Card 10-6 Using a Memory Card A memory card can be used with the TPB to back up the data in the SRCP controller . Refer to "16-1-1 Memory card" for the procedure for handling a memory card and for the number of data that can be stored. 10-6-1 Saving controller data to a memory card 1) Insert[...]

10- 15 10 OTHER OPERA TIONS 10-6 Using a Memory Card 7) If data already exists in the area specified in step 5, a confirmation message a ppears. T o ov erwrite the data in the selected area, press F1 (yes). T o change the selected area, press F2 (no). [B.UP-SAVE] AREA 1 already saved delete OK ? 1yes 2no [B.UP-SAVE]AREA 1 make identification ID=_ e[...]

10- 16 10 OTHER OPERA TIONS 10-6 Using a Memory Card 10-6-2 Loading data from a memory card 1) Insert the memory card into the TPB. 2) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1PRM 2B.UP3INIT [SYS-B.UP] select menu 1SAVE2LOAD3FMT 4ID [B.UP-LOAD] select card AREA AREA _ [0-47] 1ID [B.UP-ID] AREA[...]

10- 17 10 OTHER OPERA TIONS 10-6 Using a Memory Card 7) When the load area was selected in step 5, the data load screen appears. Select the data to be loaded. T o load the program data, press F1 (PGM). T o load the point data, press F2 (PNT). T o load the parameter data, press F3 (PRM). T o load all of the program, point and param- eter data, press[...]

10- 18 10 OTHER OPERA TIONS 10-6 Using a Memory Card 10-6-3 Formatting a memory card 1) Insert the memory card into the TPB. 2) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1PRM 2B.UP3INIT [SYS-B.UP] select menu 1SAVE2LOAD3FMT 4ID [SYS-B.UP] format OK ? 1yes 2no [SYS-B.UP] formatting 4next [SYS-B.U[...]

10- 19 10 OTHER OPERA TIONS 10-6 Using a Memory Card 10-6-4 V iewing the ID number for memory card data 1) Insert the memory card into the TPB. 2) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1PRM 2B.UP3INIT [SYS-B.UP] select menu 1SAVE2LOAD3FMT 4ID [B.UP-ID] AREA 0 : 03.09.01 AREA 1 : 03-09-10 ARE[...]

10- 20 10 OTHER OPERA TIONS 10-7 Duty (load factor) monitor 10-7 Duty (load factor) monitor The SRCP controller has a duty (load factor) monitor to allo w you to operate the robot under the most optimal conditions. The duty monitor chec ks the robot's motor load factor and displays it in percent (%) versus the motor r ating. An ov erload error[...]

10- 21 10 OTHER OPERA TIONS 10-7 Duty (load factor) monitor [Method 2] 1) Add the robot language command "DUTY 1" to the beg inning of the inter v al in a program in which you want to measure the duty and also add the robot language command "DUTY 0" to the end of the interv al. 005: 006: 007: 008: 009: 010: 011: 012: 013: 014: 0[...]

10- 22 10 OTHER OPERA TIONS 10-7 Duty (load factor) monitor 10-7-1 Measuring the duty (load factor) 1) While mo ving the r obot with a pulse train input (Pulse Train mode) or dedicated command input (Normal mode), press F4 (MON) on the TPB initial menu screen to enter MON (monitor) mode. [MENU] select menu 1EDIT2OPRT3SYS 4MON [MON] select menu 1DIO[...]

10- 23 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 10-8 Using the internal flash ROM When you set parameters using the TPB or POPCOM (options) or via the RS-232C, the parameter data stored in the RAM inside the SRCP is re written and the robot operates based on this parameter data written in the RAM. The SRCP also has an internal flash R[...]

10- 24 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 10-8-1 Saving the parameter data onto the flash ROM n NO TE The internal flash R OM can be used when the SRCP controller version is 24.10 or la ter and the TPB version is 12.51 or later . 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 1PRM 2B.UP3INIT 4ne[...]

10- 25 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 8) A confirmation message appears. T o sav e the parameter data, press F1 (yes). T o cancel, press F2 (no). [FROM-SAVE] save OK ? ID=04.04.10 1yes 2no [FROM-SAVE] saving ... [FROM-SAVE] saving is complete 1ALOD [FROM-SAVE-ALOD] auto load = 0 _ 0:Invalid 1:Valid [FROM-SAVE-ALOD] auto load[...]

10- 26 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 10-8-2 Manually loading the data from flash ROM n NO TE The internal flash R OM can be used when the SRCP controller version is 24.10 or la ter and the TPB version is 12.51 or later . 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 1PRM 2B.UP3INIT 4next [[...]

10- 27 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 8) The screen returns to step 4 when loading is complete. 2LOAD 3INIT [SYS-B.UP-FROM] FROM : 04.03.01 auto load : Invalid 1SAVE c CA UTION When loading the data from the flash R OM, make sure that the I/O. CN connector is disconnected and the emergency stop button is pressed. Do not move[...]

10- 28 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 10-8-3 Initializing the flash ROM data n NO TE The internal flash R OM can be used when the SRCP controller version is 24.10 or la ter and the TPB version is 12.51 or later . 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 1PRM 2B.UP3INIT 4next [SYS] sele[...]

10- 29 10 OTHER OPERA TIONS 10-8 Using the internal flash ROM 8) The screen returns to step 4 when initializa- tion is complete. After initializing the flash R OM, the auto load function is set to "In valid" (disabled). 2LOAD 3INIT [SYS-B.UP-FROM] FROM : auto load : Invalid 1SAVE c CA UTION When initializing the flash R OM data, make sure[...]

10- 30 MEMO[...]

11- 1 11 COMMUNICA TION WITH PC Chapter 1 1 COMMUNICA TION WITH PC The SRCP controller allo ws you to edit the program data and point data or control the robot operation using a PC (personal computer) by RS-232C communication instead of using the TPB . This chapter describes ho w to set the communication parameters required to communicate between t[...]

11- 2 11 COMMUNICA TION WITH PC 1 1-1 Communication Parameter Specifications 1 1-1 Communication Parameter Specifications The communication parameters on the PC should be set as follo ws. For the setting procedure, refer to the computer operation manual. ■ Baud rate 9600 bps ■ Data bit length 8 bits ■ Stop bit length 1 bit ■ Parity check On[...]

11- 3 11 COMMUNICA TION WITH PC 1 1-2 Communication Cable Specifications 1 1-2 Communication Cable Specifications c CA UTION Pins 10, 12, 18 and 21 of the controller's connector are specifically used for TPB connection. T o avoid possible accidents do not connect other inputs to these pins. When using optional POPCOM software, mak e connection[...]

11- 4 11 COMMUNICA TION WITH PC 1 1-3 Communication Command Specifications 1 1-3 Communication Command Specifications On the SRCP controller , a command interface resembling the B ASIC programming language is pro- vided as standard, to facilitate easy comm unication with a PC. Communication commands are di- vided into the follo wing four categories[...]

11- 5 11 COMMUNICA TION WITH PC 1 1-4 Communication Command List 1 1-4 Communication Command List No. Operation code Operand 1 Operand 2 Operand 3 Command details 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 28. ORG ORGN RESET RUN SRUN SRVO X+/X- XINC/ XDEC MOVD MOVA MOVI MOVF DO WAIT TIMR P P+ [...]

11- 6 11 COMMUNICA TION WITH PC 1 1-4 Communication Command List No. Operation code Operand 1 Operand 2 Operand 3 Command details 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 28. 29. ?POS ?NO ?SNO ?TNO ?PNO ?STP ?MEM ?VER ?ROBOT ?CLOCK ?ALM ?ERR ?EMG ?SRVO ?ORG ?MODE ?PVA ?DI ?DO ?PRM ?P READ WR[...]

11- 7 11 COMMUNICA TION WITH PC 1 1-4 Communication Command List No. Operation code Operand 1 Operand 2 Operand 3 Command details 1. 2. 3. 4. 5. 6. 7. 8. 9. INIT SWI SWITSK SINS SDEL SMOD COPY DEL PDEL PGM PNT PRM CLOCK ALM ERR program number task number program number program number program number program number (copy source) program number point [...]

11- 8 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description 1 1-5-1 Robot movements (1) @ORG @ORGN Returns the robot to its origin position and outputs the machine reference v alue when completed correctly . T ransmission example : @ORG c/r l/f ................................ Performs return-to-origin. Response example 1 : OK c/r l/f 5[...]

11- 9 11 COMMUNICA TION WITH PC (2) @RESET This returns the program ex ecution step to the first step of the pro gram selected with the '@SWI' statement, and turns all general-purpose outputs (DO0 to DO4) and memory output of f. The "cur - rent position in the program" used as a reference for the relati ve mov ement command (MO [...]

11- 10 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (6) @X+, (@X-) @X+ mov es the robot to the + side and @X- to the - side based on the following equation. Mov ement distance = 1 × (PRM26/100) (mm) PRM26: T eaching mov ement data (%) (7) @XINC, (@XDEC) @XINC mov es the robot to the + side and @XDEC to the - side at a speed ca[...]

11- 11 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (9) @MOV A <point number>,<speed> Mov es the robot to a position specified by a point number at a specif ied speed. Point number : This is a number assigned to each point (position data) and can be from 0 to 999 (a total of 1,000 points). Data for the point numbers[...]

11- 12 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (1 1) @MOVF <point number>,<DI number>,<DI status> This command mov es the robot toward a position specif ied by a point number until a specified DI input condition is met. When the DI condition is met, the robot stops and the command termi- nates. Even if th[...]

11- 13 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (15) @P <point number> Sets the point v ariable P . Point number : This can be any v alue from 0 to 999. T ransmission example : @P 100 c/r l/f ............................... Set the point v ariable P to 100. Response example : OK c/r l/f c CA UTION The contents of the [...]

11- 14 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (18) @MOVM <pallet work position>,<speed> Mov es the robot to a specified pallet work position at a specif ied speed. Pallet work position : The pallet work position is a number used to identify each point on a matrix, and can be from 1 to 65025 (=255 × 255). T he[...]

11- 15 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (21) @CSEL <array element number> Specifies an arr ay element for the counter array variable C to be used. Array element number : This is a number used to designate an array element for the counter array v ariable C, and can be from 0 to 31. The counter var ia ble D can [...]

11- 16 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (26) @D+ [<addition value>] Adds a specified v alue to the counter var iable D. Addition value : This can be any v alue from 1 to 65535. If this value is omitted, then 1 is added to the counter var ia ble. T ransmission example : @D+ c/r l/f .............................[...]

11- 17 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC 1 1-5-2 Data handling (1) @?POS Reads the current position. T ransmission example : @?POS c/r l/f Response example : 321.05 c/r l/f OK c/r l/f (2) @?NO Reads the current program number . In m ulti-task operation, this command reads the program information on the task currently[...]

11- 18 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (6) @?STP <program number> Reads the total number of steps in the specified pro gram. Program number : This is a number used to identify each program and can be 0 to 99 (a total of 100). T ransmission example : @?STP 10 c/r l/f ........................... Reads the total[...]

11- 19 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (1 1) @?ALM <history number>[,<display count>] Displays a specif ied number of past alarms, starting from a specif ied history number . A maximum of 100 past alarms can be displayed. This alarm history sho ws the time (total elapsed time from controller start-up) t[...]

11- 20 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (13) @?EMG Reads the emergenc y stop status. T ransmission e xample : @?EMG c/r l/f Response e xample 1 : 0 c/r l/f .......................................... Emergency stop is of f. OK c/r l/f Response e xample 2 : 1 c/r l/f .......................................... Emergenc[...]

11- 21 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (17) @?PV A Reads the point v ariable P . In multi-task operation, this command reads the program information on the task currently selected. T ransmission example : @?PV A c/r l/f Response example : 0 c/r l/f OK c/r l/f c CA UTION The contents of the point variable P are held[...]

11- 22 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (20-1) @?PRM <parameter number> Reads the data from a specified parameter . Parameter number : This is a number used to identify each parameter and can be from 0 to 99. T ransmission example : @?PRMl c/r l/f ............................. Reads the data from PRM1 (paramet[...]

11- 23 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (21-2) @?P <point number>,<point number> Reads multiple point data from the fir st point n umber to the second point number . If unregistered points exist, the y will be skipped. Point number : This is a number used to identify each point data and can be from 0 to [...]

11- 24 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (22-3) @READ PNT Reads all point data. T ransmission example : @READ PNT c/r l/f Response example : P0=0.00 c/r l/f P1=350.00 c/r l/f P2=196.47 c/r l/f P254=-0.27 c/r l/f ^Z (=1AH) OK c/r l/f (22-4) @READ PRM Reads all parameter data. T ransmission example : @READ PRM c/r l/f [...]

11- 25 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (22-6) @READ DIO Reads the on/off status of DIO. Refer to "4-3-4 DIO monitor screen". T ransmission 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 memor[...]

11- 26 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (23-2) @WRITE PNT Writes the point data. The controller will transmit READ Y when this command is receiv ed. Con- fi rm that READ Y is received and then transmit the point data. Alw ays transmit ^Z (=1AH) at the end of the data. Tr ansmission example : Send Receive @WRITE PNT [...]

11- 27 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (23-4) @WRITE ALL Writes all data (parameters, programs and points) at one time. The controller will transmit READ Y when this command is recei ved. Confirm that READ Y is recei ved and then transmit all data. Alw a ys transmit ^Z (=1AH) at the end of the data. T ransmission e[...]

11- 28 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (26) @?CSEL Reads the currently specif ied element number of the counter ar ray v ariable C. In multi-task opera- tion, this command reads the program information on the task currently selected. T ransmission e xample : @?CSEL c/r l/f Response e xample : 0 c/r l/f OK c/r l/f ([...]

11- 29 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC 1 1-5-3 Utilities (1-1) @INIT PGM Initializes all program data. T ransmission example : @INIT PGM c/r l/f Response example : OK c/r l/f (1-2) @INIT PNT Initializes all point data. T ransmission example : @INIT PNT c/r l/f Response example : OK c/r l/f (1-3) @INIT PRM <robot[...]

11- 30 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (2) @SWI <program number> This command switches the ex ecution program number . When a program is reset, progr am execu- tion will always retur n to the first step of the program selected here. The pro gram is reset when the @SWI command is ex ecuted. Program number : Th[...]

11- 31 11 1 1-5 Communication Command Description COMMUNICA TION WITH PC (5) @SDEL <program number>,<step number> Deletes a specified step. Program number : This is a number used to identify each program and can be from 0 to 99. Step number : This is a number used to identify each step and can be from 1 to 255. T ransmission example : @[...]

11- 32 11 COMMUNICA TION WITH PC 1 1-5 Communication Command Description (8) @DEL <program number> Deletes a program. Program number : This is a number used to identify each program and can be from 0 to 99. T ransmission example : @DEL 10 c/r l/f ............................ Deletes program No. 10. Response example 1 : OK c/r l/f Response exa[...]

12- 1 12 MESSAGE T ABLES Chapter 12 MESSAGE T ABLES This section lists all of the messages that are displayed on the TPB or sent to the PC (personal computer) to inform the operator of an error in operation or a current status. F or a list of the alar m messages displa yed if any trouble occurs, refer to "13-2 Alarm and Countermeasures".[...]

12- 2 12 MESSAGE T ABLES 12-1 Error Messages 12-1 Error Messages 12-1-1 Error message specifications The error message transmission format is as follo ws. <Error No.> : <Error message> c/r l/f The length of the <error message> character string is 17 characters. (Spaces are added until the message contains 17 characters.) Thus, the[...]

12- 3 12 MESSAGE T ABLES 12-1 Error Messages 12-1-3 Operation error message Error No. 30 Error No. 31 Error No. 32 Error No. 33 Error No. 34 Error No. 35 Error No. 36 Error No. 37 Error No. 38 Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Ca[...]

12- 4 12 MESSAGE T ABLES 12-1 Error Messages 12-1-4 Program error message Error No. 40 Error No. 41 Error No. 42 Error No. 43 Error No. 44 Error No. 45 Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action stack ov erflow q Sev en or more successive CALL statements were used wi[...]

12- 5 12 MESSAGE T ABLES 12-1 Error Messages 12-1-5 System error message Error No. 50 Error No. 51 Error No. 52 Error No. 53 Error No. 54 Error No. 56 Error No. 57 Error No. 59 Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action syste[...]

12- 6 12 MESSAGE T ABLES 12-2 TPB Error Messages 12-2 TPB Error Messages Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Remedy SIO error 1. Parity error in data receiv ed from controller. 2. TPB was connected when dedicated command input was on . 1. Contact[...]

12- 7 12 MESSAGE T ABLES 12-3 Stop Messages 12-3 Stop Messages 12-3-1 Message specifications The stop message transmission format is as follo ws. <Message No.> : <Stop message> c/r l/f The length of the <stop message> character string is 17 characters. (Spaces are added until the mes- sage contains 17 characters.) Thus, the char a[...]

12- 8 12 MESSAGE T ABLES 12-4 Displaying the Error History A history of past errors can be displayed. Up to 100 errors can be stored in the controller . 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1SAFE2OPT 2REC 3UTL 4next [SYS-UTL] select menu 1HDPR 2ERR [SYS-UTL-REC] select menu 1ALM 2) Next,[...]

12- 9 12 MESSAGE T ABLES 12-4 Displaying the Error History 5) History numbers, time that errors occurred (total elapsed time from controller start-up) and error descriptions are displayed. One screen displays the past 4 errors in the order from the most recent error . Pressing the X Z – and X Z + ke ys displays the hidden items. Press the STEP UP[...]

12- 10 MEMO[...]

13- 1 13 TROUBLESHOOTING Chapter 13 TROUBLESHOOTING This chapter explains ho w to take correcti ve action when a problem or breakdo wn occurs, by categorizing it into one of two cases depending on whether or not an alarm is output from the controller .[...]

13- 2 13 TROUBLESHOOTING 13-1 If A T rouble Occurs 13-1 If A T rouble Occurs If trouble or breakdo wn occurs, contact Y AMAHA or your Y AMAHA dealer, pro viding us with the follo wing information in as much detail as possible. Item What you were using When Under what conditions What happened How often Description (example) ・ Controller model name[...]

13- 3 13 TROUBLESHOOTING 13-2 Alarm and Countermeasures 13-2 Alarm and Countermeasures If the READ Y signal is turned off e xcept in cases of emergency stop, then an alarm has probably been issued. The status LED on the front panel of the controller lights up in red. 13-2-1 Alarm specifications ■ If an alarm is issued: If an alarm is issued, keep[...]

13- 4 13 TROUBLESHOOTING 13-2 Alarm and Countermeasures 13-2-2 Alarm message list Action Lower the operation duty on the robot or reduce the acceleration parameter, or correct the payload parameter. If the motor armature resistance is too low, contact our sales office or representative. Initialize the parameters and check the robot type setting. Ch[...]

13- 5 13 TROUBLESHOOTING 13-2 Alarm and Countermeasures Action Check whether robot moving parts are locked. Check the motor wire and position signal wire connections. Initialize the parameters. In emergency stop, turn power on and check point data. If part of the data is defective, correct the data. If all data are defective, initialize the point d[...]

13- 6 13 TROUBLESHOOTING 13-2 Alarm and Countermeasures Action Lower the operation duty on the robot, or install a cooling fan. Check the power supply voltage. If the error occurs frequently, then the LSI is probably defective, so replace the SRCP controller. Remove the obstacle or correct the point data or origin position. Check the motor wire con[...]

13- 7 13 TROUBLESHOOTING 13-3 T roubleshooting for Specific Symptom 13-3 T roubleshooting for Specific Symptom If any problems de velop while the controller is being used, check the items below for the appropriate way to handle them. If the problem cannot be corrected using the steps listed belo w , please contact our sales of fice or sales represe[...]

13- 8 13 TROUBLESHOOTING 13-3 T roubleshooting for Specific Symptom Items to Check • Make sure there is no loose parts where the robot is installed. • Check whether the motor case is properly grounded. • Check that the resistance between the motor case and the controller's FG terminal is 1 ohm or less, and also that the controller is pro[...]

13- 9 13 TROUBLESHOOTING 13-3 T roubleshooting for Specific Symptom 13-3-2 Relating to the I/O Items to Check • Check the wiring. • Check the operation with the manual instruction of the TPB general-purpose output. (Refer to "7-4 Manual Control of General-Purpose Output".) • Connect the TPB and check the program. • Measure the vol[...]

13- 10 13 TROUBLESHOOTING 13-3 T roubleshooting for Specific Symptom 13-3-3 Other Items to Check • Check the signal input (by using a PLC monitor, etc.). • Check the cable wiring. • Try connecting another TPB if available. • Check that the TPB version is 12.50 or later. • Check whether the wrong cable (POPCOM cable, etc.) is being used. ?[...]

13- 11 13 TROUBLESHOOTING 13-4 Displaying the Alarm History 13-4 Displaying the Alarm History A history of past alarms can be displayed. Up to 100 alarms can be stored in the controller . 1) On the initial screen, press F3 (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] select menu 1SAFE2OPT 2REC 3UTL 4next [SYS-UTL] select menu 1HDPR 2ERR [SYS[...]

13- 12 13 TROUBLESHOOTING 5) History numbers, time that alarms occurred (total elapsed time from controller start-up) and alarm descriptions are displayed. One screen displays the past 4 alarms in the order from the most recent alarm. Pressing the X Z – and X Z + ke ys displays the hidden items. Press the STEP UP and STEP DOWN ke ys to sequential[...]

14- 1 14 MAINTENANCE AND W ARRANTY Chapter 14 MAINTENANCE AND W ARRANTY For safety purposes, al ways turn the power of f before starting robot maintenance, cleaning or repairs, etc.[...]

14- 2 14 MAINTENANCE AND W ARRANTY 14-1 W arranty 14-1 W arranty The Y AMAHA robot and/or rela ted product you ha ve purchased are warranted ag ainst the defects or malfunctions as described below . 14-1-1 W arranty description If a failure or breakdo wn occurs due to defects in materials or workmanship in the genuine parts constituting this Y AMAH[...]

14- 3 14 MAINTENANCE AND W ARRANTY 14-2 Replacing the System Backup Battery 14-2 Replacing the System Backup Battery If an alarm is issued indicating that the system backup battery voltag e is low , replace the battery using the procedure listed belo w . (1) First, make a backup cop y of all necessary data using a memory card or POPCOM software, be[...]

14- 4 14 MAINTENANCE AND W ARRANTY 14-3 Updating the System 14-3 Updating the System Y AMAHA may request, on occasion, that you update the system in your equipment. The follo wing steps describe ho w to update the system. Before updating the system, you must set up a system that allo ws communications between the controller and a PC (personal compu[...]

15- 1 15 SPECIFICA TIONS Chapter 15 SPECIFICA TIONS[...]

15- 2 15 SPECIFICA TIONS 15-1 SRCP sereis 15-1 SRCP sereis 15-1-1 Basic specifications Model Specification item SRCP-10 SRCP-20 SRCP-05 Basic specifi- cations Axis control Memory Command mode I/O I/O interface Normal mode Max. power consumption External dimensions W e ight No. of controllable axes Control method Position detection method Speed sett[...]

15- 3 15 SPECIFICA TIONS 15-1 SRCP sereis Error detection items Ambient temperature Storage temperature Ambient humidity Noise immunity Peripheral options Overcurrent, overload, wire breakage, runaway, etc. 0 to 40 ° C -10 to 65 ° C 35 to 85%RH (no condensation) Conforms to IEC61000-4-4 Level 2 TPB (Ver. 12.50 or later), IC memory card, support s[...]

15- 4 15 SPECIFICA TIONS 15-2 TPB 15-2 TPB 15-2-1 Basic specifications TPB Basic specifications External dimensions Weight Power consumption Power supply Cable length Serial interface Display Keyboard Emergency stop button Auxiliary memory device Ambient temperature Storage temperature Ambient humidity Noise immunity Applicable TPB W107 × H235 × [...]

15- 5 15 SPECIFICA TIONS 15-3 Regenerative Unit (RGU-2) 15-3 Regenerative Unit (RGU-2) 15-3-1 Basic specifications RGU-2 Basic specifications External dimensions Weight Cable length Regenerative voltage Regenerative stop voltage Ambient temperature Storage temperature Ambient humidity Noise immunity W40 × H250 × D157mm 1.1kg 300mm Approx. 380V or[...]

MEMO 15- 6[...]

16- 1 16 APPENDIX Chapter 16 APPENDIX[...]

16- 2 16 APPENDIX 16-1 How to Handle Options 16-1 How to Handle Options 16-1-1 Memory card A memory card (option) can be used with the TPB to back up the SRCP controller data. ■ Using the memory card 1. Insert the memory card into the TPB as sho wn in Fig. 16-1. 2. Back up the data by referring to section "10-6 Using a Memory Card" in C[...]

16- 3 16 APPENDIX 16-1 How to Handle Options ■ Data size that can be saved Data size that can be sa ved on one memory card is as follows: Memory card capacity 8KB 64KB 1024KB (1MB) DPB Cannot be used. Cannot be used. TPB Ver. 2.18 or earlier TPB Ver. 12.50 or later Up to 3 units of SRCP Up to 48 units of SRCP Cannot be used.[...]

16- 4 16 APPENDIX 16-1-2 POPCOM communication cable This cable is used to operate the SRCP controller from POPCOM software which runs on a PC and allows easy and ef ficient robot programming and operation. This POPCOM cable is dif ferent from typical communication cables, so do not use it for other pur- pose. Pins 18 and 21 on the SRCP controller a[...]

MEMO[...]

Ve r. 1.01 Ve r. 2.00 Ve r. 2.01 Ve r. 2.02 Ve r. 2.03 Ve r. 2.04 English manual V er . 1.01 is based on Japanese manual V er . 1.01. English manual V er . 2.00 is based on Japanese manual V er . 3.04. English manual V er . 2.01 is based on Japanese manual V er . 3.05. English manual V er . 2.02 is based on Japanese manual V er . 3.06. English manu[...]