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ROBOT LANGUAGE

8-4 Robot Language Description

8-4-31 D+

Function:

Adds a specified value to the counter variable D.

Format:

D+ [<addition value>]

Example:

D+ 100
Adds 100 to the counter variable D. (D

←

D+100)

D+
Adds 1 to the counter variable D. (D

←

D+1)

Explanation:

This command adds a specified value to the counter variable D. The
addition value can be set to any value from 1 to 65535. If the addition
value is omitted, then 1 is added to the counter variable D.

8-4-32 D-

Function:

Subtracts a specified value from the counter variable D.

Format:

D- [<subtraction value>]

Example:

D- 100
Subtracts 100 from the counter variable D. (D

←

D-100)

D-
Subtracts 1 from the counter variable D. (D

←

D-1)

Explanation:

This command subtracts a specified value from the counter variable D.
The subtraction value can be set to any value from 1 to 65535. If the
subtraction value is omitted, then 1 is subtracted from the counter vari-
able D.

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Summary of Contents for ERCX Series

Page 1: ... s Manual ENGLISH E IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html YAMAHA MOTOR CO LTD YAMAHA SINGLE AXIS ROBOT CONTROLLER ERCX E63 Ver 7 08 ...

Page 2: ......

Page 3: ... 2 6 Connecting to the I O Connector 2 7 2 7 Connecting the Absolute Battery 2 8 Chapter 3 I O INTERFACE 3 1 3 1 I O Signals 3 2 3 2 Input Signal Description 3 3 3 2 1 Dedicated command input 3 3 3 2 2 General purpose input DI0 to DI15 3 6 3 2 3 SERVICE mode input SVCE 3 7 3 2 4 Interlock LOCK 3 7 3 2 5 Emergency stop inputs 1 2 EMG1 EMG2 3 7 3 3 Output Signal Description 3 8 3 3 1 Dedicated outpu...

Page 4: ...pter 6 PROGRAMMING 6 1 6 1 Basic Contents 6 2 6 1 1 Robot language and point data 6 2 6 1 2 Using the TPB to enter the robot language 6 2 6 1 3 Program specifications 6 2 6 2 Editing Programs 6 3 6 2 1 Creating programs after initialization 6 4 6 2 2 Creating a new program 6 6 6 2 3 Adding a step 6 7 6 2 4 Correcting a step 6 9 6 2 5 Inserting a step 6 10 6 2 6 Deleting a step 6 11 6 3 Program Uti...

Page 5: ...o pick and place a workpiece 8 29 8 5 5 Picking up 3 kinds of workpieces flowing on the front conveyor and placing them on the next conveyors while sorting 8 30 8 5 6 Switching the program from I O 8 32 8 5 7 Axis movement and I O multi task 8 34 8 5 8 Turning ON general purpose outputs during robot movement after a certain time has elapsed 8 35 8 5 9 Turning ON a general purpose output during rob...

Page 6: ...2 1 Connecting to the computer with a 25 pin D sub connector 11 3 11 2 2 Connecting to the computer with a 9 pin D sub connector 11 3 11 3 Communication Command Specifications 11 4 11 4 Communication Command List 11 5 11 5 Communication Command Description 11 8 11 5 1 Robot movements 11 8 11 5 2 Data handling 11 17 11 5 3 Utilities 11 29 Chapter 12 MESSAGE TABLES 12 1 12 1 Error Messages 12 2 12 1...

Page 7: ... 15 1 15 1 ERCX sereis 15 2 15 1 1 Basic specifications 15 2 15 1 2 Robot number list 15 3 15 1 3 LED display 15 3 15 1 4 Absolute Battery Unit 15 3 15 2 TPB 15 4 15 2 1 Basic specifications 15 4 Chapter 16 APPENDIX 16 1 16 1 Operation When Not Using Absolute Function 16 2 16 2 How to Handle Options 16 3 16 2 1 Memory card 16 3 16 2 2 Handling the I O Checker 16 5 16 2 3 POPCOM communication cable...

Page 8: ...vi MEMO ...

Page 9: ...th aYAMAHA single axis FLIP X series robot the ERCX controller performs positioning and pick and place tasks of various mechanical parts and devices This first chapter explains basic information you should know before using the ERCX controller such as names and functions of the various parts steps necessary to prepare the robot for operation and the architecture of the system itself Please read th...

Page 10: ...deceleration speeds can be obtained by simply entering the number of the robot to control and the payload parameter No troublesome servo adjustments are re quired The I O interface provides 16 input and 13 output points for general purpose user wiring as a standard feature The TPB programming box option allows interactive user operation by simple menus that permit immediate use The robot can also ...

Page 11: ...ation Information to be familiar with Refer to Installation Installing the controller 2 1 Wiring and connection Connecting the power supply 2 2 Grounding 2 3 Connecting peripheral equipment 2 4 to 2 7 Understanding the I O interface Chapter 3 Setting parameters Understanding basic TPB Chapter 4 operations Setting the various parameters Chapter 5 Programming Inputting or editing programs Chapter 6 ...

Page 12: ...ng box or the RS 232C terminal of a PC personal computer 3 COM Connector This is used to connect a network system when the optional network card is installed This is covered when the option is not in use 4 BAT Connector This is the connector for the absolute battery 5 Robot I O Connector This is used for input and output from robot peripheral devices such as resolver and brake signals and also use...

Page 13: ...1 5 1 OVERVIEW 1 3 External View and Part Names Fig 1 1 Exterior of the ERCX controller 3 2 1 7 6 5 4 Fig 1 2 Three side view of the ERCX controller ...

Page 14: ...ction Cable This cable connects the TPB to the ERCX controller 5 DC Power Input Terminal Not used 6 Emergency Stop Button This is the emergency stop button When pressed it locks in the depressed position To release this button turn it clockwise To cancel emergency stop first release this button and then use the servo recovery command via the I O interface or the servo recovery operation from the T...

Page 15: ... combined with various peripheral units and optional products to configure a robot system as shown below TPB E M G YAMAHA Fig 1 5 System configuration diagram TPB programming box IC memory card Printer Personal computer Single axis robot ERCX Controller Gripper limit switches etc External control PLC and similar units ...

Page 16: ...S 30 made by Kitagawa Industries 2 pieces 1 5 2 Peripheral options The following options are available for the ERCX controller 1 TPB This is a hand held programming box that connects to the ERCX controller for teaching point data editing robot programs and operating the robot The TPB allows interactive user opera tion by simple menus so that even first time users can easily operate the robot with ...

Page 17: ...ON Chapter 2 INSTALLATION AND CONNECTION This chapter contains precautions that should be observed when installing the controller as well as procedures and precautions for wiring the controller to the robot and to external equipment ...

Page 18: ...ller upside down or at an angle Install the controller in locations with sufficient space at least 20mm away from the wall or other object for good ventilation and air flow Do not install the controller in locations where corrosive gases such as sulfuric acid or hydro chloric acid gas are present or in atmosphere containing flammable gases and liquids Install the controller in locations with a min...

Page 19: ...a regulated power supply with voltage fluctuations of less than 10 Since the controller uses a capacitor input type power supply circuit a large inrush current flows when the power is turned on Do not use fast blow circuit breakers and fuses For the same reason avoid turning the power off and on again repeatedly in intervals of less than 10 seconds This could harm the main circuit elements in the ...

Page 20: ...more c CAUTION The ERCX series controller does not have a power switch Be sure to provide a power supply breaker insulation of the correct specifications that will turn the power on or off to the entire system including the robot controller w WARNING Before beginning the wiring work make sure that the power supply for the entire system is turned off Doing the wiring work while power is still turne...

Page 21: ... grounding previously used 2 4 Connecting the ERCX to the Control Unit The ERCX controller can be operated either through the TPB programming box or through a PC personal computer equipped with an RS 232C terminal When using the TPB plug the TPB cable connector into the TPB connector of the ERCX controller Refer to 4 1 1 Connecting the TPB to the ERCX controller When using a PC plug the RS 232C in...

Page 22: ... is first turned on But this is not an equipment problem 2 5 1 Robot I O connector and signal table Mating connector type No 0 174046 2 AMP Mating connector contact type No 0 175180 2 ERCX s connector type No 0 174053 2 Signal table Terminal No Signal name Description Terminal No Signal name Description 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 BK1 MW MU DG WCK1 R1 PC1 PS1 BK1 MV FG NC WCK1 R1 PC1 PS...

Page 23: ...roller is listed below Connector type No FCN 361P048 AU Fujitsu Connector cover type No FCN 360C48 E Row B No 1 Row A No 1 Row B Row A c CAUTION Even if not using I O control the I O connector should be plugged in after completing the following wiring 1 Short pin numbers A24 EMG1 and B24 EMG2 2 Short pin numbers B4 LOCK and A15 B15 0V 3 Connect pin numbers A13 and B13 IN COM to an external 24V pow...

Page 24: ...s always issued when the controller is first turned on But this is not an equipment problem An alarm 23 ABS BAT L VOLTAGE might occur in some cases When the controller is first used or is kept turned off for a period in excess of the data backup time the battery must be recharged The battery is automatically charged while the controller is turned on Keep the battery charged for longer than the tim...

Page 25: ... To construct a system utilizing the features of the ERCX series you must understand the signals assigned to each terminal on the I O connector and how they work This chapter 3 covers this fundamental information This chapter also provides examples of I O circuit connections and timing charts for expanding the system by using a PLC or similar devices Refer to these diagrams and examples when creat...

Page 26: ...and Interlock General purpose input 0 General purpose input 1 General purpose input 2 General purpose input 3 General purpose input 4 General purpose input 5 General purpose input 6 General purpose input 7 General purpose input 8 General purpose input 9 General purpose input 10 General purpose input 11 General purpose input 12 General purpose input 13 General purpose input 14 General purpose input...

Page 27: ...t the controller is already executing a dedicated command so other dedicated commands are ignored even if they are input When the LOCK signal is off no other commands can be accepted since an interlock is active One exception is the reset and servo recovery commands that can be executed even when the LOCK signal is off as long as the READY and BUSY signals meet the above condi tions A dedicated co...

Page 28: ...terlock Similarly after a robot movement command is executed the controller still retains the target position data of that movement command as the current position data even if you move the robot to another position by manual operation When a relative movement command is executed under this condition the robot moves the specified distance from the target position of the movement command that was p...

Page 29: ...in must be repeated by the stroke end detection method wait at least 5 seconds before repeating it Servo recovery command SERVO After emergency stop releasing the emergency stop button and turning this input on closing the contact turns the servo power on so the robot is ready for restart As with other dedicated command inputs the servo recovery command should be a pulse input so it must be turned...

Page 30: ...s set to the speed specified by the parameter See 5 2 Parameter Description Example of point number setting DI9 29 DI No Point No P0 P1 P3 P7 P15 P31 P63 P127 P254 P511 P999 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ON DI8 28 OFF OFF OFF OFF OFF OFF OFF OFF OFF ON ON DI7 27 OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON DI6 26 OFF OFF OFF OFF OFF OFF OFF ON ON ON ON DI5 25 OFF OFF OFF OFF OFF OFF ON ON ON...

Page 31: ...as this input is off contact open no dedicated I O commands can be executed and also no programs and return to origin operation can be performed from the TPB or PC The only excep tions to this are the reset command and servo recovery command that can be executed regardless of whether the LOCK signal is on or off Leave this LOCK signal turned on contact closed during normal operation Once this LOCK...

Page 32: ...SY signal turns on The BUSY signal turns off when command execution is complete At this point all the dedicated command inputs must be turned off contact open c CAUTION The dedicated command input must be a pulse input so that it is off when the BUSY signal turns on If the command input is left on the BUSY signal cannot turn off even after the command execution is complete As long as the BUSY sign...

Page 33: ...ecifications and examples of how the I O circuits should be connected Refer to these specifications and diagrams when connecting to external equipment such as a PLC 3 4 1 I O circuit specifications Input power Input voltage 24V 10 Input Circuit Excluding emergency stop input circuit Insulation method Photocoupler insulation Input terminal Relay contact or NPN open collector transistor connected be...

Page 34: ...he output load connect a high speed diode as a surge killer in parallel and near to the load to reduce noise When using a 2 wire type proximity sensor as an input signal the residual voltage during on off might exceed the input range for the ERCX controller depending on the sensor type Using such a sensor will cause erroneous operation Always check that the sensor meets the input signal specificat...

Page 35: ...l DI DO DO DI IN COM 0V Controller side 24V N c CAUTION Select a 24V power supply with a sufficient capacity If the power supply capacity is insufficient the robot may not operate normally resulting in an unexpected error or alarm External 24V power supply must have a capacity for Controller 3A Emergency stop circuit 0 05A I O drive depends on user application Additional power capacity 0 3A for br...

Page 36: ...I 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DO 0 DO 1 DO 2 DO 3 DO 4 END BUSY READY LOAD LOAD LOAD LOAD LOAD LOAD LOAD A24 B24 B4 A3 B3 A2 B2 A1 B1 A4 B5 A6 B6 A7 B7 A8 B8 A16 B16 A17 B17 A18 B18 A19 B19 DC24V A14 B14 A13 B13 A15 B15 A5 A9 B9 A10 B10 A11 B11 A12 B12 DO 5 DO 6 DO 7 DO 8 DO 9 DO 10 DO 11 DO 12 LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD A20 B20 A21 B21 A22 B22 A23 B23 LOAD DI 8 DI 9 DI 10 DI 11 D...

Page 37: ...Y07 Y08 Y09 Y0A Y0B Y0C Y0D Y0E Y0F DC24V 0V Y10 Y11 Y12 Y13 Y14 Y15 Y16 Y17 Y18 DC24V 0V A5 B5 A6 B6 A7 B7 A8 B8 A9 B9 A10 B10 A11 B11 A12 B12 A4 B4 A3 B3 A2 B2 A1 B1 A24 B24 A13 B13 A15 B15 DI 0 DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DI 8 DI 9 DI 10 DI 11 DI 12 DI 13 DI 14 DI 15 SERVO LOCK ORG S RESET AUTO R STEP R ABS PT INC PT EMG 1 EMG 2 IN COM 0V TB 1 2 R R R 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1...

Page 38: ...ontroller 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 B19 A19 B18 A16 B16 A17 B17 A18 A20 B20 A21 B21 A22 B22 A23 B23 TB 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 A13 B13 A15 B15 READY BUSY END DO 0 DO 1 DO 2 DO 3 DO 4 DO 5 DO 6 DO 7 DO 8 DO 9 DO 10 DO 11 DO 12 IN COM 0V R R ...

Page 39: ... the ERCX controller starts with the READY signal and also the servo turned on Robot is ready to operate in this state In contrast when the power is on while emergency stop is triggered the ERCX controller starts with the READY signal turned off under emergency stop conditions Robot operation is prohibited in this state To enable robot operation cancel the emergency stop to turn on the READY signa...

Page 40: ... off when turning off contact open the dedicated command input Dedicated command BUSY END 30ms or less 1ms or less 1ms or less 1 At the rising edge of the dedicated command input the END signal turns off and the BUSY signal turns on 2 Turn off contact open the dedicated command input after checking that the BUSY signal turns on 3 Wait until the BUSY signal turns off 4 The END signal should be on w...

Page 41: ...signal turns on 3 Wait until the BUSY signal turns off The BUSY signal immediately turns off since the com mand execution is already complete 4 The END signal should be on when the BUSY signal turns off indicating that the command has ended normally However the PRM34 system mode selection parameter bit 7 END output sequence setting at command execution completion setting can be changed so that the...

Page 42: ...cated command was executed during interlock or emergency stop except for the reset RESET and servo recovery SERVO commands When a dedicated command input ABS PT INC PT AUTO R STEP R ORG S SERVO RESET was executed in SERVICE mode state Dedicated command END BUSY 30ms or less 1ms or less 30ms or less 1 At the rising edge of the dedicated command input the END signal turns off and the BUSY signal tur...

Page 43: ...am or point during automatic operation Dedicated command END BUSY Command execution impossible Differs according to execution command 1 At the rising edge of the dedicated command input the END signal turns off and the BUSY signal turns on 2 Turn off contact open the dedicated command input after checking that the BUSY signal turns on 3 Wait until the BUSY signal turns off 4 The BUSY signal turns ...

Page 44: ...t Dedicated command Differs according to execution command Interlock LOCK BUSY END When a interlock signal is input while a dedicated command is being executed the BUSY signal turns off The READY and END signals remain unchanged 3 6 I O Control Timing Charts ...

Page 45: ...ommand is being executed The END signal remains unchanged To enable robot operation cancel emergency stop to turn on the READY signal then input the servo recovery command SERVO 3 6 5 When alarm is issued Dedicated command Alarm READY END BUSY 5ms or less 1ms or less The READY BUSY and END signals all turn off Correct the problem while referring to 13 2 Alarm and Countermeasures 3 6 I O Control Ti...

Page 46: ... DI0 to DI11 These input conditions should be kept unchanged until the BUSY signal turns on If these conditions are changed before the BUSY signal turns on then the data might be misrecognized 2 When a minimum of 30ms has elapsed input the point movement command ABS PT INC PT 3 At the rising edge of the dedicated command input the END signal turns off and the BUSY signal turns on 4 Turn off contac...

Page 47: ...ch I O signal can be changed with PRM59 I O assignment selection parameter setting Refer to the table on next page when you want to change the I O assignment After changing the I O assignment the ERCX controller must be restarted to enable the changes n NOTE The I O assignment change function is available on controllers whose version is 13 57 or later ...

Page 48: ...RV O ZONE1 END BUSY READY ABS PT INC PT Point trace mode Teaching mode Point trace mode Teaching mode JOG JOG PSET ABS PT INC PT JOG JOG PSET CHG ORG S RESET SERVO LOCK PI0 PI1 PI2 PI3 SPD1 SPD2 SVCE PO0 PO1 PO2 PO3 ORG O ZONE0 SRV O ZONE1 END BUSY READY CHG ORG S RESET SERVO LOCK PI0 PI1 PI2 PI3 PI4 PI5 SVCE PO0 PO1 PO2 PO3 PO4 PO5 END BUSY READY 0 Standard xx20 1 xx21 1 xx30 1 xx31 1 Type 3 Poin...

Page 49: ...For details on the ABS PT and INC PT commands see 3 2 1 Dedicated command input in this chapter The movement speed must be specified before running a point movement command or jog movement command See the table below to specify the movement speed Movement speed setting example SPD2 SPD1 OFF ON OFF ON Movement speed 100 PRM41 PRM42 PRM43 OFF OFF ON ON Jog movement direction command JOG Moves the ro...

Page 50: ...point zone output range corresponding point position judgment parameter range The corresponding point of this point zone output range is the point data registered at the controller Moreover the point zone output range s corresponding point can be further narrowed to corre spond to point movement commands ABS PT INC PT with the point number being output to the PO This is referred to as the movement...

Page 51: ...lel I O PO0 to PO5 When received through a serial I O such as a CC Link the target position s point number is output to the corresponding serial I O PO200 to PO205 All PO outputs are reset OFF when a program reset is performed When using PO as an output signal that indicates the corresponding point number at the point zone output function The corresponding point number for the point zone output fu...

Page 52: ...OG input signal while the CHG signal is on 3 The END signal turns off and the BUSY signal turns on indicating that the ERCX received the jog movement command 4 The robot moves in jog mode as long as the JOG or JOG input signal is on 5 Turn off the JOG or JOG input signal 6 Wait until the BUSY signal turns off 7 The BUSY signal turns off The END signal should be on at this point indicating that the...

Page 53: ...e point data The point numbers that can be used depend on the I O assignment type Refer to the I O assignment list in 3 7 1 Changing the I O assignment The input status for designating the point number must be kept unchanged until step 3 is complete If this input status is changed the ERCX might misrecognize the data 2 After 30ms or more has elapsed turn on the PSET 3 The END signal turns off and ...

Page 54: ...oint movement command 3 Turn off the ABS PT or INC PT 4 Wait until the BUSY signal turns off 5 The BUSY signal turns off The END signal should be on at this point indicating that the point movement is normally finished 6 When the END signal is on in step 5 the target position s point number is output from the specified point number PO0 to PO5 The output status of the target position s point number...

Page 55: ...3 When the BUSY signal turns on in step 2 the target position s point number is output from the specified point number PO0 to PO5 The output status of the target position s point number is retained until the next point movement command is received 4 Turn off the ABS PT or INC PT 5 Wait until the BUSY signal turns off 6 The BUSY signal turns off The END signal should be on at this point indicating ...

Page 56: ... signals are enabled and set to positive output by the Zone output selection parameter PRM53 1 Target position s point number outputs PO0 to PO3 are off since the current robot position is not within the point zone output range ZONE 0 and ZONE 1 output signals are also off since the robot does not yet enter the zone output range 2 Outputs the corresponding point number through PO0 to PO3 since the...

Page 57: ...tion can be changed by parameter setting PRM20 The positioning completed pulse can be changed parameter setting PRM6 c CAUTION When the current robot position is within two or more point zone output ranges the smaller or smallest point number is output Example If the current robot position is within two point output ranges specified by P2 and P5 then P2 is output If the current robot position is n...

Page 58: ...osition 2 The Zone 0 output signal is enabled and set to positive output by the Zone output selection parameter PRM53 3 Set the movement point as P6 1 Although the robot is within the P1 OUT valid position range point zone output range all the PO0 to PO3 target position point number outputs are off because P1 is not the movement point Moreover the ZONE 0 output is also off because the robot is not...

Page 59: ... outputs by PO are cleared The point zone judgment method can be selected as either the OUT valid position or positioning completed pulse this setting is specified by the PRM59 setting s thousands digit value The OUT valid position can be changed by parameter setting PRM20 The positioning completed pulse can be changed parameter setting PRM6 c CAUTION All the PO0 to PO5 outputs are off when the ro...

Page 60: ...3 36 MEMO ...

Page 61: ...dant type programming box that connects to the ERCX controller to edit or run pro grams for robot operation The TPB allows interactive user operation on the display screen so that even first time users can easily operate the robot with the TPB This chapter describes the basic operation of the TPB ...

Page 62: ...nd the execution will be interrupted and the robot operation will halt c CAUTION Any of the messages 08 PNT DATA DESTROY 09 PRM DATA DESTROY or 10 PGM DATA DE STROY may appear on the TPB when the power to the controller is turned on See 13 2 Alarm and Counter measures If one of these messages appears turn off the power to the controller and then turn it back on again while the emergency stop butto...

Page 63: ...bot servo may turn off when the TPB is connected or disconnected from the controller The status LED that is lit in green changes to green red blinking If this happens per form the servo recovery processing with the TPB according to the menu that automatically appears in the AUTO mode operation or execute the servo recovery command SERVO through the I O port This allows the robot to restart the nor...

Page 64: ...ction key moves to a lower level in the menu hierarchy A B C D To return to the previous screen or menu level press the ESC key See 4 4 Hierarchical Menu Structure in this chapter 3 If an error occurs during operation a buzzer sounds for approximately 1 second and an er ror message like that shown in Example E ap pears on the 3rd line of the screen If this hap pens check the contents of the error ...

Page 65: ...200 100 0 00 1SPD 2RSET3CHG 4next 4 5 3 2 1 6 Ver 12 50 or earlier Ver 12 51 or later 1 Current mode 2 Execution speed 3 No of task being executed 4 No of program being executed On TPB version 12 51 or later when switched from the lead program to another program this area shows the program numbers as the currently executed program lead program 5 No of step being executed 6 Current position 4 3 2 P...

Page 66: ...icated input From left Interlock LOCK 0 Locked state robot movement not possible 1 Unlocked state robot movement possible Return to origin command ORG S Reset command RESET Automatic operation start command AUTO R Step operation start command STEP R Absolute point movement command ABS PT Relative point movement command INC PT Servo recovery command SERVO 4 General purpose output From left DO12 to ...

Page 67: ... SPD Execution Speed Change RSET Program Reset CHG Program Change VAL Variable Monitor S_ON Servo ON CHGT Task Change MIO Memory IO Monitor normal Standard compati Compatible PGM Program PNT Point PRM Parameter ALL All Data normal Standard compati Compatible EDIT Editing OPRT Operation SYS System CARD Memory Card SET Enable Disable Setting DEV Limitation to Operating Device SPD Speed Limitation RU...

Page 68: ...am data can be checked In addition to Level 1 point data editing manual release of brake and point trace movement to registered data point are prohibited The and keys can be used to move the robot and general purpose outputs can be controlled Any operation in EDIT mode is prohibited Cannot enter EDIT mode X Z X Z Operation Level 0 1 2 3 Description All operations are permitted Changing the executi...

Page 69: ...memory card formatted Use of memory card is prohibited Cannot enter SYS B UP mode 4 5 2 Changing an access level 1 Press F3 SYS on the initial screen MENU select menu 1EDIT2OPRT3SYS 4MON SYS select menu 1SAFE2OPT 3UTL 4next SYS SAFE Password 13 13_ input password SYS SAFE select menu 1ACLV2SVCE 2 Press F4 next to switch the menu display and then press F1 SAFE 3 When the password entry screen appea...

Page 70: ...n appears To save the change permanently retain the change even after the controller power is turned off press F1 SAVE To save the change temporarily retain the change until the power is turned off press F2 CHG To cancel changing of the setting press F3 CANCEL 8 When writing is complete the screen returns to step 6 n NOTE The password is identical to the ERCX controller s version number For exampl...

Page 71: ...This chapter contains a detailed description of each of the parameters and explains how to use the TPB to change and specify parameter settings SAFETY Errors such as motor overload are detected by the software so the controller parameters must be set correctly to match the connected robot model The parameters are initialized to match the robot model when the robot is shipped so confirm them before...

Page 72: ... SYS PRM PRM1 450 mm soft limit range 9999 9999 range 9999 9999 2 Next press F1 PRM 3 The current PRM0 robot type number setting appears on the screen Use the STEP UP and STEP DOWN keys to scroll the parameters until you find the parameter you want to set 4 When the desired parameter is displayed enter the new value with the number keys and then press 5 When the setting is complete the cursor move...

Page 73: ...Initialization PRM1 soft limit The side robot movement range is set Set a suitable value for safety purposes Input range 9999 to 9999 mm or 360 to 360 Default value Depends on robot type c CAUTION The soft limit will not work unless return to origin has been completed PRM2 soft limit The side robot movement range is set Set a suitable value for safety purposes Input range 9999 to 9999 mm or 360 to...

Page 74: ... catalog specs to check whether the return to origin direction can be changed PRM6 Positioning completed pulse This specifies the range in which the controller determines that positioning is complete When a movement command is executed the robot moves toward the target position The controller then determines that the positioning has been completed when the remaining distance to the target position...

Page 75: ...peed This sets the speed at which the robot moves when the program language MOVF state ment is executed Input range 1 to 10000 mm sec Default value 10 PRM10 Return to origin speed This specifies the movement speed during return to origin Input range 1 to 100 mm sec Default value 20 c CAUTION When the return to origin speed is increased an alarm might be issued during return to origin depending on ...

Page 76: ... CAUTION The ERCX does not support the sensor method for return to origin PRM14 Overload current This sets the reference current value used to detect an overload Default value Equal to the motor rated current PRM15 Overload time This specifies conditions such as time required to detect an overload The default value is set so that an overload alarm is issued when a current three times higher than t...

Page 77: ... ended when the remaining distance to the target position is within this parameter setting The controller then initiates the subsequent step processing when the robot reaches this OUT valid position so setting this parameter to a larger value can reduce cycle time However if the subsequent command is a movement command it is not executed until the ongoing positioning is complete Input range 0 to 9...

Page 78: ... Input range 1 to 100 Default value 100 The TPB writes the contents of PRM27 into PRM26 when connected to the controller PRM28 Teaching movement data 2 for TPB This is entered in the TPB and cannot be used Input range 1 to 100 Default value 50 PRM29 Teaching movement data 3 for TPB This is entered in the TPB and cannot be used Input range 1 to 100 Default value 10 PRM30 Maximum program speed The s...

Page 79: ... FAULT 2 FEEDBACK ERROR 3 SYSTEM FAULT 3 OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ON OFF OFF OFF OFF OFF ON ON OFF OFF OFF ON ON DO4 DO3 DO2 DO1 DO0 ON OFF ON OFF OFF ON OFF ON For more details on the alarm No and contents refer to 13 2 2 Alarm message list PRM33 Operation at return to origin complete Selects the operation to be executed simultaneously with completio...

Page 80: ...t to 21 because of 0000000000010101 binary 21 decimal Function allocation in bit units 0 1 0 1 0 1 0 1 0 1 0 0 1 0 0 1 0 2 0 4 0 8 0 16 0 0 128 0 Bit 0 General purpose input definition for using an I O point movement command This selects a general purpose input used for an I O point movement command ABS PT INC PT In normal mode use DI0 to DI9 to specify the point number and DI10 to DI11 to select ...

Page 81: ... output when the command is completed When set to 1 the command s execution result is output to the END output when the command is completed but only after the command signal turns off PRM35 Origin shift This parameter specifies a shift to the origin position after return to origin is complete When return to origin is complete the origin position is usually 0 specified value when the mark method i...

Page 82: ...ter specifies the jog speed at which the robot moves at a jog movement command JOG JOG This movement speed specified here is the speed used with DI10 turned ON and DI11 turned OFF When type 2 point number output type or type 3 point teaching type is selected by the I O assignment setting and the speed is changeable by SPD1 and SPD2 this parameter specifies the speed when SPD1 is set to ON and SPD2...

Page 83: ...will be 3000 rpm 50 100 30 100 450rpm when PRM44 3000 If this parameter is set to 30 then the jog speed will be 100 30 100 30mm sec PRM43 I O point movement command speed 3 This parameter specifies the movement speed at which the robot moves when a point movement command ABS PT INC PT is executed When type 3 point teaching type is selected by the I O assignment setting this param eter specifies th...

Page 84: ...smission through RS 232C For more details see 11 1 Communication Parameter Specifications Default value 0 PRM48 Pre operation action selection This parameter checks whether return to origin has been performed or resets the program before running automatic operation or step operation When set to 0 or 2 an error return to origin incomplete is issued if return to origin has not been performed and aut...

Page 85: ...reduce only the deceleration This parameter value can be changed in 1 steps with 100 equal to the value deter mined by PRM4 Input range 1 to 100 Default value 100 PRM51 Lead program number Available with Ver 13 50 or later This parameter sets the lead program number Default value 0 n NOTE The lead program is the program that has been selected as the execution program by the TPB or POPCOM See 9 4 S...

Page 86: ...g Reserved for system use 0 Disabled 1 Enabled 0 Disabled 1 Enabled 0 Disabled 1 Enabled 0 Disabled 1 Enabled 0 Positive logic 1 Negative logic 0 Positive logic 1 Negative logic 0 Positive logic 1 Negative logic 0 Positive logic 1 Negative logic Selected value Addition value 0 1 0 2 0 4 0 8 0 16 0 32 0 64 0 128 0 Example To set zone 1 output to positive logic and zone 2 output to negative logic wh...

Page 87: ...ed negative logic output P905 200 00 P904 100 00 PRM54 Not used Available with Ver 13 50 or later Default value 0 PRM55 Not used Available with Ver 13 50 or later Default value 0 PRM56 Controller version 2 Available with Ver 13 50 or later This parameter reads out the version information 2 on the control software in the con troller This is a read only parameter PRM57 Not used Default value 0 c CAU...

Page 88: ...t enters the point data registered at controller position judgment parameter range 3 Movement point zone output supported in Ver 13 64 and later versions PO output occurs when the robot enters the position judgment parameter range for the point data registered at the controller and which serves as the movement point data for the point movement command ABS PT INC PT e Point zone judgment method sel...

Page 89: ...E0 SRV O ZONE1 END BUSY READY ABS PT INC PT Point trace mode Teaching mode Point trace mode Teaching mode JOG JOG PSET ABS PT INC PT JOG JOG PSET CHG ORG S RESET SERVO LOCK PI0 PI1 PI2 PI3 SPD1 SPD2 SVCE PO0 PO1 PO2 PO3 ORG O ZONE0 SRV O ZONE1 END BUSY READY CHG ORG S RESET SERVO LOCK PI0 PI1 PI2 PI3 PI4 PI5 SVCE PO0 PO1 PO2 PO3 PO4 PO5 END BUSY READY 0 Standard xx20 1 xx21 1 xx30 1 xx31 1 Type 3 ...

Page 90: ...5 20 MEMO ...

Page 91: ...6 1 6 PROGRAMMING Chapter 6 PROGRAMMING In this chapter we will try programming some operations First you will learn how to enter a program using the TPB programming box ...

Page 92: ... moves to another point P1 100mm away from that position To change the above operation so that the robot first moves to a position P0 50 5mm from the origin point and then moves to another point P1 100mm away from that position just change the P0 point data to P0 50 50 6 1 2 Using the TPB to enter the robot language Robot language commands frequently used to create programs are printed on the lowe...

Page 93: ...ing a new program while at least one program has already been created and stored Changing an existing program means correcting adding deleting or inserting steps in a program to change only part of it This section explains all the above program editing procedures and also describes how to view program information such as the number of steps left in a program Creating a program right after initiali...

Page 94: ...en indicating that no program exists 4 Press the ESC key to reset the error A confir mation message then appears asking whether to create a new program as program No 0 To select and edit program No 0 press F1 yes To select and edit a program other than No 0 press F2 no 5 When you selected F2 no in step 4 enter the number of the program to be edited with the number keys and press The screen re turn...

Page 95: ...ressing X Z or X Z to move the cur sor enter all necessary operand data as needed EDIT PGM No 0 001 MOVA 0 100 point No 0 999 1P EDIT PGM No 0 001 MOVA 1 80_ speed 1 100 EDIT PGM No 0 001 MOVA 1 80 1MOVA 2MOVI3MOVF4next 8 After entering the operand data press 9 When entry is completed correctly the cursor moves to the operation code part To edit the next step press STEP UP to scroll the step and r...

Page 96: ...o 0 99 EDIT PGM PGM No 14 New entry OK 1yes 2no EDIT PGM No14 001 _ 1MOVA 2MOVI3MOVF4next 2 Next press F1 PGM 3 The execution program number and step are displayed on the screen Press F4 CHG here 4 Enter the new program number with the number keys and press 5 A confirmation message appears Make sure the program number is correct and press F1 yes 6 Proceed with program editing by following step 6 o...

Page 97: ... 0 99 EDIT PGM PGM No 10 STEP No _ REG steps 50 EDIT PGM No10 050 WAIT 3 1 1MOD 2INS 3DEL 4CHG EDIT select menu 1PGM 2PNT 3UTL 2 Next press F1 PGM 3 The execution program number and step are displayed on the screen Press F4 CHG here 4 Enter the program number you want to edit with the number keys and press 5 Enter the last step number with the number keys and press 6 When the last step is displaye...

Page 98: ... 10 31 5 1MOD 2INS 3DEL 4CHG EDIT PGM No10 051 _ 1MOVA 2MOVI3MOVF4next 8 After selecting the robot language command enter the operand data When you press X Z the cursor moves 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 move the cur sor enter all necessary operand data as needed 9 After entering the operand data press 10 When the prog...

Page 99: ...1 MOD 4 Select F1 to F3 or a robot language com mand shown on the lower part of each number key To change the robot language menu display press F4 next To go back to the previous menu display press the BS key 5 After selecting the robot language command enter the operand data When you press X Z the cursor moves to op erand 1 so enter the data with the number keys Do not press at this point While p...

Page 100: ... 10 100 1MOD 2INS 3DEL 4CHG 1MOVA 2MOVI3MOVF4next 3 Press F2 INS 4 Select F1 to F3 or a robot language com mand shown on the lower part of each number key To change the robot language menu display press F4 next To go back to the previous menu display press the BS key 5 After selecting the robot language command enter the operand data When you press X Z the cursor moves to op erand 1 so enter the d...

Page 101: ...ber 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 999 100 delete OK 1yes 2no EDIT PGM No10 010 WAIT 3 1 1MOD 2INS 3DEL 4CHG 3 Press F3 DEL 4 A confirmation message appears To delete the step press F1 yes To cancel the deletion press F2 no 5 When the step has been deleted the screen re turns to step 3 ...

Page 102: ...ct 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_ Program No 0 99 2 Next press F3 UTL 3 Press F1 COPY 4 Enter the program number you want to copy from with the number keys and then press 5 Enter the program number you want to copy to with the number keys and then press ...

Page 103: ... 2 Deleting a program 1 Use the same procedure up to step 2 in 6 3 1 Copying a program 2 Press F2 DEL EDIT UTL select menu 1COPY2DEL 3LIST EDIT UTL DEL delete PGM No _ Program No 0 99 EDIT UTL DEL delete PGM No 22 delete OK 1yes 2no EDIT UTL select menu 1COPY2DEL 3LIST 3 Enter the number of the program you want to delete with the number keys and press 4 A confirmation message appears asking whethe...

Page 104: ...h the number of registered steps and the number of available remaining steps To view other program information press the STEP UP and STEP DOWN keys to scroll the screen 4 Press the ESC key to return to the screen of step 2 In addition to the number of existing steps the steps equivalent to the number of programs are used internally as the program control steps For example if two programs are regis...

Page 105: ...playback and direct teaching Manual data input allows you to directly enter point data with the TPB number keys Teaching playback moves the robot in manual operation to a desired position and then obtains that position as point data Direct teaching is basically the same as teaching playback except that you move the robot by hand ...

Page 106: ...put data 21 76_ input data _ EDIT PNT MDI P500 21 76 mm 1CHG input data _ 2 Next press F2 PNT 3 Press F1 MDI 4 The currently selected point data in the execu tion program appears on the screen If you want to edit another point data press the STEP UP and STEP DOWN keys to scroll the point data To directly select the point data press F1 CHG 5 Enter the point number you want to edit with the number k...

Page 107: ...EDIT select menu 1PGM 2PNT 3UTL EDIT PNT TCH 1 50 P0 0 00 mm 0 00 1CHG 2SPD3S_SET4next 2 Next press F2 PNT 3 Press F2 TCH 4 The currently selected point data in the execu tion program appears on the screen If you want to edit another point data press the STEP UP and STEP DOWN keys to scroll the point data To directly select the point data press F1 CHG 5 Enter the point number you want to edit with...

Page 108: ...alculated below 100mm s constant 50 100 50mm s EDIT PNT TCH 1 50 P500 19 27 mm 0 00 EDIT PNT TCH 1 50 SPEED 1 _ speed 1 100 EDIT PNT TCH 1 100 P500 167 24 mm 167 24 1CHG 2SPD3S_SET4next 1CHG 2SPD3S_SET4next 7 Three different speed settings SPEED 1 SPEED 2 and SPEED 3 are selectable as the teaching movement data Each time F2 SPD is pressed the setting changes in the or der of 1 2 3 1 To change the ...

Page 109: ...DIT2OPRT3SYS 4MON EDIT PNT select menu 1MDI 2TCH 3DTCH4DEL 2 Next press F2 PNT 3 Press F3 DTCH 4 Following the message press the emergency stop button on the TPB 5 The currently selected point data in the execu tion program appears on the screen If you want to edit another point data press the STEP UP and STEP DOWN keys to scroll the point data To directly select the point data press F1 CHG 6 Ente...

Page 110: ...IT PNT DTCH P500 167 24 mm 167 24 1CHG 2DO 3BRK 1CHG 2DO 3BRK 8 Press to input the current position as point data Use the same procedure to input all other nec essary point data and then press the ESC key 9 Following the message release the emergency stop button on the TPB 10 A confirmation message appears asking whether to turn the servo on To turn the servo on press F1 yes To leave the servo off...

Page 111: ...or up to step 7 in 7 3 Direct Teaching The following steps are explained using the teaching playback screen 2 When the robot reaches the position where you want to operate general purpose output stop the robot Then press F4 next to change the menu display and then press F1 DO EDIT PNT TCH 1 50 P0 0 00 mm 0 00 EDIT PNT TCH 1 50 DO 0 0 DO 1 0 DO 2 0 DO 3 0 DO 4 0 DO 5 0 1DO0 2DO1 3DO2 4next EDIT PNT...

Page 112: ...is recommended 1 Use the same procedure up to step 4 in 7 3 Direct Teaching 2 Press F3 BRK EDIT PNT DTCH take off the brake 1yes 2no EDIT PNT DTCH P0 0 00 mm 0 00 EDIT PNT DTCH P0 0 00 mm 0 00 1CHG 2DO 3BRK 1CHG 2DO 3BRK 3 A confirmation message appears asking whether to release the brake To release the brake press F1 yes To cancel releasing the brake press F2 no 4 The screen returns to step 2 The...

Page 113: ... 999 EDIT PNT DEL DEL range P100 P110 delete OK 1yes 2no EDIT PNT select menu 1MDI 2TCH 3DTCH4DEL 3 Enter the point number at the start to delete point data with the number keys and press 4 Enter the point number at the end to delete point data with the number keys and press 5 A confirmation message appears asking whether to delete the data To delete the data press F1 yes To cancel the deletion pr...

Page 114: ...SET4next 3 The coordinate data of the movement destina tion and the movement speed are displayed To move the robot press F1 yes To cancel moving the robot press F2 no The movement speed will be 10 of the number speed parameter displayed at the upper right of the screen 4 When the movement is completed the screen returns to step 2 c CAUTION When the SERVICE mode function is enabled the following sa...

Page 115: ...e user can easily create programs to control complex robot and peripheral device movements This robot language is an upper version of the SRC SRCA ERC and SRCH series robot language but fully compat ible with it so that the previous programs used with these conventional controllers can be easily upgraded At the beginning of this chapter you will find a convenient table of robot language commands A...

Page 116: ...ts 1 from a point variable P Turns a servo on and off SRVO servo status Temporarily stops program execution STOP Performs return to origin ORGN Runs a specified task TON task number program number start type Stops a specified task TOFF task number Jumps to a specified label when the axis position relation meets the specified conditions JMPP label number axis position condition Defines a matrix MAT...

Page 117: ...can be upper case or lower case The controller automatically converts the input characters to upper case One command statement must be described within one line It cannot be written over multiple lines Multiple command statements cannot be described on one line Up to 80 one byte char acters including carriage line return can be described on one line One or more spaces must be inserted between the ...

Page 118: ...of 1 ON or 0 OFF It is used in a multi task program to synchronize between tasks or in a condition judgement program Memory I O from 100 to 131 can be freely turned on or off by the user or their values can be referenced However outputs 132 to 147 are controlled by the system so the user can only refer to their values Memory I O description Type General purpose Dedicated Meaning Memory I O availab...

Page 119: ...sks The subtask will end when its last step has been executed or the TOFF command is issued Each task and data have the following relation Point variables P in a task are independent of those in other tasks Point data general purpose I O and memory I O are shared with each task c CAUTION In addition to the tasks up to 4 tasks specified by the user the system task starts inside the controller so a ...

Page 120: ...ent direction differs depending on the current position However when 5030mm is specified the robot always moves in the direction opposite the return to origin direction In contrast when 5030mm is specified the robot always moves in the same direction as when performing return to origin In the case of a movement command such as MOVI which specifies the amount of movement the movement direction is d...

Page 121: ...obot always rotates in the same direc tion as when performing return to origin In the case of a movement command such as MOVI which specifies the amount of movement the movement direction is determined by the plus minus sign of point data just as with normal move ment c CAUTION The maximum distance of one movement is a distance equal to one cycle 360 To move a distance longer than one cycle divide...

Page 122: ...ed can be set to any level between 1 and 100 If the execution speed in OPRT mode is 100 then 100 will be equal to 3000 rpm when PRM44 3000 8 4 2 MOVI Function Moves a distance specified by a point number from the current position Format MOVI point number maximum speed Example MOVI 10 80 Moves an amount equal to point data P10 from the current position at speed 80 Explanation This command moves the...

Page 123: ...for special use a point variable defined by the P statement is set as the point number See 8 4 12 P 2 DI number Specify one of the 16 0 to 15 general purpose inputs 3 DI status 1 means on and 0 means off Other The robot speed during execution of the MOVF movement can be specified by PRM9 Refer to PRM9 MOVF speed Note that this will not be affected by the OPRT mode execution speed 8 4 4 JMP Functio...

Page 124: ...iewed as binary code input and if it meets this input condition value a jump is executed The number of points that can be branched under the input condition depends on the number of conditional input points which is set with PRM8 See PRM8 No of conditional input points c CAUTION Select a number of conditional input points that is large enough to accommodate the actual number of input conditions to...

Page 125: ...ber is a number defined by the L statement and indicates the destination to jump Any number from 0 to 255 can be specified See 8 4 7 L 2 DI or MI number Specify one of the general purpose input numbers from 0 to 15 16 points or memory input numbers from 100 to 147 48 points 3 Input status 1 means on and 0 means off 8 4 7 L Function Defines the jump destination for JMP JMPF or JMPB statements etc F...

Page 126: ...t is de tected program execution advances to the step following the CALL statement in the main program An error occurs and program execution stops if the program being executed is called by the CALL statement Even when the program number is changed by the CALL statement resetting it will return to the original program number when program execution begins An error stack overflow might occur if a ju...

Page 127: ...I number Specify one of the general purpose input numbers from 0 to 15 16 points or memory input numbers from 100 to 147 48 points 2 Input status 1 means on and 0 means off 8 4 11 TIMR Function Waits for a specified amount of time before advancing to the next step Format TIMR time Example TIMR 100 Moves to the next step after waiting one second Explanation This command is used when adjusting the t...

Page 128: ...wer is turned off but when the program is reset or when the pro gram reset is applied for example by switching the execution program the point variable P will be initialized to 0 Point variables P in a task are independent of those in other tasks For example the definition and edited contents of a point variable used in task 1 do not affect the point variable used in task 0 8 4 13 P Function Adds ...

Page 129: ... off 8 4 16 STOP Function Temporarily interrupts program execution Format STOP Example STOP Temporarily interrupts program execution Explanation This command temporarily interrupts execution of a program If two or more tasks are being executed then all those tasks are interrupted This command can be used at any point in a program The next execution will restart from the subsequent step Others Norm...

Page 130: ...en performed and proceeds to the next step when it has been performed but halts the operation as an error if not performed Others Once return to origin is performed after the robot cable and absolute battery are connected there is no need to repeat it even when the con troller is turned off As an exception return to origin becomes in complete if the absolute backup function is disabled or a parame...

Page 131: ...s whether to start a new task or suspended task Set to 0 when executing a new task and set to 1 when restarting a suspended task Others A task number which is being executed cannot be specified A task number which has been suspended can be specified The task terminates when the last step is detected When a subtask terminates it does not affect operation of other tasks But if task 0 main task termi...

Page 132: ...iable P 1 Label number The label number is a number defined by the L statement and indicates the destination to jump Any number from 0 to 255 can be specified See 8 4 7 L 2 Axis position condition When set to 1 this establishes the condition that the robot must be closer to the origin than the specified position When set to 2 this establishes the condition that the robot must be farther away from ...

Page 133: ...PNT point mode to create point data the point numbers are generally specified as follows If pallet number is n for instance enter the position of the reference point row 1 col umn 1 in p 251 4n the position at the end of row 1 in p 252 4n the position at the end of column 1 in p 253 4n and the position of the remaining corner in p 254 4n To define a one dimension matrix such as row 1 column m ente...

Page 134: ...trix data of pallet number 0 Explanation This command selects a matrix and is always used with a MOVM state ment as a pair 1 Pallet number This number is used for matrix identification and can be set from 0 to 31 Others The pallet number assigned with the MSEL statement is independent of each task For example when different pallet numbers are assigned to task 0 and task 1 then task 0 and task 1 ex...

Page 135: ...from 1 to 65025 255 255 For example on a row M column N matrix the pallet work position at row A col umn B is found by A 1 N B When a character C or D is entered here for special use a counter variable is set in each pallet work position 2 Maximum speed The maximum speed can be set to any level between 1 and 100 If the execution speed in OPRT mode is 100 then 100 will be equal to 3000 rpm when PRM...

Page 136: ...abel number is a number defined by the L statement and indicates the destination to jump Any number from 0 to 255 can be specified See 8 4 7 L 2 Counter value Set any value from 0 to 65535 8 4 25 JMPD Function Jumps to a specified label when the counter variable D matches a speci fied value Format JMPD label number counter value Example JMPD 5 100 Jumps to label 5 when the counter variable D is 10...

Page 137: ...he element designa tion number will be initialized to 0 The element number designated with the CSEL statement is independ ent of each task For example when different array elements are des ignated for task 0 and task 1 the definition or change in the counter array variable C of task 1 does not affect task 0 8 4 27 C Function Sets the counter array variable C Format C counter value Example C 200 Se...

Page 138: ... 1 Explanation This command subtracts a specified value from the counter array vari able C specified with the CSEL statement The subtraction value can be set to any value from 1 to 65535 If the subtraction value is omitted then 1 is subtracted from the counter array variable C 8 4 30 D Function Sets the counter variable D Format D counter value Example D 200 Sets the counter variable D to 200 Expl...

Page 139: ... to any value from 1 to 65535 If the addition value is omitted then 1 is added to the counter variable D 8 4 32 D Function Subtracts a specified value from the counter variable D Format D subtraction value Example D 100 Subtracts 100 from the counter variable D D D 100 D Subtracts 1 from the counter variable D D D 1 Explanation This command subtracts a specified value from the counter variable D T...

Page 140: ...000 points and used to create point date in PNT point mode When a character P is entered here for special use a point variable defined by the P statement is set as the point number Refer to 8 4 12 P Others When the program is reset or when the program reset is applied by switching the execution program the shift data will be initialized to 0 00 The SHFT statement affects MOVA MOVF and MOVM but doe...

Page 141: ...s to L0 8 5 2 Moving at an equal pitch P0 50mm 50mm 50mm 50mm 50mm P0 P1 Start position Movement distance 50mm Point Program Comment NO0 001 L 0 Label definition 002 MOVA 0 100 Moves to P0 003 MOVI 1 100 Moves five times at a 50mm pitch 004 MOVI 1 100 Moves five times at a 50mm pitch 005 MOVI 1 100 Moves five times at a 50mm pitch 006 MOVI 1 100 Moves five times at a 50mm pitch 007 MOVI 1 100 Move...

Page 142: ...1 DO2 Job 1 command 1 Output 0 Canceled Job 2 command 1 Output 0 Canceled General purpose output P1 P2 Job 1 Job 2 Program Comment NO0 001 DO 1 0 Cancels job 1 command 002 DO 2 0 Cancels job 2 command 003 L 1 Label definition 004 MOVA 1 100 Moves to P1 005 DO 1 1 Outputs job 1 command 006 WAIT 1 1 Waits until job 1 is complete 007 DO 1 0 Cancels job 1 command 008 MOVA 2 100 Moves to P2 009 DO 2 1 ...

Page 143: ...feed position from the standby position and picks up a workpiece w Moves to the workpiece mount position and places the workpiece e Returns to the standby position Program Comment NO1 001 L 1 Label definition 002 MOVA 0 100 Moves to the standby position 003 WAIT 2 1 Waits for workpiece feed 004 MOVA 1 100 Moves to the workpiece feed position 005 DO 0 1 Air cylinder moves down 006 WAIT 1 1 Waits un...

Page 144: ...General purpose input DO0 DO1 Air cylinder 1 Down 0 Up Air chuck 1 Close 0 Open General purpose output P0 P1 P2 P3 Workpiece feed position on the front conveyor Workpiece A mount position on next conveyor Workpiece B mount position on next conveyor Workpiece C mount position on next conveyor Point Operation q Moves to the workpiece feed position and picks up a workpiece w Moves to the workpiece mo...

Page 145: ...abel definition 015 CALL 2 1 Executes a PICK subroutine 016 CALL 3 1 Executes a PLACE subroutine 017 JMP 1 1 Returns to L1 NO2 Picking up a workpiece 001 MOVA 0 100 Moves to the workpiece feed position 002 DO 0 1 Air cylinder moves down 003 WAIT 1 1 Waits until the air cylinder moves down 004 DO 1 1 Chuck closes 005 TIMR 100 Delays for one second 006 DO 0 0 Air cylinder moves up 007 WAIT 0 1 Waits...

Page 146: ... statement to select a program select the general purpose input output points DI8 and DO0 in this case one at a time and perform the handshake This is for synchronizing the ERCX controller program with an external device such as a PLC If this part is omitted the wrong program might be selected during program selection with the JMPF statement In specific operations an external device should turn on...

Page 147: ...4 JMPF 1 10 9 Jumps to L1 of NO10 when input is 9 015 JMPF 1 11 10 Jumps to L1 of NO11 when input is 10 016 JMPF 1 12 11 Jumps to L1 of NO12 when input is 11 017 JMPF 1 13 12 Jumps to L1 of NO13 when input is 12 018 JMPF 1 14 13 Jumps to L1 of NO14 when input is 13 019 JMPF 1 15 14 Jumps to L1 of NO15 when input is 14 020 JMPF 1 16 15 Jumps to L1 of NO16 when input is 15 021 JMP 0 0 Returns to L0 ...

Page 148: ...N 1 1 0 Starts program NO1 as task 1 002 L 0 Label definition 003 MOVA 0 100 Moves to P0 at speed 100 004 TIMR 100 Delays for one second 005 MOVA 1 100 Moves to P1 at speed 100 006 TIMR 100 Delays for one second 007 JMP 0 0 Returns to L0 Program Comment NO1 001 L 0 Label definition 002 WAIT 0 0 Waits until the job is finished 003 DO 0 1 Issues the job start instruction 004 WAIT 0 1 Confirms that t...

Page 149: ...0 001 L 0 Label definition 002 MOVA 0 100 Moves to P0 at speed 100 003 DO 0 0 Turns DO0 off 004 DO 1 0 Turns DO1 off 005 DO 2 0 Turns DO2 off 006 TON 1 1 0 Starts program NO1 as task 1 007 MOVA 1 10 Moves to P1 at speed 10 008 JMP 0 0 Returns to L0 Program Comment NO1 001 TIMR 300 Delays for 3 seconds 002 DO 0 1 Turns DO0 on 003 TIMR 300 Delays for 3 seconds 004 DO 1 1 Turns DO1 on 005 TIMR 300 De...

Page 150: ...t NO0 001 L 0 Label definition 002 MOVA 0 100 Moves to P0 at speed 100 003 TON 1 1 0 Starts program NO1 as task 1 004 MOVA 1 10 Moves to P1 at speed 10 005 JMP 0 0 Returns to L0 Program Comment NO1 001 DO 0 0 Turns DO0 off 002 P 10 Sets the point variable to 10 003 L 0 Label definition 004 JMPP 0 1 Jumps to L0 when the robot does not reach P10 005 DO 0 1 Turns DO0 on 006 P 11 Sets the point variab...

Page 151: ...wing settings in advance to enable the limitless movement function Set the position data unit parameter to 2 Set the plus soft limit to 200 This is a multiple of the lead equivalent value The lead equivalent value is assumed to be 20mm Set P0 0 P1 150 in advance in PNT point mode Program Comment NO0 001 MOVA 0 100 Moves to P0 at speed 100 002 L 0 Label definition 003 MOVI 1 100 Moves 150mm 004 JMP...

Page 152: ...g in advance to enable the limitless movement function Set the position data unit parameter PRM21 to 3 Teach each point of P0 to P3 in advance in PNT point mode Program Comment NO0 001 L 0 Label definition 002 MOVA 0 100 Moves to P0 at speed 100 003 MOVA 1 100 Moves to P1 at speed 100 004 MOVA 2 100 Moves to P2 at speed 100 005 MOVA 3 100 Moves to P3 at speed 100 006 JMP 0 0 Jumps to L0 ...

Page 153: ... There are two types of robot operation step and automatic In step operation the program is executed one step at a time with a step being carried out each time the RUN key on the TPB is pressed This is used when you want to check the program as it is being carried out In automatic operation the entire program is executed without stop ping from beginning to end This chapter also covers how to initi...

Page 154: ...lute backup function is disabled or a parameter relating to the origin is changed Return to origin must be reperformed in that case 9 1 1 Return to origin by the search method When the search method is selected as the origin detection method PRM13 0 or 1 perform return to origin with the procedure below 1 On the initial screen press F2 OPRT MENU select menu 1EDIT2OPRT3SYS 4MON OPRT select menu 1OR...

Page 155: ...robot movement stops upon releasing F1 yes in step 3 in SERVICE mode state You must hold down F1 yes until return to origin is complete c CAUTION When performing return to origin by the stroke end detection method do not interrupt the return to origin operation while detecting the origin while contacting the mechanical limit Otherwise the operation will stop due to a controller overload alarm and ...

Page 156: ...ess F1 TCH To use the direct teaching method to set a mark posi tion press F2 DTCH 4 When the teaching playback method was se lected use X Z and X Z to move the robot to the mark position The movement method is just the same as the teaching playback method for point data See 7 2 Teaching Playback When the robot reaches the mark position press At this point check that the machine ref erence is in a...

Page 157: ...the above pro cedure 10 When the origin has been set correctly the message at the right appears Pressing the ESC key returns to step 4 when the teaching play back method was used or to step 6 when the direct teaching method was used n NOTE When you check the robot position after setting the mark position coordinates the robot position is not always at the coordinates specified as the mark position...

Page 158: ...100 0 0 001 MOVA 254 100 0 00 1SPD 2RSET3CHG 4next OPRT STEP 100 0 0 PGM No _ program No 0 99 OPRT STEP 100 0 10 001 MOVA 999 50 0 00 1SPD 2RSET3CHG 4next OPRT STEP 100 0 10 SPEED _ speed 1 100 2 Next press F2 STEP 3 If the program number displayed on the screen is not the one to be run press F3 CHG 4 Using the number keys enter the number of the program to be executed and then press 5 The first s...

Page 159: ...essage on the screen To return to step 7 press the ESC key Pressing RUN again executes the interrupted step 10 When execution is finished the second step is displayed Each time RUN is pressed from this point on the currently displayed step is ex ecuted When the last step has been executed the message program end is displayed To return to the first step from the program end press the ESC key 11 To ...

Page 160: ...n See 10 4 SERVICE mode function Step operation cannot be performed in SERVICE mode state when automatic operation and step operation are prohibited Robot movement speed is limited to 3 or less of maximum speed in SERVICE mode state when the robot movement speed limit is enabled If the hold to run function is enabled step operation stops upon releasing RUN in SERVICE mode state When one step has b...

Page 161: ... No 0 99 OPRT AUTO 100 0 10 001 MOVA 999 50 0 00 1SPD 2RSET3CHG 4next OPRT AUTO 100 0 10 SPEED _ speed 1 100 OPRT AUTO 50 0 10 001 MOVA 999 50 0 00 1SPD 2RSET3CHG 4next 2 Next press F3 AUTO 3 If the program number displayed on the screen is not the one to be run press F3 CHG 4 Using the number keys enter the number of the program to be executed and then press 5 The first step of the selected progr...

Page 162: ...ssing the ESC key returns the screen to that shown in Step 7 10 To switch to the display of another task in a multi task program press F4 next to change the function menu display and then press F2 CHGT 11 Each time you press F2 CHGT the task display is switched 12 To return to the first step of the program from any other step and initiate execution again press F2 RSET 13 The screen returns to step...

Page 163: ...e parameter is set to 1 or 3 and DO7 does not turn OFF when PRM46 servo status output parameter is set to 1 1 If the program number displayed on the screen is not the one to be run press F3 CHG OPRT AUTO 100 0 0 001 MOVA 254 100 0 00 0 00 0 00 1SPD 2RSET3CHG 4next OPRT AUTO 100 0 0 PGM No _ program No 0 99 OPRT AUTO 100 0 10 001 MOVA 999 50 1SPD 2RSET3CHG 4next OPRT AUTO 100 0 10 SPEED _ speed 1 1...

Page 164: ...ed by turning it to the right In emergency stop the robot assumes a free state so that commands initiating robot motion for example return to origin command cannot be executed 9 5 2 Recovering from an emergency stop When recovery from an emergency stop is required during TPB operation that procedure automati cally appears on the TPB Follow those instructions to reset the emergency stop condition R...

Page 165: ... continue OK 1yes 2no 4 Then another message appears asking if ready to operate To restart operation press F1 yes To cancel restarting press F2 no 5 Operation starts when F1 yes was pressed in step 4 If F2 no was pressed the screen returns to step 1 c CAUTION When the SERVICE mode function is enabled the following safety control will function See 10 4 SERVICE mode function If the hold to run funct...

Page 166: ...000 00000001 OPRT STEP 100 0 0 001 MOVA 254 100 1S_ON2CHGT3MIO 4next 1S_ON2CHGT3MIO 4next 2 Press F2 STEP or F3 AUTO The STEP orAUTO mode screen appears The following steps are explained using the STEP mode screen 3 Press F4 next to change the menu display and then press F3 MIO 4 The I O status of each memory is displayed From the left the top line shows the status from 115 to 100 the middle line ...

Page 167: ...STEP 100 0 0 P 0 C 1 0 D 2 OPRT STEP 100 0 0 001 MOVA 254 100 0 00 1VAL 2S_ON3CHGT4next OPRT STEP 100 1 12 P 10 C 1000 1 D 2 2 Press F2 STEP or F3 AUTO The following explains the procedure for dis playing the variables on the screens in step op eration 3 Press F4 next to change the menu display and then press F1 VAL 4 Continue to indicate the value of each variable The item enclosed by brackets is...

Page 168: ...9 16 MEMO ...

Page 169: ... 10 OTHER OPERATIONS The TPB has many convenient functions in addition to those already covered For example memories can be initialized and options such as memory cards can be used This chapter will describe these additional functions ...

Page 170: ...IT 3 Select the data to be initialized To initialize the program data press F1 PGM To initialize the point data press F2 PNT To initialize the parameter data press F3 PRM To initialize all of the program point and pa rameter data press F4 ALL 4 If F3 PRM or F4 ALL was selected in step 3 the robot type must be specified Enter the robot number with the number keys and then press To find the robot nu...

Page 171: ...0 mm SYS INIT PRM parameter data initialize OK 1yes 2no 1yes 2no SYS INIT select menu 1PGM 2PNT 3PRM 4ALL SYS INIT PRM weight 3_ kg 7 Next enter the robot stroke length Enter the stroke length with the number keys and then press 8 Finally enter the robot payload Enter the payload with the number keys and then press 9 A confirmation message appears on the screen To execute the initialization press ...

Page 172: ...lained below 10 2 1 Display from the monitor menu 1 On the initial screen press F4 MON MENU select menu 1EDIT2OPRT3SYS 4MON DI 10000000 00000000 10000000 DO 00000000 10100000 XO 1 XS 1 MENU select menu 1EDIT2OPRT3SYS 4MON 2 The ON OFF status of I O signals is displayed For information about what the display shows refer to 4 3 4 DIO monitor screen 3 To return to the initial screen press ESC ...

Page 173: ...ut what the display shows refer to 4 3 4 DIO monitor screen 3 Releasing the key returns the screen to the pre vious screen c CAUTION The DIO Monitor key does not function during system operation 10 3 System Information Display 1 On the initial screen press the ESC key MENU select menu 1EDIT2OPRT3SYS 4MON INFORMATION controller V13 13 TPB V 2 10 robot type 90 2 The controller version number TPB ver...

Page 174: ... function places limits on controller operation when in SERVICE mode state When the SERVICE mode function is enabled the ERCX controller constantly monitors status to check whether SERVICE mode state occurs In SERVICE mode state the SERVICE mode func tion does the following Limits command input from any device other than the TPB Limits robot movement speed Prohibits automatic operation and step op...

Page 175: ...tails Only commands input from the TPB are permitted in SERVICE mode state Only commands input from the TPB and parallel I O are permitted in SERVICE mode state Only commands input from the TPB and option unit are permitted in SERVICE mode state Command inputs are not limited even in SERVICE mode state Limiting the robot movement speed Moving the robot at a high speed while an operator is working ...

Page 176: ... operator is working within the robot safety enclosure without using the TPB the operator may be exposed to a dangerous situation For example a hazardous situation may occur if the operator working within the safety enclosure should trip or fall by accident and blackout To prevent this kind of hazard the Hold to Run function allows the robot to move only during the time that the TPB key is kept pr...

Page 177: ...d SYS SAFE select menu 1ACLV2SVCE SYS SAFE SVCE select menu 1SET 2DEV 3SPD 4next SYS SAFE SVCE SET SERVICE mode 0 0 Invalid 1 Valid 2 Press F4 next to change the menu display and then press F1 SAFE 3 The password request screen appears Enter the password and then press 4 When the password is correct the screen shown on the right appears Press F2 SVCE here 5 Press F1 SET 6 The current SERVICE mode ...

Page 178: ...T SERVICE mode 1 0 Invalid 1 Valid n NOTE The password is identical to the ERCX controller s version number For example if the controller version is 13 13 enter 13 13 as the password Once the password is accepted it will not be requested unless the TPB is disconnected from the controller or the controller power is turned off ...

Page 179: ...equest screen appears Enter the password and then press 4 When the password is correct the screen shown on the right appears Press F2 SVCE here 5 Select the item whose setting you want to change To change the setting that limits the operation device press F2 DEV To change the setting that limits the speed press F3 SPD To change the setting that limits step operation and automatic operation press F...

Page 180: ...d off press F2 CHG To cancel changing the setting press F3 CANCEL SYS SAFE SVCE DEV data 1 PB DI valid 1SAVE2CHG 3CANCEL SYS SAFE SVCE DEV data 1 PB DI valid 8 When writing is complete the screen returns to step 6 n NOTE The password is identical to the ERCX controller s version number For example if the controller version is 13 13 enter 13 13 as the password Once the password is accepted it will ...

Page 181: ...s 2no SYS UTL select menu 1HDPR 2 Press F4 next to change the menu display and then press F3 UTL 3 Press F1 HDPR here 4 A confirmation message appears To permit display of the hidden parameters press F1 yes To hide the hidden parameters press F2 no 5 The screen returns to step 3 Display of hidden parameters is permitted un til you press F1 HDPR and then F2 no or the ERCX controller is turned off o...

Page 182: ...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 1SAVE2LOAD 2compati 3FMT 4ID SYS B UP SAVE select save type 1normal SYS B UP SAVE select card AREA AREA _ 0 2 1ID 3 Next press F2 B UP 4 Press F1 SAVE 5 Specify the format to save the data Press F1 normal to save the data in the ERCX standard format Press F2 c...

Page 183: ...ake identification ID _ effective key 0 9 SYS B UP SAVE AREA1 save OK ID 00 02 01 1yes 2no SYS B UP SAVE AREA1 saving SYS B UP select menu 1SAVE2LOAD3FMT 4ID SYS B UP ID AREA 0 00 01 01 AREA 1 00 01 10 AREA 2 9 Set an ID number for the data being saved Using the number keys 0 to 9 the minus key and the period key enter a number of up to eight characters and then press 10 A confirmation message app...

Page 184: ...OAD3FMT 4ID SYS B UP LOAD select card AREA AREA _ 0 2 1ID SYS B UP ID AREA 0 00 01 01 AREA 1 00 01 10 AREA 2 3 Next press F2 B UP 4 Press F2 LOAD 5 Specify the load area in the memory card Enter the load area with the number keys and press 6 The saved status of data on the memory card can be checked by pressing F1 ID in step 5 To check the saved status in AREA 3 onward press STEP UP or STEP DOWN t...

Page 185: ...sage appears ask ing whether to overwrite the data Pressing F1 yes overwrites the data only with the same program numbers or point num bers The previous data remains if its program or point number differs from the program or point number to be loaded Pressing F2 no loads the data after initial izing the data in the ERCX controller When F4 ALL was selected in step 7 all data in the ERCX controller ...

Page 186: ...AVE2LOAD3FMT 4ID 3 Next press F2 B UP 4 Press F3 FMT 5 A confirmation message appears To format the memory card press F1 yes To cancel press F2 no 6 Select the format type To perform the ERCX standard formatting press F1 normal To perform the SRC SRCA compatible format ting the press F2 compati 7 This screen is displayed while the memory card is being formatted 8 When formatting is complete the sc...

Page 187: ...ect menu 1EDIT2OPRT3SYS 4MON SYS select menu 1PRM 2B UP3INIT SYS B UP select menu 1SAVE2LOAD3FMT 4ID SYS B UP ID AREA 0 00 01 01 AREA 2 00 02 11 AREA 1 00 01 10 3 Next press F2 B UP 4 Press F4 ID 5 The ID number of each area is displayed on the screen To check the saved status in AREA 3 onward press STEP UP or STEP DOWN to scroll the screen To return to the screen in step 4 press ESC ...

Page 188: ...when there is currently no overload you can raise the acceleration or maximum speed or shorten the robot stop time raise the duty ratio There are the following two methods to measure the duty Method 1 On the TPB select DUTY mode and measure the duty during robot movement with a point movement command ABS PT INC PT or a program start command AUTO R STEP R via the I O connector Method 2 Specify an i...

Page 189: ... 012 013 014 015 016 017 018 DO 0 1 WAIT 1 1 DO 0 0 TIMR 100 DUTY 1 Start operation duty measurement DO 0 0 WAIT 0 1 MOVA 2 100 DO 0 1 WAIT 1 1 DO 1 0 TIMR 100 DUTY 0 Stop operation duty measurement DO 0 0 Operation duty measurement interval 2 Run the program including the operation duty measurement interval 3 Stop end the program 4 On the TPB select DUTY mode and check the measurement result Refe...

Page 190: ... DUTY select menu 1RUN 2STOP 2STOP 3RSLT 3RSLT MON DUTY select menu measuring 1RUN 2STOP3RSLT MON DUTY select menu 1RUN MON DUTY RSLT measuring result X 12 2 Next press F2 DUTY 3 Press F1 RUN to start measuring the operation duty 4 Press F2 STOP to stop measuring the operation duty 5 Next press F3 RSLT to display the measurement result on the TPB screen 6 The operation duty value appears as a perc...

Page 191: ... data and point data or control the robot operation using a PC personal computer by RS 232C communication instead of using the TPB This chapter describes how to set the communication parameters required to communicate between the PC and the ERCX controller and also explains the communication command specifications ...

Page 192: ...nication parameter settings from the TPB PRM47 settings default value 0 bit Function Selection 15 to 9 8 7 to 4 3 2 1 to 0 Reserved Termination code Transmission speed Data bit length Stop bit length Parity check Always set to 0 0 CR LF 0 9600bps 4 2400bps 1 300bps 5 4800bps 2 600bps 6 9600bps 3 1200bps 7 to 15 Cannot be set 1 CR 0 8 bits 0 1 bit 1 7 bits 1 2 bits 0 Odd 1 Even 2 to 3 Non Example T...

Page 193: ... type Controller side Signal Name F G TXD RXD RTS CTS D G Pin No 1 2 3 4 5 7 Computer side Signal Name F G TXD SD RXD RD RTS RS CTS CS D G SG DSR DR DCD CD DTR ER Pin No 1 2 3 4 5 7 6 8 20 11 2 2 Connecting to the computer with a 9 pin D sub connector Connector model controller side Mating connector type No XM2A 2501 OMRON or equivalent type Mating connector cover type No XM2S 2511 OMRON or equiva...

Page 194: ... the only ones that do not require a start or an end code A communication command is basically composed of an operation code and an operand De pending on the command statement either no operand is used or up to three operands are used Items in brackets can be omitted The character codes used in the ERCX series are the JIS8 unit system codes ASCII codes with katakana characters added Input characte...

Page 195: ...ts step operation Turns servo off Turns servo on Performs jog movement inching along X axis Performs jog movement along X axis Directly moves to specified position Moves to specified position Moves specified movement amount Moves in response to general purpose input Turns off general purpose output or memory output Turns on general purpose output or memory output Waits general purpose input or mem...

Page 196: ... robot number Reads total operation time of controller Reads alarm history Confirms emergency stop status Confirms servo status Confirms return to origin status Confirms operation mode Reads current point variable P Reads general purpose input or memory input status Reads general purpose output or memory output status Reads specified parameter data Reads specified multiple parameter data Reads spe...

Page 197: ...ep number step number program number copy destination number of points Initializes program data Initializes point data Initializes robot parameters Initializes timer that measures total operation time Initializes alarm history Initializes error history Switches program number to be run Switches task number to be run Inserts one program step Deletes one program step Modifies one program step Copies...

Page 198: ...3 NG c r I f Return to origin by the mark method is not complete 32 origin incomplete c r l f n NOTE Once return to origin is performed after the robot cable and absolute battery are connected there is no need to repeat it even when the controller is turned off As an exception return to origin becomes incomplete if the absolute backup function is disabled or a parameter relating to the origin is c...

Page 199: ...xecuted 3 RUN This executes a program all the way to the last step In the case of a multi task program all tasks are executed Transmission example RUN c r l f Response example 1 STOP c r l f The last step of the program has been executed 60 program end c r l f Response example 2 NG c r l f Return to origin has not been performed Execute the command again after perform ing return to origin 32 origi...

Page 200: ...Movement speed 100 PRM26 100 mm sec PRM26 Teaching movement data c CAUTION If the robot uses a rotary axis the movement distance is expressed in deg sec c CAUTION The soft limit will not work unless return to origin has been performed 8 MOVD X axis position mm speed Moves the robot to a specified coordinate position X axis position Directly specify the target position to move the robot to If the r...

Page 201: ...e robot a distance specified by a point number from the current position at a specified speed Point number This is a number assigned to each point position data and can be from 0 to 999 a total of 1 000 points Data for the point numbers can be edited with the WRITE PNT statement The point variable P can also be used Speed The speed can be set to any level between 1 and 100 If PRM30 Maximum program...

Page 202: ...t with PRM9 MOVF speed and independent of the PRM30 setting Maximum program speed 12 DO general purpose output or memory output number output status Turns a general purpose output or memory output on or off Output number Specify one of the general purpose outputs from 0 to 12 13 points or one of the memory outputs from 100 to 131 32 points Output status Specify 1 ON or 0 OFF Transmission example D...

Page 203: ...nt variable P are held even when the ERCX is turned off However when the program is reset or when the program reset is applied for example by switching the execution program the point variable P will be initialized to 0 16 P Adds 1 to the point variable P Transmission example P c r l f Increments the point variable P P P 1 Response example OK c r l f 17 P Subtracts 1 from the point variable P Tran...

Page 204: ... that the robot operates on the Cartesian coordinate system Because only a single axis robot is controlled with the ERCX the actual movement is linear even if a 2 dimensional matrix is defined 19 MAT number of rows number of columns pallet number Defines a matrix This command is available with controller version 13 23 or later Number of rows Set the number of rows from 1 to 255 Number of columns S...

Page 205: ...o 100 Response example OK c r l f 23 C addition value Adds a specified value to the counter array variable C This command is available with controller version 13 23 or later Addition value This can be any value from 1 to 65535 If this value is omitted then 1 is added to the counter array variable Transmission example C c r l f Increments the counter array variable C C C 1 Response example OK c r l...

Page 206: ...ecrements the counter variable D D D 1 Response example OK c r l f 28 SHFT point number Shifts the position data by an amount equal to the distance defined by a specified point number The shifted data is valid until the SHFT statement is executed again or until the program is reset This command is available with controller version 13 23 or later Point number This is a number used to identify each ...

Page 207: ...the JMP or CALL statement etc OK c r l f 3 SNO Reads the current step number The RUN and SRUN commands are executed from the step read here In multi task operation this command reads the program information on the task cur rently selected Transmission example SNO c r l f Response example 170 c r l f OK c r l f 4 TNO Reads the current task number Transmission example TNO c r l f Response example 0 ...

Page 208: ...existing steps the steps equivalent to the number of programs are used internally as the program control steps For example if one program with 50 steps is registered the number of the available remaining steps will be 2949 steps 3000 1 50 2949 8 VER Reads the ROM version in the ERCX controller Transmission example VER c r l f Response example 13 13 c r l f OK c r l f 9 ROBOT Reads the type of the ...

Page 209: ...ry is omitted only one alarm is displayed Transmission example ALM 0 2 c r l f Displays the two most recent alarms that occurred Response example 00101 05 11 12 X04 POWER DOWN c r l f 00096 18 10 02 X04 POWER DOWN c r l f OK c r l f The most recent alarm that occurred was a voltage drop alarm occurring 101 days 5 hours 11 minutes and 12 seconds after the ERCX controller has started The next most r...

Page 210: ...e P In multi task operation this command reads the program information on the task currently selected Transmission example PVA c r l f Response example 0 c r l f OK c r l f c CAUTION The contents of the point variable P are held even when the ERCX is turned off However when the program is reset or when the program reset is applied for example by switching the execution program the point variable P...

Page 211: ...umber This is a number used to identify each parameter and can be from 0 to 63 Transmission example PRMl c r l f Reads the data from PRM1 parameter 1 Response example 1 350 c r l f OK c r l f Response example 2 c r l f No data is registered in PRM1 parameter 1 OK c r l f 19 2 PRM parameter number parameter number Reads multiple parameter data from the first parameter number to the second parameter...

Page 212: ...ata from points 15 to 22 Response example P15 100 00 c r l f P16 32 11 c r l f P20 220 00 c r l f P22 0 50 c r l f OK c r l f 21 1 READ program number step number number of steps Reads a specified number of step data from a specified step in a program If the number of steps from the specified step to the final step is less than the number of steps specified here the com mand execution will end whe...

Page 213: ... JMPF 0 31 13 c r l f NO31 c r l f STOP c r l f Z 1AH OK c r l f 21 3 READ PNT Reads all point data Transmission example READ PNT c r l f Response example P0 0 00 c r l f P1 350 00 c r l f P2 196 47 c r l f P254 0 27 c r l f Z 1AH OK c r l f 21 4 READ PRM Reads all parameter data Transmission example READ PRM c r l f Response example PRM0 20 c r l f PRM1 350 c r l f PRM40 2 c r l f Z 1AH OK c r l ...

Page 214: ... c r l f c r l f P0 0 00 c r l f P1 550 00 c r l f Z 1AH OK c r l f 21 6 READ DIO Reads the on off status of DIO Refer to 4 3 4 DIO monitor screen Transmission example READ DIO c r l f Response example D I 00000000 00000000 c r l f 10000000 c r l f DO 00000000 11000000 c r l f XO 0 XS 1 c r l f OK c r l f 21 7 READ MIO Reads the on off status of memory I O From the left the top line shows MIO numb...

Page 215: ... MOVA 0 100 c r l f JMPF 0 31 12 c r l f NO31 c r l f STOP c r l f Z 1AH OK c r l f c CAUTION When WRITE PGM is executed the previous data of the same program number is overwritten The previous data remains as long as its program number differs from the program number to be written 22 2 WRITE PNT Writes the point data The controller will transmit READY when this command is received Con firm that R...

Page 216: ...eived Confirm that READY is received and then transmit all data Always transmit Z 1AH at the end of the data Transmission example Send Receive WRITE ALL c r l f READY c r l f PRM0 20 c r l f PRM1 350 c r l f c r l f NO10 c r l f CALL 0 20 c r l f STOP c r l f c r l f P1 550 00 c r l f Z 1AH OK c r l f c CAUTION Always place one or more empty line to separate between each data group parameters prog...

Page 217: ... 00101 05 11 12 PIO 52 NO POINT DATA c r l f 01 00096 18 10 02 CMU 30 SOFT LIMIT OVER c r l f OK c r l f The most recent error that occurred was a no point data error in a parallel I O com mand occurring 101 days 5 hours 11 minutes and 12 seconds after the ERCX controller has started The next most recent error was a soft limit over error during TPB or RS 232C operation occur ring 96 days 18 hours ...

Page 218: ...r version 13 23 or later Element number This is a number used to specify each array element and can be from 0 to 31 If this entry is omitted the element number selected with the CSEL command is used Transmission example C c r l f OK c r l f Response example 21202 c r l f OK c r l f 28 D Reads the counter variable D This command is available with controller version 13 23 or later Transmission examp...

Page 219: ...tialized to match the model T4 robot Response example OK c r l f c CAUTION After initialization change the lead length parameter PRM12 to match the robot lead length 1 4 INIT CLOCK Initializes the timer to 0 which is used to measure the total operation time of the ERCX controller The alarm history and error history are also initialized at this point Transmission example INIT CLOCK c r l f Response...

Page 220: ...smission example SWITSK 1 c r l f Response example 1 OK c r l f Response example 2 NG c r l f The specified task was not found 72 not execute task c r l f 4 SINS program number step number Inserts data in a specified step of a specified program All data below the inserted data will shift down one line If the step following the last step is specified a new step will be added If the first step of a ...

Page 221: ...EADY is received and then transmit the modification data Program number This is a number used to identify each program and can be from 0 to 99 Step number This is a number used to identify each step and can be from 1 to 255 Transmission example 1 Send Receive SMOD 0 5 c r l f READY c r l f TIMR 50 c r l f OK c r l f Transmission example 2 Send Receive SMOD 0 5 c r l f NG c r l f 43 cannot find PGM...

Page 222: ...ample 2 NG c r l f The program to be deleted is not registered 43 cannot find PGM c r l f 9 PDEL point number number of points Deletes point data Deletes the specified number of points starting with the point number speci fied here Point number This is a number assigned to each point and can be from 0 to 999 Number of points Any number between 1 and 999 can be specified Transmission example PDEL 1...

Page 223: ...lists all of the messages that are displayed on the TPB or sent to the PC personal computer to inform the operator of an error in operation or a current status For a list of the alarm messages displayed if any trouble occurs refer to 13 2 Alarm and Countermeasures ...

Page 224: ...ror No 21 Error No 22 Error No 23 Error No 24 Message Cause Action Message Cause Action Message Cause Action Message Cause Action Message Cause Action no start code The start code has not been added at the beginning of the command Always make sure the command begins with a start code illegal type The command is erroneous Use the correct command line buf overflow The number of characters in one lin...

Page 225: ... another command origin incomplete The command cannot be executed because a return to origin has not yet been completed Complete a return to origin first Charge the absolute battery if not charged emergency stop The command cannot be executed because an emergency stop is triggered Cancel the emergency stop servo off The command cannot be executed because the servo is off Turn servo on system error...

Page 226: ...r program by a JMP or JMPF statement q Reduce the number of CALL statements used in a CALL statement to 6 or less w Review the program cannot find label The specified label cannot be found Create the required label cannot find step The specified step cannot be found Check whether the step number is correct cannot find PGM The specified program cannot be found Check whether the program number is co...

Page 227: ...CX controller PRM8 data error The number of conditional input points is set to something other than 1 to 8 Correct the setting for the PRM8 parameter robot type error Unsuitable parameter data was transmitted to the controller Initialize the parameters Transmit the correct parameter data 12 1 6 Multi task error message Error No 70 Error No 71 Error No 72 Message Cause Action Message Cause Action M...

Page 228: ...AMAHA for consultation 2 Turn all dedicated command inputs off before connecting the TPB bad format The memory card is not formatted Format the memory card save error Error in writing to the memory card Replace the memory card load error The memory card data is damaged Format or replace the memory card checksum error The memory card data is damaged Format or replace the memory card battery error T...

Page 229: ...gth containing the c r l f will be 22 charac ters 12 3 2 Stop messages No 60 No 61 No 62 No 63 No 64 Message Meaning Message Meaning Message Meaning Message Meaning Message Meaning program end Execution has stopped because the program has ended stop key Execution has stopped because the Stop key on the TPB was pressed interlock Execution has stopped because an I O interlock was applied stop comman...

Page 230: ... controller version is 13 50 or later and the TPB version is 12 18 or later 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 press F4 next to change the menu display and then press F3 UTL 3 Press F2 REC 4 Press F2 ERR 12 4 Displaying the Error History ...

Page 231: ...YS UTL REC select menu 1ALM 00 00101 05 11 12 CM 01 00096 18 10 02 PI 02 00080 10 07 33 CM 03 00015 20 35 45 CM 00 00101 05 11 12 CMU 62 Interlock q w e r q History number w Time the error occurred The above example means that the error occurred 101 days 5 hours 11 minutes and 12 seconds after controller start up e Movement command control mode imme diately before the error occurred CMU TPB or RS ...

Page 232: ...12 10 MEMO ...

Page 233: ...G Chapter 13 TROUBLESHOOTING This chapter explains how to take corrective action when a problem or breakdown occurs by categorizing it into one of two cases depending on whether or not an alarm is output from the controller ...

Page 234: ...t model name T4 12 300 Controller version Ver 13 13 Power supply for controller 24V 3A 24V power supply for I O Shared with power supply for ERCX controller or used separately from it When purchased How long used how often used Problem happened at power on One hour after power was turned on During automatic operation While writing a program When the robot was at a specific position Servo does not ...

Page 235: ...larm message c r l f The alarm number is displayed in two digits so a one digit number is prefixed with 0 like 01 The alarm message is displayed in a 17 character string length Spaces are added until the message contains 17 characters Therefore an message including c r and l f consists of 22 char acters To cancel the alarm To cancel the alarm turn the power off and after first eliminating the prob...

Page 236: ... the ERCX controller Check the power supply capacity If insufficient use a power supply having larger capacity Power is consumed mostly during return to origin of stroke end detection robot start up and acceleration deceleration Replace the battery If not possible to replace it immediately then temporarily set bit 3 of PRM34 to 1 Check the 24V power supply Check for short circuit using a multi met...

Page 237: ... Check the resolver signal wire connection Check the resolver signal wire connection Alarm No 07 08 09 10 11 12 13 14 15 Alarm Message P E COUNTER OVER PNT DATA DESTROY PRM DATA DESTROY PGM DATA DESTROY SYSTEM FAULT Not used Not used FEEDBACK ERROR 1 FEEDBACK ERROR 2 Meaning Overflow in position deviation counter Point data has been damaged Parameter data has been corrupted Program data has been c...

Page 238: ... 18 19 20 21 22 23 24 25 26 Alarm Message ABNORMAL VOLTAGE SYSTEM FAULT 2 FEEDBACK ERROR 3 SYSTEM FAULT 3 Not used Not used VERSION MISMATCH ABS BAT L VOLTAGE ABS DATA ERROR ABS DATA ERROR 2 FEEDBACK ERROR 4 Meaning Excessive voltage higher than 30V generated Controller s internal LSI error Motor cable is disconnected improperly wired or overload CPU error Wrong combination of PB and controller Th...

Page 239: ...e for electrical discontinuity or check whether the absolute battery is sufficiently charged Check whether bit 4 of PRM34 is set to 1 Action Check the voltage at the power cable plug If the voltage is correct replace the ERCX controller Check whether the emergency stop button of the TPB or the I O emergency stop input between EMG1 and EMG2 is on Turn the servo on with the I O servo recovery input ...

Page 240: ...ing the motor with another one Tighten if loose Replace the ball screw if necessary Correct the parameter setting Adjust the belt tension Reinstall the robot securely If the controller is used near a unit that generates noise such as welding machines and electric discharge machines move it as far away as possible If the entire unit cannot be moved then at least move the power supply away It might ...

Page 241: ...t the TPB and check the operation Check that the signal pulse width is 50ms or more After canceling emergency stop allow at least 200ms before inputting a dedicated command before inputting a dedicated command Check the signal by using the TPB DIO monitor Check the signal input by using a PLC monitor etc Action Make the correct wiring by referring to the connection diagram Correct the program Repl...

Page 242: ...he specified communication cable POPCOM cable is different from the communication cable As an alternative transmit DPBVER 210 in advance Upgrade the POPCOM WIN version Use POPCOM WIN Replace the ROM Replace the ROM Upgrade the version Use POPCOM WIN No 1 2 3 Possible Cause A dedicated I O command input is on The TPB cable is broken An old version DPB was used as the teaching box Communication cabl...

Page 243: ... stored in the controller This function is available with TPB version 12 18 or later 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 press F4 next to change the menu display and then press F3 UTL 3 Press F2 REC 4 Press F1 ALM ...

Page 244: ... STEP DOWN keys to sequentially scroll through the alarm list 2ERR SYS UTL REC 1ALM select menu 00 00101 05 11 12 X0 01 00096 18 10 02 X0 02 00080 10 07 33 X0 03 00015 20 35 45 X0 00 00101 05 11 12 X04 POWER DOWN q w e q History number w Time the alarm occurred The above example means that the alarm occurred 101 days 5 hours 11 minutes and 12 seconds after controller start up e Alarm description S...

Page 245: ...14 1 14 MAINTENANCE AND WARRANTY Chapter 14 MAINTENANCE AND WARRANTY For safety purposes always turn the power off before starting robot maintenance cleaning or repairs etc ...

Page 246: ...re information http www dtsc ca gov hazardouswaste perchlorate 14 3 Replacing the Absolute Battery The absolute battery will wear down and must be replaced Replace the battery when its service life has expired or when problems with backing up data occur even when the battery charge time was long enough Though battery wear depends on the number of charges and the ambient temperature both B1 type an...

Page 247: ...oller 5 With the I O connector still unplugged turn on the power to the controller again 6 The controller enters the system setup mode and the YAMAHA copyright message appears on the PC screen 7 Type UPDATA and press the Return Enter key 8 The controller then returns READY message so transfer the new system data It will take about 5 minutes to transfer all the data 9 An OK response is returned whe...

Page 248: ...14 4 MEMO ...

Page 249: ...15 1 15 SPECIFICATIONS Chapter 15 SPECIFICATIONS ...

Page 250: ...full digital servo PTP Resolver with multi turn data backup function 100 step setting possible per program step Automatically set according to robot type and payload 100 step setting is also possible with acceleration parameter Handled with parameters special Servo gain current limit etc 16384P R Lead length is selectable during initialization or by parameter setting 256K bytes with CPU incorporat...

Page 251: ...Robot or controller operation status The power is off or fuse is blown Servo motor is on Ready to operate Error occurred Alarm is being issued Emergency stop Emergency stop is canceled Servo off 15 1 4 Absolute Battery Unit The absolute battery unit has the following basic specifications Either B1 or B2 type is supplied depending on the request by the user B1 B2 Basic specifications Battery type C...

Page 252: ...re Storage temperature Ambient humidity Noise immunity W107 H235 D47mm 590g 5 V 200 mA max DC12V supplied form the controller Standard 3 5m RS 232C one channel for communications with controller Liquid crystal 20 characters 4 lines 29 keys membrane switch emergency stop button Normally closed contact with lock function IC memory card 0 to 40 10 to 65 35 to 85 RH no condensation Conforms to IEC6100...

Page 253: ...16 1 16 APPENDIX Chapter 16 APPENDIX ...

Page 254: ... with the absolute battery removed 1 Set bit 4 to 0 in PRM34 system mode selection parameter to disable the absolute backup function Bit 4 is set to 1 as the default value so that PRM34 16 If bits other than bit 4 can stay the default value without causing problems just enter 0 in PRM34 See PRM34 System mode selection 2 Turn off power to the controller and remove the absolute battery from the cont...

Page 255: ... careful not to insert the memory card facing the wrong direction The mark should be facing upward A pin for preventing reverse insertion is provided 3 Insert or pull out the memory card only when the power is supplied to the TPB 4 Never eject the memory card while backing up data 5 The memory card should be used under the following environmental conditions Ambient temperature range 10 to 40 C Amb...

Page 256: ... 18 Up to 3 units of ERCX Up to 10 units of ERCX Up to 3 units of ERCX Up to 10 units of ERCX TPB Ver 12 12 or later Up to 3 units of ERCX Up to 10 units of ERCX Up to 48 units of ERCX Up to 160 units of ERCX Cannot be used ERCX data can be shared with SRC and SRCA by making the save format compatible with each other Please note however that there are the following limitations Number of steps in t...

Page 257: ...ncer ERCX controller I O connector Operation method 1 The LED monitor turns on lights and off goes out in conjunction with the input and output 2 The pseudo input switch is on when set to the upper side and off when set to the lower side However the INTERLOCK and EMG inputs are opposite they are on when set to the lower side and off when set to the upper side Thus if all of the switches are set to...

Page 258: ...ns 18 and 21 Input response 5ms or less Input current 33 3mA DC24V When the PC has a D sub 25 pin connector Signal name Controller PC Pin No F G TXD RXD RTS CTS D G HSTCK HSES1 HSES2 1 2 3 4 5 7 12 18 21 Pin No Signal name 1 2 3 4 5 7 6 8 20 F G TXD SD RXD RD RTS RS CTS CS D G SG DSR DR DCD CD DTR ER When the PC has a D sub 9 pin connector Signal name Controller PC Pin No F G TXD RXD RTS CTS D G H...

Page 259: ...MEMO ...

Page 260: ... 08 of Japanese manual Revision record Manual version Issue date Description Ver 6 02 Jan 2007 Clerical error corrections Ver 6 03 Jul 2007 Cautions about loading the data from the controller were added Clerical error corrections etc Ver 6 04 Oct 2007 Addition of error message and caustion about loading of unsuitable robot data Addition of customize function for END output timing in execution of d...

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