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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.

Summary of Contents for SRCP

Page 1: ...User s Manual ENGLISH E YAMAHA SINGLE AXIS ROBOT CONTROLLER E84 Ver 2 04 SRCP ...

Page 2: ......

Page 3: ...or and signal table 2 6 2 6 Connecting to the I O CN Connector 2 7 2 7 Connecting to the EXT CN Connector 2 8 2 8 Connecting to the Regenerative Unit 2 9 Chapter 3 I O INTERFACE 3 1 3 1 I O Signals 3 2 3 1 1 I O CN connector signals 3 2 3 1 2 EXT CN connector 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 DI7 3 6 3 2 3 SERVICE mode...

Page 4: ...ata 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 Utility 6 12 6 3 1 Copying a program 6 12 6 3 2 Deleting a program 6 13 6 3 3 Vie...

Page 5: ... sorting 8 27 8 5 6 Switching the program from I O 8 29 8 5 7 Axis movement and I O multi task 8 31 8 5 8 Turning ON general purpose outputs during robot movement after a certain time has elapsed 8 32 8 5 9 Turning ON a general purpose output during robot movement when it has passed a specified position 8 33 Chapter 9 OPERATING THE ROBOT 9 1 9 1 Performing Return to Origin 9 2 9 2 Using Step Opera...

Page 6: ...ption 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 1 Error message specifications 12 2 12 1 2 Command error message 12 2 12 1 3 Operation error message 12 3 12 1 4 Program error message 12 4 12 1 5 System error message 12 5 12 1 6 Multi task error message 12 5 12 2 TPB Error Messages 12 6 12 3 Stop M...

Page 7: ...ot number list 15 3 15 1 3 LED display 15 3 15 2 TPB 15 4 15 2 1 Basic specifications 15 4 15 3 Regenerative Unit RGU 2 15 5 15 3 1 Basic specifications 15 5 15 3 2 Dimensions 15 5 Chapter 16 APPENDIX 16 1 16 1 How to Handle Options 16 2 16 1 1 Memory card 16 2 16 1 2 POPCOM communication cable 16 4 ...

Page 8: ...vi MEMO ...

Page 9: ...th a YAMAHA single axis PHASER series robot the SRCP 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 SRCP 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 t...

Page 10: ...ature The TPB programming box option allows interactive user operation by simple menus that permit immediate use The robot can also be operated from a personal computer PC just the same as TPB when the POPCOM software option is installed in the PC Programs for robot operation can be written with an easy to learn robot language that closely resembles BASIC Even first time users will find it easy to...

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 8 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: ...sition signals 6 I O CN This is used to connect external equipment such as a PLC 7 EXT CN Connector for emergency stop signal input This connector also supplies 24V power for the I O devices 8 Motor Connector This is the power line connector for the servo motor 9 Regenerative Unit Connector RGEN connector Some types of robots require connection to a regenerative unit In such cases use this to con ...

Page 13: ...1 5 1 OVERVIEW 1 3 External View and Part Names Fig 1 1 Exterior of the SRCP controller SRCP 05 SRCP 10 20 SRCP 05A 10A 20A 1 2 3 8 9 10 4 5 6 7 1 2 3 8 10 4 5 6 7 11 1 2 3 8 9 10 4 5 6 7 11 11 ...

Page 14: ... T1 T2 250 265 290 157 78 19 5 5 40 250 EMG 24V 24G 2 注意 CAUTION 高温注意 HIGHTEMPERATURE L N ACIN U V W PWR G ESC TPB ROB I O I O MOTOR ERR R SRCP COM 200 230V 50 60Hz MAX 400VA 265 290 157 78 19 5 5 40 250 SRCP 10 20 SRCP 05 COM L N T1 T2 ACIN1 PWR N P U V W PWR G ESC TPB ROB I O I O RGEN MOTOR ERR R NC NC SRCP MODEL SER NO FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN EMG 24V 24G SRCP 10A 250 265 290 ...

Page 15: ...ction Cable This cable connects the TPB to the SRCP controller 5 DC Power Input Terminal Not used 6 Emergency Stop Button This is the emergency stop button 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 16: ...software POPCOM are sold separately SRCP Controller RS 232C communication control or TPB programming box IC memory card Power supply General purpose input 8 points dedicated input 8 points General purpose output 5 points dedicated output 3 points Support software POPCOM Single axis robot PHASER series Gripper limit switches etc External control PLC and similar units I O control Personal computer 2...

Page 17: ...ontroller 1 TPB This is a hand held programming box that connects to the SRCP 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 the TPB 2 IC memory card An IC memory card can be used with the TPB to back up programs point data and parameter data...

Page 18: ...1 10 MEMO ...

Page 19: ...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 20: ...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 21: ...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 ele ments in the SRCP controller 2 2 2 Connecting the power supply Connect the power supply to the power terminal block on the front panel of the SRCP controller Make correct connections whil...

Page 22: ...Leakage current c CAUTION 1 Leak current was measured with a leak tester with a low pass filter turned on 100Hz Leak tester Hioki Electric 3283 2 When using two or more controllers sum the leakage current of each controller 3 Make sure that the controller is securely grounded 4 Stray capacitance between the cable and FG may vary depending on the cable installation condition causing the leakage cur...

Page 23: ...re required please consult your YAMAHA sales office or representative 2 3 Grounding The SRCP controller must be grounded to prevent danger to personnel from electrical shocks in case of electrical leakage and prevent equipment malfunctions due to electrical noise We strongly recommend that Class D grounding resistance of 100 ohms or less or higher grounding be provided For grounding the controller...

Page 24: ...minal No Signal name Description Terminal No Description PS PS PC PC 5V GND Z Z DG DG NC ORG 24V 24V 0V 0V BK BK NC FG Position SIN input Position SIN input Position COS input Position COS input 5V GND Linear scale Z Linear scale Z Digital ground Digital ground No connection Origin sensor input Origin sensor 24V Origin sensor 24V Origin sensor 24GND Origin sensor 24GND Brake Brake No connection Fr...

Page 25: ... O CN terminal on the SRCP series control ler is as follows Mating connector type No XG4M 4030 U OMRON SRCP s I O CN connector type No XG4C 4034 A20 A19 A18 A17 A16 A15 A6 A5 A4 A3 A2 A1 B20 B19 B18 B17 B16 B15 B6 B5 B4 B3 B2 B1 Triangular mark B20 A20 B19 A19 B18 A18 B3 A3 B2 A2 B1 A1 c CAUTION Regardless of whether I O control is used or not DC 24V power must be supplied to EXT CN to enable robo...

Page 26: ...ire insertion side as shown in the drawing To make the wiring hookup to the mating connector WAGO 733 104 insert the wire lead into the terminal slot while pressing down the internal spring with a slotted screwdriver through the top slot If you have a dedicated tool insert it into the smaller slot just above each terminal slot for wire insertion to make a quick connection c CAUTION Regardless of w...

Page 27: ...he Regenerative Unit Some types of robots must be connected to a regenerative unit In such cases use the interconnection cable to connect the SRCP controller to the regenerative unit Fig 2 3 Connecting the SRCP controller to a regenerative unit Use the interconnection cable to make connections ...

Page 28: ...2 10 MEMO ...

Page 29: ...also directly connect to and control actuators such as valves and sensors To construct a system utilizing the features of the SRCP series you must understand the signals assigned to each terminal on the I O CN and EXT CN and how they work This chapter covers this fundamental information This chapter also provides examples of I O circuit connections and timing charts for expanding the system by usi...

Page 30: ... progress output Frame ground Signal ground Reserved Do not use Reserved Do not use Feedback pulse output Feedback pulse output Feedback pulse output Feedback pulse output 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 INC PT STEP R RESET LOCK DI1 DI3 DI5 DI7 SVCE DO1 DO3 END READY FG GND NC NC PA PB PZ PZM Relative point movement command Step operation start command Reset command Interlo...

Page 31: ...USY signal is on this means that 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 a...

Page 32: ... relative distance from the stopped position by the interlock 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 ...

Page 33: ...e 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 off cont...

Page 34: ...peed specified by the parameter See 5 2 Parameter Description Also see the tables below for more details NORMAL mode SERVICE mode disabled SERVICE mode enabled PRM7 100 default setting 1 to 99 0 100 default setting 1 to 99 DI used to specify point numbers DI7 to DI0 256 points DI6 to DI0 128 points DI5 to DI0 64 points DI6 to DI0 128 points DI5 to DI0 64 points DI used to specify speed Not specifi...

Page 35: ... 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 signal is turned off contact open the robot remains stopped even after this input is turned back on contact closed until another command AUTO R...

Page 36: ...uld be turned off contact open when the BUSY 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 exec...

Page 37: ... DO0 to DO4 can be used to perform the following specific functions by parameter setting Function name Alarm output Return to origin complete output Servo ON status output Zone output Parameter PRM32 Alarm number output PRM33 Operation at return to origin complete PRM46 Servo status PRM53 Zone output Usable general purpose input DO0 to DO4 DO4 DO3 DO0 to 3 For more details see 5 2 Parameter Descri...

Page 38: ...nnected between input terminal and 0V terminal Input response 30ms max Input current 5mA DC24V Input sensitivity Current on 3mA min Current off 1mA max Emergency stop input circuit Input terminal Relay contact connected between emergency stop inputs 1 and 2 between EMG1 and EMG2 Input response 5ms max Input current 40mA DC24V Output Circuit Insulation method Photocoupler insulation between interna...

Page 39: ...tion example External DC24V power supply Push button NPN transistor Incandescent lamp Solenoid valve Input signal Photocoupler Output signal Controller side DI DO DO DI 24V 24G FG Pulse output circuit connection example 26LS32 or equivalent 26LS31 or equivalent Controller side PA PA PB PB PZ PZ PZM PZM ...

Page 40: ...nal DC 24V power supply Y00 Y01 Y02 Y03 Y04 Y05 Y06 Y07 Y08 Y09 Y0A Y0B Y0C Y0D Y0E Y0F DC24V 0V Y10 Y11 Y12 Y13 Y14 Y15 Y16 Y17 Y18 DC24V 0V A5 B5 A6 B6 A7 B7 A8 B8 B4 A4 B3 A3 B2 A2 B1 A1 DI 0 DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 LOCK SERVO RESET ORG S STEP R AUTO R INC PT ABS PT EMG 1 EMG 2 24V 24G TB 1 2 R R R 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 35 36 FG I O CN EX...

Page 41: ...t AX41 type input unit SRCP series controller External DC 24V power supply Photocoupler Internal circuit X01 X00 X02 X03 X04 X05 X06 X07 DC24V X08 X09 X0A X0B X0C X0D X0E X0F DC24V B12 A12 B11 A9 B9 A10 B10 A11 TB 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 3 4 READY BUSY END DO 0 DO 1 DO 2 DO 3 DO 4 24V 24G R R FG I O CN EXT CN ...

Page 42: ...is state In contrast when the power is on while emergency stop is triggered the SRCP controller starts with the READY signal turned off under emergency stop conditions Robot operation is pro hibited in this state To enable robot operation cancel the emergency stop to turn on the READY signal and then input a servo recovery command SERVO After turning the power on make sure that the END signal is o...

Page 43: ...progress and the END signal is 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...

Page 44: ...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 45: ...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 30ms or less 1ms or less 30ms or less END BUSY 1 At the rising edge of the dedicated command input the END signal turns off and the BUSY signal tur...

Page 46: ...e 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 off since the command execution stops before completion 5 The END signal remains off when the BUSY signal turns off indicating that ...

Page 47: ...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 READY END BUSY Alarm Dedicated command 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 48: ... 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 contact open the dedicated command input after checking that the BUSY signal turns on Now you may change the point data and speed...

Page 49: ...s to the SRCP 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 The TPB used with the SRCP series controller must be version 12 50 or later ...

Page 50: ...mmand then the execution will be inter rupted regardless of whether or not the ESC switch is held down 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 agai...

Page 51: ...command is being executed pull out the TPB while holding down the ESC switch on the front panel of the controller Failing to hold down the ESC switch will trigger emergency stop in the controller and turn off the servo When the TPB will be left disconnected from the controller for a long period of time we recommend attaching the RS 232C connector dust cover supplied to the TPB connector on the con...

Page 52: ...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 53: ...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 54: ...t 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 3 Dedicated and general purpose outputs From left READ...

Page 55: ...tion Speed Change RSET Program Reset CHG Program Change VAL Variable Monitor S_ON Servo ON CHGT Task Change MIO Memory IO Monitor EDIT Editing OPRT Operation SYS System CARD Memory Card SET Enable Disable Setting DEV Limitation to Operating Device SPD Speed Limitation RUN Step Run Auto Run Limitation HtoR Hold to Run Setting ALM Alarm ERR Error PGM Program Edit PNT Point Edit UTL Utility ORG Origi...

Page 56: ...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 57: ...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 24 00_ 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 58: ...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 SRCP controller s version number For exampl...

Page 59: ...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 60: ...xt press F1 PRM 3 Select the parameter group you want to edit When editing PRM0 to PRM63 press F1 PRM1 When editing PRM64 onward press F2 PRM2 4 The current PRM0 robot type number set ting appears on the screen The PRM64 set ting appears when F2 PRM2 was pressed in step 3 Use the STEP UP and STEP DOWN keys to scroll the parameters until you find the parameter you want to set 5 When the desired par...

Page 61: ...hidden parameters See 10 5 1 Viewing hidden parameters Take extra caution when handling hidden parameters PRM0 Robot type number This parameter shows the robot number currently used See 15 1 2 Robot number list This is a read only parameter When changing the robot number or if the memory contents are corrupted perform parameter initialization See 10 1 Initialization PRM1 soft limit The side robot ...

Page 62: ...rvice life of the robot might result PRM5 Return to origin direction This parameter sets the return to origin direction Normally return to origin is performed toward the L side when this parameter is set to 1 and toward the R side when set to 1 See our robot product catalog to check the L and R sides Input range 0 or 1 Default value Depends on robot type PRM6 Positioning completed pulse This speci...

Page 63: ...eral purpose input and setting range No of conditional input points 1 2 3 4 5 6 7 8 DI0 DI0 to DI1 DI0 to DI2 DI0 to DI3 DI0 to DI4 DI0 to DI5 DI0 to DI6 DI0 to DI7 0 to 1 0 to 3 0 to 7 0 to 15 0 to 31 0 to 63 0 to 127 0 to 255 General purpose input Setting range n NOTE When SERVICE mode is enabled DI7 functions as a service mode input SVCE Because of this the DI7 status will be the same as SERVIC...

Page 64: ...nt 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 the overload current PRM14 flows for a period of 3 seconds or an equivalent condition is detect...

Page 65: ... that the movement command has 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 ...

Page 66: ...is is entered in the TPB and cannot be used Input range 1 to 100 Default value 10 PRM30 Maximum program speed The speed data defined by the MOVA MOVI and MOVM statements in a program is multiplied by this parameter value to determine the maximum speed at which the robot actually moves This is used to lower the speed of the overall program When the TPB is used any speed changes in the AUTO and STEP...

Page 67: ...O0 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 completion of return to origin A signal can be output as a general purpose output indicating that return to origin has been completed or to reset the program Input range 0 to 3 Meaning 0...

Page 68: ...gnal OFF at normal command completion Setting Addition value 0 0 1 0 1 0 1 0 0 1 0 1 0 0 0 2 0 4 0 8 0 0 64 0 128 0 Bit 1 READY signal sequence setting This selects whether to set the READY signal sequence compatible with the DRCA or SRCA controller In DRCA compatible mode the READY signal turns on at the instant that emer gency stop is released In the SRCA compatible mode the READY signal turns o...

Page 69: ...be eliminated by setting the shift amount for this parameter to quickly correct the point data Input range 9999 to 9999 0 01mm Default value 0 The parameter change is enabled after reperforming return to origin PRM36 Origin search data This specifies the performance data for detecting the origin position during return to ori gin by the origin search method Default value Depends on robot type PRM37...

Page 70: ... by multiplying the execution speed displayed on the AUTO or STEP mode by this parameter see 4 3 1 Program execution screen Example When the execution speed display in the AUTO or STEP mode is 50 and this parameter is set to 30 the actual speed will be 2000mm sec 50 100 30 100 300mm sec when PRM44 2000 PRM43 I O point movement command speed 3 This parameter sets the speed at which the robot moves ...

Page 71: ... accepted When set to 1 or 3 the program runs even when return to origin has not been performed However an error return to origin incomplete is issued when a movement command MOVA etc is executed if return to origin is still incomplete To avoid this perform return to origin in advance or insert the ORGN command into the program Input range 0 to 3 Meaning 0 Checks whether return to origin has been ...

Page 72: ...o be changed This parameter functions are allocated in bit units Input range 0 to 255 Default value 0 Function allocation in bit units Function Bit Bit Selected value Addition value 15 to 8 0 0 7 0 0 6 1 64 5 0 0 4 0 0 3 0 0 2 1 4 1 1 2 0 0 0 PRM53 64 4 2 70 0 1 2 3 4 5 6 7 8 to 15 Zone 0 output enable setting Zone 1 output enable setting Zone 2 output enable setting Zone 3 output enable setting Z...

Page 73: ...ow Zone setting range and output port Zone No P900 P901 P902 P903 P904 P905 P906 P907 Zone 0 Zone 1 Zone 2 Zone 3 Specified range Output port DO0 DO1 DO2 DO3 c CAUTION The zone output function does not work if one item of the point data is unspecified or return to origin is incomplete Example q DO0 OFF ON OFF Current position 100 00 200 00 PRM53 1 Zone 0 output enabled positive logic output P901 2...

Page 74: ...ameter is used to select the servo braking method When emergency stop is triggered while the robot is moving the servo braking function immediately reduces the robot speed as much as possible before the servo turns off so that the braking time and distance can be shortened Besides the case of emergency stop this function is also effective when an overload or 24V power off alarm occurs or when the ...

Page 75: ...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 76: ... 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 77: ...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 78: ...n 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 turns...

Page 79: ...pressing 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 1MOVA2MOVI3MOVF4next 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 80: ...No 0 99 EDIT PGM PGM No 14 New entry OK 1yes 2no EDIT PGM No14 001 _ 1MOVA2MOVI3MOVF4next 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 81: ... 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 82: ...F 10 31 5 1MOD 2INS 3DEL 4CHG EDIT PGM No10 051 _ 1MOVA2MOVI3MOVF4next 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 83: ... 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 pr...

Page 84: ...A 10 100 1MOD 2INS 3DEL 4CHG 1MOVA2MOVI3MOVF4next 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 85: ...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 86: ...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 87: ... 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 88: ...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 89: ...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 90: ..._ 1CHG EDIT PNT MDI Pn n _ point No 0 999 EDIT PNT MDI P500 21 76 mm 1CHG 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 91: ...N EDIT select menu 1PGM 2PNT 3UTL EDIT PNT TCH 1 50 P0 0 00 mm 0 00 1CHG 2SPD3S_SET4next 2 Next press 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 92: ...f 50mm s as calculated 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 T...

Page 93: ...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 94: ...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 95: ... Playback 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 1DO0 2DO1 3DO2 4next EDIT ...

Page 96: ...p 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 brake stays released until F3 BRK is pressed aga...

Page 97: ... 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 98: ...es 2no 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 safe...

Page 99: ...ies uses theYAMAHA robot language This is an easy to learn BASIC like programming language Even a first time user can easily create programs to control complex robot and peripheral device movements At the beginning of this chapter you will find a convenient table of robot language commands At the end of this chapter sample programs are listed for just your reference ...

Page 100: ...a point variable P Subtracts 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 positional relation meets the specified conditions JMPP label number axis position co...

Page 101: ...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 102: ...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 103: ...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 104: ...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 2000 mm sec when PRM44 2000 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 105: ...or 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 eight 0 to 7 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 Functi...

Page 106: ...ewed 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 107: ...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 7 8 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 For...

Page 108: ...nt 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 j...

Page 109: ...MI number Specify one of the general purpose input numbers from 0 to 7 8 points or memory input numbers from 100 to 147 48 points 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 ti...

Page 110: ...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 111: ... 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 112: ... Always perform return to origin after turning on the power to the controller before starting operation Return to origin is also in complete after a parameter related to the origin position is changed Return to origin must be reperformed in this case When performing return to origin by the stroke end detection method do not interrupt the return to origin operation while detecting the ori gin while...

Page 113: ...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 114: ...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 115: ...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 116: ...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 117: ...rom 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 2000 mm sec when P...

Page 118: ...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 119: ...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 120: ...action 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 Explanation The counter variable D can be set to any value by the user from 0 to 65535 This command can be used with a D or D statement and a JMPD statement for a repeating program and also with a MOVM s...

Page 121: ...pecified point data The shift data is valid until the SHFT statement is executed again or until the program reset is executed 1 Point number The point number is a number designated to each point from 0 to 999 a total of 1000 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 numbe...

Page 122: ...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 123: ...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 124: ...standby position P1 P2 P0 e q w X axis AC servo Air cylinder DO0 Air chuck DO1 Upper end limit switch DI0 Lower end limit switch DI1 Workpiece detection sensor DI2 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 125: ... 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 m...

Page 126: ...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 127: ... statement to select a program select the general purpose input output points DI7 and DO0 in this case one at a time and perform the handshake This is for synchronizing the SRCP 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 128: ...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 129: ...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 130: ...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 131: ...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 132: ...8 34 MEMO ...

Page 133: ... 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 134: ... related to the origin position is changed Return to origin must also be reperformed in that case 1 On the initial screen press F2 OPRT MENU select menu 1EDIT2OPRT3SYS 4MON OPRT select menu 1ORG 2STEP3AUTO OPRT ORG SEARCH ORG search OK 1yes 2no OPRT ORG SEARCH searching OPRT ORG SEARCH origin complete machine ref 50 2 Next press F1 ORG 3 To perform return to origin press F1 yes To cancel the opera...

Page 135: ...perated while return to origin is still incomplete the thrust necessary to move the robot cannot be obtained and causes an alarm or abnormal operation Always perform return to origin before starting the robot operation 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 mechani...

Page 136: ...100 0 0 001 MOVA 254 100 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 0 00 1SPD 2RSET3CHG 4next OPRT AUTO 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 137: ...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 138: ...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 139: ... 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 140: ...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 F3 CHGT 11 Each time you press F3 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 141: ...e parameter is set to 1 or 3 and DO3 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 1SPD 2RSET3CHG 4next OPRT AUTO 100 0 0 PGM No _ program 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 OP...

Page 142: ...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 143: ...y 1yes 2no OPRT STEP 100 0 7 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 funct...

Page 144: ... 0 0 M 00000000 00000000 M 00000000 00000000 M 00000000 00000001 OPRT STEP 100 0 0 001 MOVA 254 100 0 00 1MIO 2 3 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 twice to change the menu display and then press F1 MIO 4 The I O status of each memory is displayed From the left the top line shows the sta...

Page 145: ... 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 an array element number selected with the CSEL state ment 5 To...

Page 146: ...9 14 MEMO ...

Page 147: ... 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 148: ... _ refer to robot type table 4next SYS INIT PRM robot type 516 stroke 400_ mm 2 Next press F3 INIT 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 m...

Page 149: ... INIT PRM robot type 516 stroke 400 mm weight 3_ kg SYS INIT PRM parameter data initialize OK 1yes 2no SYS INIT select menu 1PGM 2PNT 3PRM 4ALL 7 A confirmation message appears on the screen To execute the initialization press F1 yes To cancel the initialization press F2 no 8 When initialization is complete the screen re turns to step 3 ...

Page 150: ...isplay from the monitor menu 1 On the initial screen press F4 MON MENU select menu 1EDIT2OPRT3SYS 4MON MENU select menu 1EDIT2OPRT3SYS 4MON MON MON DIO select menu 1DIO 2DUTY DI 00000000 00000000 DO 10100000 O 0 S 1 2 Next press F1 DIO 3 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 4 To return to the initial screen pre...

Page 151: ... 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 V24 00 TPB V12 50 robot type 516 2 The controller version number TPB vers...

Page 152: ... function places limits on controller operation when in SERVICE mode state When the SERVICE mode function is enabled the SRCP 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 153: ...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 154: ... 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 155: ...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 156: ...T SERVICE mode 1 0 Invalid 1 Valid n NOTE The password is identical to the SRCP controller s version number For example if the controller version is 24 00 enter 24 00 as the password Once the password is accepted it will not be requested unless the TPB is disconnected from the controller or the controller power is turned off ...

Page 157: ...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 158: ...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 SRCP controller s version number For example if the controller version is 24 00 enter 24 00 as the password Once the password is accepted it will ...

Page 159: ... SYS UTL select menu 1HDPR 2REC 2REC 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 SRCP controller is turned ...

Page 160: ... MENU select menu 1EDIT2OPRT3SYS 4MON SYS select menu 1PRM 2B UP3INIT SYS B UP select menu 1SAVE2LOAD3FMT 4ID 4next B UP ID AREA 0 03 09 01 AREA 1 03 09 10 AREA 2 3 Next press F2 B UP 4 Press F1 SAVE Press F1 CARD before pressing F1 SAVE if the SRCP controller version is 24 10 or later and the TPB version is 12 51 or later 5 Specify the save area on the memory card Enter the save area with the num...

Page 161: ...o B UP SAVE AREA 1 saving SYS B UP select menu 1SAVE2LOAD3FMT 4ID 8 Set an ID number for the data being saved Using the number keys 0 to 9 the minus key and the period key enter a number of up to eight characters and then press 9 A confirmation message appears To save the data press F1 yes To cancel press F2 no 10 This screen is displayed while the data is being saved 11 When saving is finished th...

Page 162: ... AREA 0 03 09 01 AREA 1 03 09 10 AREA 2 4next 3 Next press F2 B UP 4 Press F2 LOAD Press F1 CARD before pressing F2 LOAD if the SRCP controller version is 24 10 or later and the TPB version is 12 51 or later 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 ...

Page 163: ...pears 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 SRCP controller When F4 ALL was selected in step 7 all data in the SRCP controller will be...

Page 164: ...AD3FMT 4ID 3 Next press F2 B UP 4 Press F3 FMT Press F1 CARD before pressing F3 FMT if the SRCP controller version is 24 10 or later and the TPB version is 12 51 or later 5 A confirmation message appears To format the memory card press F1 yes To cancel press F2 no 6 This screen is displayed while the memory card is being formatted 7 When formatting is complete the screen returns to step 4 c CAUTIO...

Page 165: ...S B UP select menu 1SAVE2LOAD3FMT 4ID B UP ID AREA 0 03 09 01 AREA 1 03 09 10 AREA 2 03 10 11 4next 3 Next press F2 B UP 4 Press F4 ID Press F1 CARD before pressing F4 ID if the SRCP controller version is 24 10 or later and the TPB version is 12 51 or later 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 sc...

Page 166: ... 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 pulse train input Pulse Train mode or dedicated command input Normal mode Method 2 Specify an interval in a program in which you want to measure the duty and ru...

Page 167: ... 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 168: ...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 percent on the TPB screen n NOTE The operation duty can also be mon...

Page 169: ... be saved Point Program Parameter Parameter SRCP Flash ROM Save RAM The TPB or POPCOM is needed to save the parameter data to the flash ROM Loading the parameter data from the flash ROM to the RAM Restoring the data Point Program Parameter Parameter SRCP Flash ROM Load RAM There are two methods for loading the parameter data backed up in the flash ROM to the RAM 1 Manual load using the TPB or POPC...

Page 170: ...o load Invalid 1SAVE 2no FROM SAVE press EMG button 1yes FROM SAVE data is saved on FROM initialize OK FROM SAVE make identification ID _ effective key 0 9 2 Next press F2 B UP 3 Press F2 FROM 4 The ID number and auto load function setting in the flash ROM appear on the screen Press F1 SAVE here 5 Press the emergency stop button on the TPB 6 A confirmation message appears if data is stored in the ...

Page 171: ...M the auto load function is set to Invalid disa bled If you want to change the auto load function press F1 ALOAD to display the auto load function setup screen 11 The current status of the auto load function setting appears Leave this setting at 0 to disable the auto load function To enable the auto load function enter 1 with the number key and press 12 The screen returns to step 11 when the setti...

Page 172: ... menu SYS B UP select menu 1CARD2FROM 2LOAD3INIT SYS B UP FROM FROM 04 03 01 auto load Invalid 1SAVE FROM LOAD loading 2no 1yes FROM LOAD load OK FROM LOAD press EMG button 2 Next press F2 B UP 3 Press F2 FROM 4 The ID number and auto load function setting in the flash ROM appear on the screen Press F2 LOAD here 5 Press the emergency stop button on the TPB 6 A confirmation message appears asking w...

Page 173: ...ding is complete 2LOAD3INIT SYS B UP FROM FROM 04 03 01 auto load Invalid 1SAVE c CAUTION When loading the data from the flash ROM make sure that the I O CN connector is disconnected and the emergency stop button is pressed Do not move the robot or turn off the SRCP controller during loading of data ...

Page 174: ...nu 1CARD2FROM 2LOAD3INIT SYS B UP FROM FROM 04 03 01 auto load Invalid 1SAVE FROM INIT initializing 2no 1yes FROM INIT initialize OK FROM INIT press EMG button 2 Next press F2 B UP 3 Press F2 FROM 4 The ID number and auto load function setting in the flash ROM appear on the screen Press F3 INIT here 5 Following the message press the emergency stop button on the TPB 6 A confirmation message appears...

Page 175: ...izing the flash ROM the auto load function is set to Invalid disabled 2LOAD3INIT SYS B UP FROM FROM auto load Invalid 1SAVE c CAUTION When initializing the flash ROM data make sure that the I O CN connector is disconnected and the emergency stop button is pressed Do not move the robot or turn off the SRCP controller during initialization ...

Page 176: ...10 30 MEMO ...

Page 177: ... data and point data or control the robot operation using a PC personal computer by RS 232C communication instead of using the TPB This chapter describes how to set the communication parameters required to communicate between the PC and the SRCP controller and also explains the communication command specifications ...

Page 178: ...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 179: ... 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 180: ...e 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 SRCP series are the JIS8 unit system codes ASCII codes with katakana characters added Input charact...

Page 181: ...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 182: ... robot number Reads total operation time of controller Reads alarm history Reads error 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 para...

Page 183: ...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 184: ...n to origin also becomes incomplete after a parameter related to the origin position is changed Return to origin must be reperformed in this case c CAUTION If the robot is operated while return to origin is still incomplete the thrust necessary to move the robot cannot be obtained causing an alarm or abnormal operation Always perform return to origin before starting the robot operation c CAUTION W...

Page 185: ...ogram 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 origin incomplete c r l f c CAUTION When using an endless program program that unconditionally returns...

Page 186: ...ment data 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 Specify the target position to move the robot to Speed The speed can be set to any level between 1 and 100 If PRM30 Maximum program speed is 100 then 100 will be equal to 2000 mm sec when PRM44 2000 Transmissi...

Page 187: ...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 188: ...set 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 4 5 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 189: ...nt variable P are held even when the SRCP 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 190: ...orms calculation on the assumption that the robot operates on the Cartesian coordinate system Because only a single axis robot is controlled with the SRCP 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 Number of rows Set the number of rows from 1 to 255 Number of columns Set the number of columns from 1...

Page 191: ...ts the counter array variable C to 100 Response example OK c r l f 23 C addition value Adds a specified value to the counter array variable C 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 f 24 C subtraction value Subtra...

Page 192: ...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 Point number This is a number used to identify each point position data and can be from 0 to 999 a total of 1 000 points Data for the point numbers ca...

Page 193: ...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 194: ...xisting 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 SRCP controller Transmission example VER c r l f Response example 24 00 c r l f OK c r l f 9 ROBOT Reads the type of the r...

Page 195: ...larm occurring 96 days 18 hours 10 minutes and 2 seconds after the SRCP controller has started 12 ERR history number display count Displays a specified number of past errors starting from a specified history number A maximum of 100 past errors can be displayed This error history shows the time total elapsed time from controller start up that each error occurred and a description of the error Histo...

Page 196: ... r l f Response example 2 1 c r l f Servo is on OK c r l f 15 ORG Reads whether or not return to origin has been completed Transmission example ORG c r l f Response example 1 0 c r l f Return to origin not com pleted OK c r l f Response example 2 1 c r l f Return to origin completed OK c r l f 16 MODE Reads the robot status Transmission example MODE c r l f Response example 1 0 c r l f Robot is st...

Page 197: ...put or memory input number Reads the status of a general purpose input or memory input Input number Specify one of the general purpose inputs 0 to 7 8 points or one of the memory inputs 100 to 147 48 points Transmission example DI 1 c r l f Response example 1 0 c r l f Input status is off OK c r l f Response example 2 1 c r l f Input status is on OK c r l f 19 DO general purpose output or memory o...

Page 198: ...meter number to the second parameter number If unregistered parameters exist they will be skipped Parameter number This is a number used to identify each parameter and can be from 0 to 99 Transmission example PRMl 5 c r l f Reads the data from PRM1 to PRM5 parameters 1 to 5 Response example PRM1 350 c r l f PRM2 0 c r l f PRM3 3 c r l f PRM4 100 c r l f PRM5 0 c r l f OK c r l f 21 1 P point numbe...

Page 199: ...er 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 when the final step is read out Program number This is a number used to identify each program and can be from 0 to 99 Step number This is a number assigned to each step and can be from 1 to 255 Number of steps Any number between 1 and 255 can be specified Transmissi...

Page 200: ...r l f Response example PRM0 516 c r l f PRM1 350 c r l f PRM40 2 c r l f Z 1AH OK c r l f 22 5 READ ALL Reads all data parameters programs points at one time Each data group parameters pro grams points is separated by an empty line a carriage return only Transmission example READ ALL c r l f Response example PRM0 516 c r l f PRM1 350 c r l f PRM40 2 c r l f c r l f NO0 c r l f MOVA 0 100 c r l f M...

Page 201: ...ads the status of the registered programs The registered program numbers and number of steps are displayed Transmission example READ INF c r l f Response example NO0 43 steps c r l f NO1 52 steps c r l f NO31 21 steps c r l f Z 1AH OK c r l f 23 1 WRITE PGM Writes the program data The controller will transmit READY when this command is received Confirm that READY is received and then transmit the ...

Page 202: ...ecuted the previous data of the same point number is overwritten The previous data remains as long as its point number differs from the point number to be written 23 3 WRITE PRM Writes the parameter data The controller will transmit READY when this command is received Confirm that READY is received and then transmit the parameter data Always transmit Z 1AH at the end of the data Transmission examp...

Page 203: ...not written in When WRITE ALL is executed the previous data of the same program number or point number is overwritten The previous data remains as long as its program number or point number differs from the program number or point number to be written Loading unsuitable robot data to the SRCP can inhibit the robot controller performance possibly resulting in failures malfunctions and errors 24 MAT...

Page 204: ...specified element number 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 Transmission example D c r l f Response example 21202 c r l f OK c r l f 29 SHFT Re...

Page 205: ... Robot number list Transmission example INIT PRM 516 c r l f Parameter data is initialized to match the model MR16T robot Response example OK c r l f 1 4 INIT CLOCK Initializes the timer to 0 which is used to measure the total operation time of the SRCP controller The alarm history and error history are also initialized at this point Transmission example INIT CLOCK c r l f Response example OK c r ...

Page 206: ...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 207: ...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 208: ...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 209: ...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 210: ...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 211: ...shes before inputting 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 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 2 An error interrupti...

Page 212: ...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 213: ...to something other than 1 to 8 Correct the setting for the PRM8 parameter FROM write error An attempt was made to save data while the flash ROM contains data Initialize the flash ROM no FROM data An attempt was made to load data while the flash ROM contains no data Save data in the flash ROM robot type error Unsuitable parameter data was transmitted to the controller Initialize the parameters Tran...

Page 214: ...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 215: ...ngth 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 comma...

Page 216: ...d in the controller 1 On the initial screen press F3 SYS MENU select menu 1EDIT2OPRT3SYS 4MON SYS select menu 1SAFE2OPT 2REC 3UTL 4next SYS UTL select menu 1HDPR 2ERR SYS UTL REC select menu 1ALM 2 Next 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 217: ...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 218: ...12 10 MEMO ...

Page 219: ...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 220: ...ntroller model name SRCP xxxx Robot model name MR16T 400 Controller version Ver 24 00 Power AC 200V I O 24V power supply External power supply was used 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 lock Alarm No and message is iss...

Page 221: ...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 222: ...leration deceleration Check the voltage specifications indicated on the front panel of the controller Replace the battery If not possible to replace it immediately then temporarily set bit 3 of PRM 34 to 1 Check the 24V power supply connection Check for short circuit using a multi meter or recheck the I O connections 24V power must first be supplied to EXT CN before supplying power to the power te...

Page 223: ...ection Check the position signal wire connection Check the position 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 corrupted Parameter data has been corrupted Program data ha...

Page 224: ... Message ABNORMAL VOLTAGE SYSTEM FAULT 2 FEEDBACK ERROR 3 SYSTEM FAULT 3 Not used Not used VERSION MISMATCH Not used Not used Not used FEEDBACK ERROR 4 POLE SEARCH ERROR Meaning Excessive voltage higher than 420V generated Controller s internal LSI error Mechanical lockup CPU error Wrong combination of PB and controller Motor wire breakage or misconnection Failed to detect magnetic pole Possible C...

Page 225: ...ired program is selected Check the parameter data Try using another controller if available Action Check the voltage on the power input terminal block If the voltage is correct replace the SRCP 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 or from the TPB operation Take c...

Page 226: ...ses 1 to 2 If position offset is corrected by the return to origin Electrical offset See causes 3 to 4 Connect the TPB and check the robot type number Check the origin detection method parameter PRM13 setting Use the TPB to check whether the alarm occurs before or after return to origin is complete If the alarm occurs after return to origin is complete the damper position is inappropriate Check th...

Page 227: ...y referring to the connection diagram Correct the program Replace the SRCP controller if the output transistor is defective Reperform return to origin Eliminate the cause of error by referring to the error message Increase the signal pulse width on duration Increase the delay time Turn on the interlock signal Turn off the dedicated command input No 1 2 Possible Cause Wiring to external devices is ...

Page 228: ... Use TPB Ver 12 50 or later Replace the ROM to upgrade the version Use the specified communication cable POPCOM cable is different from the communication cable As an alternative transmit DPBVER 250 in advance Upgrade the POPCOM WIN version Use POPCOM WIN No 1 2 Possible Cause A dedicated I O command input is on The TPB cable is broken DPB is used as the TPB TPB version is old Communication cable s...

Page 229: ...layed Up to 100 alarms can be stored in the controller 1 On the initial screen press F3 SYS MENU select menu 1EDIT2OPRT3SYS 4MON SYS select menu 1SAFE2OPT 2REC 3UTL 4next SYS UTL select menu 1HDPR 2ERR SYS 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 230: ... 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 231: ...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 232: ...c 3 Programs point data and other internal data that were changed or created by the user Failures resulting from the following causes are not covered by warranty repair 1 Damage due to earthquakes storms floods thunderbolt fire or any other natural or man made disasters 2 Troubles caused by procedures prohibited in this manual 3 Modifications to the robot and or related product not approved by YAM...

Page 233: ...u can now see the control board Remove it from the controller 4 The lithium battery is soldered to the control board Use a desoldering tool or similar tool to remove the solder and then remove the battery from the control board 5 Solder the new battery to the control board Battery product number CR2450THE Toshiba Battery 6 Install the control board back in its original position 7 Reattach the top ...

Page 234: ...ler 5 With the EXT CN 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 wh...

Page 235: ...15 1 15 SPECIFICATIONS Chapter 15 SPECIFICATIONS ...

Page 236: ... One of the above should be selected Line driver 5V Maximum 2 Mpps line driver 1 Data transmit receive parameter setting and robot operation by communication commands 2 Data transmit receive parameter setting point teaching and robot operation by TPB option General purpose 8 points dedicated input 8 points General purpose 5 points dedicated output 3 points open collector output General purpose 8 p...

Page 237: ... an identification number as listed in the table below After you initialize the parameters enter the correct robot number that matches the robot model actually connected to the controller Robot model Robot number MR12T 512 MR16T 516 MR16TH 536 MR20F 520 MR20FH 521 MR25F 525 MF50 550 c CAUTION Production of the MR20F was discontinued in March 2006 Using the robot with wrong setting may cause malfun...

Page 238: ...dity Noise immunity Applicable TPB 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 IEC61000 4 4 Level 2 Ver 12...

Page 239: ...able length Regenerative voltage Regenerative stop voltage Ambient temperature Storage temperature Ambient humidity Noise immunity W40 H250 D157mm 1 1kg 300mm Approx 380V or more Approx 360V or less 0 to 40 10 to 65 35 to 85 RH no condensation Conforms to IEC61000 4 4 Level 2 Special specifications General specifications Model Specification item 15 3 2 Dimensions ...

Page 240: ...MEMO 15 6 ...

Page 241: ...16 1 16 APPENDIX Chapter 16 APPENDIX ...

Page 242: ... 2 Be 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 ...

Page 243: ...at can be saved Data size that can be saved on one memory card is as follows Memory card capacity 8KB 64KB 1024KB 1MB DPB Cannot be used Cannot be used TPB Ver 2 18 or earlier TPB Ver 12 50 or later Up to 3 units of SRCP Up to 48 units of SRCP Cannot be used ...

Page 244: ...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 245: ...MEMO ...

Page 246: ...08 Revision record Manual version Nov 2003 Apr 2006 Aug 2006 Jan 2007 Jul 2007 Oct 2007 Issue date Description User s Manual Oct 2007 Ver 2 04 This manual is based on Ver 3 08 of Japanese manual YAMAHA MOTOR CO LTD IM Company Robot Controller All rights reserved No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO LTD Information furnished by YAMAHA i...

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