Yamaha SRCP30, User Manual

Page: 48 / 282

4-
2
4
BASIC OPERA
TION OF THE TPB
4-1 Connecting and Disconnecting the TPB
4-1 Connecting and Disconnecting the TPB
4-1-1 Connecting the TPB to the SRCP30 controller
c
CAUTION
Do not modify the TPB cable or use any type of relay unit for connecting the TPB to the SRCP30 controller.
Doing so might cause communication errors or malfunctions.
■
When the power supply to the controller is turned off
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
Connect the PB connector to the connector
labelled "TPB" on the front panel of the con-
troller and supply power to the controller. A
beep sounds for approximately 1 second and
then the screen shown at the right appears.
This screen is referred to as the "Initial
screen" from this point onwards.
■
When the power supply to the controller is turned on
The TPB can also be connected to the SRCP30 controller if the power supply to the controller is
on. In this case, hold down the ESC switch on the front panel of the controller as you plug in the
PB connector. If the TPB is connected to the controller without pressing the ESC swith, emer-
gency stop might be triggered causing the robot servo to turn off. Also, if the TPB is connected
while the controller is executing a program or an I/O dedicated command, then the execution will
be interrupted 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 again
while the emergency stop button of the TPB is still depressed. In this state, the robot servo remains off, but the
initial screen appears on the TPB to allow key operation, so initialize and restore the data.
If the message "05: BATT. LOW-VOLTAGE" appears on the TPB when the power is turned on, turn off the
power to the controller and then turn it on again while the emergency stop button of the TPB is still depressed.
In this state, the robot servo remains off, but the initial screen appears on the TPB to allow key operation, so
make a backup of the data, and then replace the lithium battery in the controller (the lithium battery normally
lasts five years). (See "14-2 Replacing the System Backup Battery".)
If the message "SIO error" is displayed on the TPB, check whether the I/O dedicated command input is on. If
the dedicated command input is on, the TPB cannot be used, so the dedicated input must always be a pulse input
(the dedicated command input must be off when the BUSY signal turns on.) (Refer to "3-2-1 Dedicated
command input".)