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SRCP manual
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246 pages, 1.69 Mb
YAMAHA
SINGLE-AXIS
ROBOT CONTROLLER
SRCP
User’s Manual
ENGLISH
E
E84-Ver.
2.04
Contents
Page
Page
Chapter 3 I/O INTERFACE
PARAMETERS
PROGRAMMING
Chapter 7 EDITING POINT DATA
ROBOT LANGUAGE
Chapter 9 OPERATING THE ROBOT
Page
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Page
OVERVIEW
OVERVIEW
1-1Features of the SRCP Series Controller
1-2Setting Up for Operation
1-3External View and Part Names
Page
Page
1-3-2TPB
1-4System Configuration
1-5Accessories and Options
Page
AND INSTALLATION
CONNECTION
2-1Installing the SRCP Controller
2-2Connecting the Power Supply
2-2-3Installing an external leakage breaker
2-2-4Installing a circuit protector
2-3Grounding
2-4Connecting the SRCP to the Control Unit
2-5Connecting to the Robot
2-5-2Motor connector and signal table
2-6Connecting to the I/O. CN Connector
2-7Connecting to the EXT. CN Connector
2-8Connecting to the Regenerative Unit
Page
INTERFACE I/O
3-1I/O Signals
3-2Input Signal Description
I/O INTERFACE
Page
3-2-2 General-purposeinput (DI0 to DI7)
3-2-3SERVICE mode input (SVCE)
3-2-4Interlock (LOCK)
3-2-5Emergency stop inputs 1, 2 (EMG1, EMG2)
3-3Output Signal Description
3-3-2 General-purposeoutput (DO0 to DO4)
3-3-3Feedback pulse output (PA±, PB±, PZ±, PZM±)
3-4I/O Circuits
3-4-2I/O circuit and connection example
3-5I/O Connection Diagram
3-5-2Connection to PLC input unit
3-6I/O Control Timing Charts
3-6-2When executing a dedicated input command
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3-6-3When interlock signal is input
3-6-4When emergency stop is input
3-6-5When alarm is issued
3-6-6When executing a point movement command
OPERATION BASIC
THE OF
4-1Connecting and Disconnecting the TPB
BASIC OPERATION
4-1-2Disconnecting the TPB from the SRCP controller
4-2Basic Key Operation
4-3Reading the Screen
4-3-3Point edit screen (teaching playback)
4-3-4DIO monitor screen
Hierarchical Menu Structure
4-5Restricting Key Operation by Access Level
4-5-2Changing an access level
OPERATION BASIC THE OF TPB
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PARAMETERS
5-1Setting the Parameters
5-2Parameter Description
Page
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RAMETERSPA
Page
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6-1Basic Contents
6-2Editing Programs
6-2-1Creating programs after initialization
Page
PROGRAMMING
6-2-3Adding a step
Page
6-2-4Correcting a step
6-2-5Inserting a step
6-2-6Deleting a step
6-3Program Utility
6-3-2Deleting a program
6-3-3Viewing the program information
POINT EDITING
TADA
7-1Manual Data Input
7-2Teaching Playback
EDITING POINT DATA
7-3Direct Teaching
Page
7-4Manual Control of General-PurposeOutput
7-5Manual Release of Holding Brake
7-6Deleting Point Data
7-7Tracing Points (Moving to a registered data point)
LANGUAGE ROBOT
Robot Language Table
8-2Robot Language Syntax Rules
8-2-2Variables
8-3Program Function
8-4Robot Language Description
8-4-3MOVF
8-4-4JMP
8-4-5JMPF
8-4-6JMPB
8-4-7L
8-4-8CALL
8-4-9DO
8-4-10WAIT
8-4-11TIMR
8-4-12P
8-4-13P+
ROBOT LANGUAGE
8-4-14P
8-4-15SRVO
8-4-16STOP
8-4-17ORGN
8-4-18TON
8-4-19TOFF
8-4-20JMPP
8-4-21MAT
8-4-22MSEL
8-4-23MOVM
ROBOT
LANGUAGE
8-4-24JMPC
8-4-25JMPD
8-4-26CSEL
8-4-27C
8-4-28C+
8-4-29C
8-4-30D
8-4-31D+
8-4-32D
8-4-33SHFT
8-5Sample Programs
8-5-3Positioning 2 points and sending job commands to a PLC at each position
Page
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8-5-6Switching the program from I/O
Page
8-5-7Axis movement and I/O multi-task
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THE OPERATING
9-1Performing Return-to-Origin
Page
9-2Using Step Operation
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9-3Using Automatic Operation
THEROBOT
9-4Switching the Execution Program
9-5Emergency Stop Function
Page
9-6Displaying the Memory I/O Status
9-7Displaying the Variables
Page
OPERATIONS OTHER
10-1Initialization
Page
10-2DIO Monitor Display
OTHER OPERATIONS
10-3System Information Display
10-4SERVICE mode function
10-4-1Safety settings for SERVICE mode
OTHER
OPERATIONS
Page
10-4-2Enabling/disabling the SERVICE mode function
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OPERATIONS OTHER
Page
10-5System utilities
10-6Using a Memory Card
Page
10-6-2Loading data from a memory card
Page
10-6-3Formatting a memory card
10-6-4Viewing the ID number for memory card data
10-7Duty (load factor) monitor
Page
10-7-1Measuring the duty (load factor)
10-8Using the internal flash ROM
10-8-1Saving the parameter data onto the flash ROM
Page
10-8-2Manually loading the data from flash ROM
OPERATIONS
Page
10-8-3Initializing the flash ROM data
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WITH COMMUNICATION
11-1Communication Parameter Specifications
11-2Communication Cable Specifications
11-2-2Connecting to the computer with a 9-pin D-subconnector
11-3Communication Command Specifications
11-4Communication Command List
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11-5Communication Command Description
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11-5-2Data handling
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11-5-3Utilities
Page
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12-1Error Messages
12-1-3Operation error message
12-1-4Program error message
12-1-5System error message
12-1-6 Multi-taskerror message
12-2TPB Error Messages
12-3Stop Messages
12-4Displaying the Error History
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TROUBLESHOOTING
13-1If A Trouble Occurs
13-2Alarm and Countermeasures
13-2-2Alarm message list
Page
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13-3Troubleshooting for Specific Symptom
Page
13-3-2Relating to the I/O
13-3-3Other
13-4Displaying the Alarm History
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14-1Warranty
14-2Replacing the System Backup Battery
14-3Updating the System
Page
15-1SRCP sereis
15-1-2Robot number list
15-1-3LED display
15-2TPB
15-3Regenerative Unit (RGU-2)
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16-1How to Handle Options
Page
16-1-2POPCOM communication cable
