Variables, Point variable P | Yamaha SRCP specification

8-2 Robot Language Syntax Rules

8

ROBOT LANGUAGE

8-2-2 Variables

Variable are used in a program to hold data. The following variables can be used with the SRCP controller.

■Point variable P

A point variable can contain a point number. It is used in movement commands such as MOVA and MOVI statements instead of specifying the point number directly. Sometimes the number of program steps can be reduced by using point variables.

■Counter array variable C, Counter variable D

A counter variable can contain counter values and is used to specify the pallet work position number in a palletizing program and to count the number of runs. A counter array variable is an array of a total of 32 counter variables that can be selected by the CSEL statement of robot lan- guage.

■Flag variable: memory input/output 100 to 147

A flag variable can only have a data value 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	Memory I/O No.	Meaning

General-	100 to 131	Memory I/O available to the user
purpose		The user can freely set this with a DO statement.

	132	Task 0 (main task) status
		Always set to 1.

	133	Task 1 status
		1: Task has started. 0: Task has ended or has not yet started.

	134	Task 2 status
		1: Task has started. 0: Task has ended or has not yet started.

Dedicated	135	Task 3 status
		1: Task has started. 0: Task has ended or has not yet started.

	136 to 139	Reserved for system use (Always set to 0.)

	140	X-axis hold status
		1: Hold 0: Non hold

	141 to 143	Reserved for system use (Always set to 0.)

	144	X-axis constant movement status
		1: Constantly moving 0: Accelerating, decelerating or in stop

	145 to 147	Reserved for system use (Always set to 0.)

8-4

Image 102

Yamaha SRCP manual Variables, Point variable P, Counter array variable C, Counter variable D

Contents

Srcp Page General Contents Parameters Iii Communication with PC 11-1 Appendix 16-1 Memo Chapter Overview Features of the Srcp Series Controller Setting Up for Operation Basic steps External View and Part Names Srcp controller Exterior of the Srcp controller SRCP-05 SRCP-05A, 10A, 20A Three-side view of the Srcp controller 2 TPB System Configuration System configuration Accessories and Options AccessoriesPeripheral options Memo Installation and Connection Installing the Srcp Controller Installation methodInstallation location Connecting the Power Supply Power supplyConnecting the power supply Installing an external leakage breaker Installing a circuit protector Grounding Connecting the Srcp to the Control UnitInstalling current control switches Insulation resistance and voltage breakdown tests Connecting to the Robot Robot I/O connector and signal table Connecting to the I/O. CN Connector Connecting to the EXT. CN Connector Slotted screwdriver Terminal numbers are not actually Connecting to the Regenerative Unit Connecting the Srcp controller to a regenerative unit Memo Interface I/O Signals 1 I/O. CN connector signals2 EXT. CN connector signals Input Signal Description Dedicated command input Automatic operation start command AUTO-R Absolute point movement command ABS-PTRelative point movement command INC-PT Step operation start command STEP-R Return-to-origin command ORG-S Servo recovery command ServoReset command Reset General-purpose input DI0 to DI7 PRM7 Service mode input Svce Interlock LockEmergency stop inputs 1, 2 EMG1, EMG2 Dedicated output Output Signal DescriptionCommand-in-progress output Busy Ready-to-operate output Ready General-purpose output DO0 to DO4 Feedback pulse output PA±, PB±, PZ±, PZM± 1 I/O circuit specifications I/O Circuits 2 I/O circuit and connection example Circuit and connection example I/O Connection Diagram Connection to PLC output unit Connection to PLC input unit Connection to the Mitsubishi PLC AX41 input unit I/O Control Timing Charts When turning the power on When executing a dedicated input command 30ms or less 1ms or less 1ms or less 1ms or less 3When a command cannot be executed from the beginning When interlock signal is input 4When command execution cannot be completed When emergency stop is input When alarm is issued When executing a point movement command Basic Operation of the TPB When the power supply to the controller is turned off Connecting and Disconnecting the TPBConnecting the TPB to the Srcp controller When the power supply to the controller is turned on Disconnecting the TPB from the Srcp controller Basic Key Operation Basic Operation of the TPB Program edit screen Reading the ScreenProgram execution screen 1MOD 2INS 3DEL 4CHG Point edit screen teaching playback DIO monitor screenCHG SPD Hierarchical Menu Structure PGM Restricting Key Operation by Access Level Explanation of access level Changing an access level Memory card 1EDIT2OPRT3SYS 4CARD Parameters Setting the Parameters Parameters PRM1 + soft limit Parameter DescriptionPRM0 Robot type number PRM2 soft limit PRM5 Return-to-origin direction PRM3 PayloadPRM4 Acceleration PRM6 Positioning-completed pulse PRM9 Movf speed PRM7 I/O point movement command speedPRM8 No. of conditional input points PRM10 Return-to-origin speed PRM13 Origin detection method PRM11 No. of encoder pulses 4 modePRM12 Lead length PRM14 Overload current PRM20 OUT valid position PRM18 Speed integration gainPRM19 Position proportional gain PRM21 Position data unit PRM26 Teaching movement data PRM24 Teaching count data TPB entryPRM25 Not used PRM27 Teaching movement data 1 for TPB PRM32 Alarm number output PRM33 Operation at return-to-origin complete Bit 3 Voltage check setting for system backup battery PRM34 System mode selectionBit 1 Ready signal sequence setting Bit 6 Interlock function setting PRM40 Reset execution condition selection PRM38 Speed delay compensation gainPRM39 Control mode selection PRM35 Origin shift PRM43 I/O point movement command speed PRM41 I/O point movement command speedPRM42 I/O point movement command speed PRM44 Maximum speed setting PRM48 Pre-operation action selection PRM47 Communication parameter settingPRM46 Servo status output PRM49 Controller version PRM51 Lead program number PRM52 Hold gainPRM53 Zone output selection Zone setting range and output port Zone output function PRM56 Controller version PRM54 Magnetic pole detection levelPRM55 Magnetic pole position PRM58 Not used Programming Basic Contents Editing Programs 1PGM 2PNT 3UTL Creating programs after initialization1EDIT2OPRT3SYS 4MON EDIT-PGM 001MOVA 100 Point No0→999 Creating a new program 1MOD 2INS 3DEL 4CHG EDIT-PGM Adding a step PGM PNT UTL EDIT-PGM EDIT-PGM No10 051JMPF 10 ,31 ,5 Mova Correcting a stepMOD INS DEL CHG Movf Inserting a step 1MOD 2INS 3DEL 4CHG Deleting a step MOD INS EDIT-PGM Program Utility Copying a program Deleting a program Viewing the program information 1COPY2DEL 3LISTEDIT-UTL Editing Point Data 1MDI 2TCH 3DTCH4DEL Manual Data InputMenu EDIT-PNT-MDI Teaching Playback EDIT-PNT-TCH1100 P500 = 167.24 mm 167.24 1CHG 2SPD3SSET4next Direct Teaching EDIT-PNT-DTCH Manual Control of General-Purpose Output TRC 1CHG 2DO 3BRK EDIT-PNT-DTCH Manual Release of Holding BrakeEDIT-PNT-DTCH 1CHG 2DO 3BRK Deleting Point Data Tracing Points Moving to a registered data point Robot Language Robot Language Table Jmpf Command statement format Robot Language Syntax Rules Counter array variable C, Counter variable D VariablesPoint variable P Flag variable memory input/output 100 to Program Function Multi-task function Robot Language Description MovaMovi Movf 4 JMPOther Jmpf Jmpb 7 L Call 9 do Wait Timr 14 P 12 P13 P+ Format Example Explanation Srvo StopOthers Orgn Return-to-origin must be reperformed in this case 18 TON Toff Jmpp Condition is met 21 MAT Fined Msel Movm Robot Jmpc Jmpd Csel 27 C 30 D 28 C+29 C 31 D+ 32 D Shft Sample Programs Moving between two pointsMoving at an equal pitch Cancels job 1 command Program Comment NO1 Point Program Comment NO1 Main routine Switching the program from I/O ParameterProgram description NO2 Axis movement and I/O multi-task Turns DO0 off When P1 is nearer to the plus side than P0 Memo Operating the Robot Performing Return-to-Origin 1ORG 2STEP3AUTO Robot Using Step Operation OPRT- 010 001MOVA 999,50 SPD Using Automatic Operation OPRT-AUTO 100 0 0 001MOVA 254,100 Therobot Switching the Execution Program Recovering from an emergency stop Emergency Stop FunctionInitiating an emergency stop Robot Displaying the Memory I/O Status Displaying the Variables Oprt Memo Other Operations Initialization 1PGM 2PNT 3PRM 4ALL 10-3 1DIO 2DUTY DIO Monitor DisplayDisplay from the monitor menu MON-DIO OPRT-AUTO System Information DisplayDisplay from the DIO key operation 1EDIT2OPRT3SYS 4MON Information Service mode function Safety settings for Service mode Limiting command input from any device other than TPBLimiting the robot movement speed Prohibiting the automatic operation and step operation Hold-to-run function Enabling/disabling the Service mode function 1ACLV2SVCE Service mode = 0Invalid 1Valid SYS-SAFE-SVCE-SET Setting the Service mode functions 1SAVE2CHG 3CANCEL System utilities Viewing hidden parameters 1SAVE2LOAD3FMT 4ID Using a Memory CardSaving controller data to a memory card UP-ID UP-SAVE UP-SAVEAREA Loading data from a memory card Area UP-ID UP-LOADAREA 3 Select menu Formatting a memory card SYS-B.UP Viewing the ID number for memory card data 1SAVE2LOAD3FMT 4ID UP-ID Duty load factor monitor Method 10-21 Measuring the duty load factor Menu 2Auto loading at Srcp power-on Auto-load function Using the internal flash ROM1Manual load using the TPB or Popcom options Saving the parameter data to the flash ROM Saving the parameter data onto the flash ROM FROM-SAVE FROM-SAVE 1ALOD Manually loading the data from flash ROM Operations 10-27 Initializing the flash ROM data FROM-INIT SYS-B.UP-FROM from 10-30 Communication with PC Communication Parameter Specifications PRM47 settings default value Connector model controller side Communication Cable SpecificationsConnector model Connector model computer side Communication Command Specifications Communication Command List Robot movement 11-6 11-7 @ORG Communication Command DescriptionRobot movements Transmission example @SRVO servo status @RUN@SRUN Servo status @MOVD X-axis position mm,speed @X+, @X@XINC, @XDEC Axis position @MOVA point number,speed Point number10@MOVI point number,speed 11@MOVF point number,DI number,DI status 14@TIMR time 15@P point number 16@P+17@P 18@MOVM pallet work position,speed 20@MSEL pallet number 23@C+ addition value 21@CSEL array element number22@C counter value 24@C- subtraction value 26@D+ addition value 27@D- subtraction value28@SHFT point number Data handling @?VER @?STP program number@?MEM @?ROBOT Display count 11 @?ALM history number,display countHistory number 12@?ERR history number,display count 15@?ORG 13@?EMG14@?SRVO 16@?MODE 17@?PVA 18@?DI general-purpose input or memory input number19@?DO general-purpose output or memory output number 20-2 @?PRM parameter number,parameter number 20-1 @?PRM parameter numberParameter number 21-1 @?P point number Step number 21-2 @?P point number,point number22-1 @READ program number,step number,number of steps Number of steps 22-3 @READ PNT 22-4 @READ PRM22-5 @READ ALL 22-8 @READ INF 22-6 @READ DIO22-7 @READ MIO 23-1 @WRITE PGM 23-2 @WRITE PNT 23-3 @WRITE PRM 23-4 @WRITE ALL 24@?MAT pallet number25@?MSEL Element number 26@?CSEL27@?C array element number 28@?D Utilities Task number @SWI program number@SWITSK task number @SINS program number,step number @SDEL program number,step number @SMOD program number,step number @DEL program number @PDEL point number,number of pointsNumber of points Message Tables Error Messages Error message specificationsCommand error message Operation error message Message Soft limit over Cause Program error message System error message Multi-task error message TPB Error Messages Message specifications Stop MessagesStop messages Displaying the Error History 1ALM 2ERR 12-10 Troubleshooting What you were using If a Trouble Occurs If an alarm is issued Alarm and CountermeasuresAlarm specifications To cancel the alarm Alarm message list Alarm Message Meaning Possible Cause Action 13-5 13-6 Troubleshooting for Specific Symptom Relating to the robot movement Troubleshooting for Specific Symptom Relating to the I/O Other TPB Displaying the Alarm History 13-12 Maintenance and Warranty Warranty Period WarrantyWarranty description Exceptions to the Warranty Replacing the System Backup Battery Battery product number CR2450THE Toshiba Battery Updating the System Specifications Basic specifications Srcp sereis Robot number list LED display 15-2 TPB TPB Regenerative Unit RGU-2 15-6 Appendix Precautions when using the memory card How to Handle OptionsUsing the memory card Memory card Data size that can be saved When the PC has a D-sub 25-pin connector When the PC has a D-sub 9-pin connectorPopcom communication cable Memo Revision record