Wait, Timr | Yamaha SRCP guide

		8-4 Robot Language Description
8-4-10 WAIT
Function:	Waits until a specified general-purpose input or memory input changes
	to a specified state.
Format:	WAIT	<DI or MI number>, <input status>
Example:	WAIT	5, 1
	Waits until DI5 turns on.
Explanation:	This command adjusts the timing according to the general-purpose in-
	put or memory input state.
	(1) 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).
	(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 time within the program. Time
	may be specified in lengths from 1 to 65535, in units of 10ms. In other
	words, time may be specified from 0.01 seconds up to 655.35 seconds.

8

ROBOT LANGUAGE

8-11

Image 109

Yamaha SRCP manual Wait, Timr

Contents

Srcp Page General Contents Parameters Iii Communication with PC 11-1 Appendix 16-1 Memo Overview Chapter Features of the Srcp Series Controller Basic steps Setting Up for Operation Srcp controller External View and Part Names 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 Accessories and OptionsPeripheral options Memo Installation and Connection Installation method Installing the Srcp ControllerInstallation location Power supply Connecting the Power SupplyConnecting the power supply Installing a circuit protector Installing an external leakage breaker Installing current control switches Connecting the Srcp to the Control UnitGrounding Insulation resistance and voltage breakdown tests Robot I/O connector and signal table Connecting to the Robot Connecting to the I/O. CN Connector Slotted screwdriver Terminal numbers are not actually Connecting to the EXT. CN Connector Connecting the Srcp controller to a regenerative unit Connecting to the Regenerative Unit Memo Interface 1 I/O. CN connector signals I/O Signals2 EXT. CN connector signals Dedicated command input Input Signal Description Relative point movement command INC-PT Absolute point movement command ABS-PTAutomatic operation start command AUTO-R Step operation start command STEP-R Servo recovery command Servo Return-to-origin command ORG-SReset command Reset PRM7 General-purpose input DI0 to DI7 Interlock Lock Service mode input SvceEmergency stop inputs 1, 2 EMG1, EMG2 Command-in-progress output Busy Output Signal DescriptionDedicated output Ready-to-operate output Ready Feedback pulse output PA±, PB±, PZ±, PZM± General-purpose output DO0 to DO4 I/O Circuits 1 I/O circuit specifications Circuit and connection example 2 I/O circuit and connection example Connection to PLC output unit I/O Connection Diagram Connection to the Mitsubishi PLC AX41 input unit Connection to PLC input unit When turning the power on I/O Control Timing Charts 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 4When command execution cannot be completed When interlock signal is input When alarm is issued When emergency stop is input When executing a point movement command Basic Operation of the TPB Connecting the TPB to the Srcp controller Connecting and Disconnecting the TPBWhen the power supply to the controller is turned off When the power supply to the controller is turned on Disconnecting the TPB from the Srcp controller Basic Operation of the TPB Basic Key Operation Program execution screen Reading the ScreenProgram edit screen 1MOD 2INS 3DEL 4CHG DIO monitor screen Point edit screen teaching playbackCHG SPD PGM Hierarchical Menu Structure Explanation of access level Restricting Key Operation by Access Level Memory card Changing an access level 1EDIT2OPRT3SYS 4CARD Parameters Parameters Setting the Parameters PRM0 Robot type number Parameter DescriptionPRM1 + soft limit PRM2 soft limit PRM4 Acceleration PRM3 PayloadPRM5 Return-to-origin direction PRM6 Positioning-completed pulse PRM8 No. of conditional input points PRM7 I/O point movement command speedPRM9 Movf speed PRM10 Return-to-origin speed PRM12 Lead length PRM11 No. of encoder pulses 4 modePRM13 Origin detection method PRM14 Overload current PRM19 Position proportional gain PRM18 Speed integration gainPRM20 OUT valid position PRM21 Position data unit PRM25 Not used PRM24 Teaching count data TPB entryPRM26 Teaching movement data PRM27 Teaching movement data 1 for TPB PRM33 Operation at return-to-origin complete PRM32 Alarm number output Bit 1 Ready signal sequence setting PRM34 System mode selectionBit 3 Voltage check setting for system backup battery Bit 6 Interlock function setting PRM39 Control mode selection PRM38 Speed delay compensation gainPRM40 Reset execution condition selection PRM35 Origin shift PRM42 I/O point movement command speed PRM41 I/O point movement command speedPRM43 I/O point movement command speed PRM44 Maximum speed setting PRM46 Servo status output PRM47 Communication parameter settingPRM48 Pre-operation action selection PRM49 Controller version PRM52 Hold gain PRM51 Lead program numberPRM53 Zone output selection Zone output function Zone setting range and output port PRM55 Magnetic pole position PRM54 Magnetic pole detection levelPRM56 Controller version PRM58 Not used Programming Basic Contents Editing Programs 1EDIT2OPRT3SYS 4MON Creating programs after initialization1PGM 2PNT 3UTL EDIT-PGM 001MOVA 100 Point No0→999 1MOD 2INS 3DEL 4CHG EDIT-PGM Creating a new program PGM PNT UTL EDIT-PGM Adding a step EDIT-PGM No10 051JMPF 10 ,31 ,5 MOD INS DEL CHG Correcting a stepMova Movf 1MOD 2INS 3DEL 4CHG Inserting a step MOD INS EDIT-PGM Deleting a step Copying a program Program Utility Deleting a program 1COPY2DEL 3LIST Viewing the program informationEDIT-UTL Editing Point Data Menu Manual Data Input1MDI 2TCH 3DTCH4DEL EDIT-PNT-MDI Teaching Playback EDIT-PNT-TCH1100 P500 = 167.24 mm 167.24 1CHG 2SPD3SSET4next Direct Teaching EDIT-PNT-DTCH TRC Manual Control of General-Purpose Output EDIT-PNT-DTCH Manual Release of Holding Brake1CHG 2DO 3BRK EDIT-PNT-DTCH 1CHG 2DO 3BRK Deleting Point Data Tracing Points Moving to a registered data point Robot Language Jmpf Robot Language Table Robot Language Syntax Rules Command statement format Point variable P VariablesCounter array variable C, Counter variable D Flag variable memory input/output 100 to Multi-task function Program Function Mova Robot Language DescriptionMovi 4 JMP MovfOther Jmpf 7 L Jmpb 9 do Call Timr Wait 13 P+ 12 P14 P Format Example Explanation Stop SrvoOthers Return-to-origin must be reperformed in this case Orgn Toff 18 TON Condition is met Jmpp Fined 21 MAT Msel Robot Movm Jmpd Jmpc 27 C Csel 29 C 28 C+30 D 31 D+ Shft 32 D Moving between two points Sample ProgramsMoving at an equal pitch Cancels job 1 command Program Comment NO1 Point Program Comment NO1 Main routine Parameter Switching the program from I/OProgram 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 1ORG 2STEP3AUTO Performing Return-to-Origin Robot Using Step Operation OPRT- 010 001MOVA 999,50 SPD OPRT-AUTO 100 0 0 001MOVA 254,100 Using Automatic Operation Therobot Switching the Execution Program Emergency Stop Function Recovering from an emergency stopInitiating an emergency stop Robot Displaying the Memory I/O Status Oprt Displaying the Variables Memo Other Operations 1PGM 2PNT 3PRM 4ALL Initialization 10-3 Display from the monitor menu DIO Monitor Display1DIO 2DUTY MON-DIO Display from the DIO key operation System Information DisplayOPRT-AUTO 1EDIT2OPRT3SYS 4MON Information Service mode function Limiting command input from any device other than TPB Safety settings for Service modeLimiting the robot movement speed Hold-to-run function Prohibiting the automatic operation and step operation 1ACLV2SVCE Enabling/disabling the Service mode function SYS-SAFE-SVCE-SET Service mode = 0Invalid 1Valid Setting the Service mode functions 1SAVE2CHG 3CANCEL Viewing hidden parameters System utilities Saving controller data to a memory card Using a Memory Card1SAVE2LOAD3FMT 4ID UP-ID UP-SAVEAREA UP-SAVE Area UP-ID Loading data from a memory card UP-LOADAREA 3 Select menu SYS-B.UP Formatting a memory card 1SAVE2LOAD3FMT 4ID UP-ID Viewing the ID number for memory card data Method Duty load factor monitor 10-21 Menu Measuring the duty load factor 1Manual load using the TPB or Popcom options Using the internal flash ROM2Auto loading at Srcp power-on Auto-load function Saving the parameter data to the flash ROM FROM-SAVE Saving the parameter data onto the flash ROM 1ALOD FROM-SAVE Operations Manually loading the data from flash ROM 10-27 FROM-INIT Initializing the flash ROM data SYS-B.UP-FROM from 10-30 Communication with PC PRM47 settings default value Communication Parameter Specifications Connector model Communication Cable SpecificationsConnector model controller side Connector model computer side Communication Command Specifications Robot movement Communication Command List 11-6 11-7 Robot movements Communication Command Description@ORG Transmission example @SRUN @RUN@SRVO servo status Servo status @XINC, @XDEC @X+, @X@MOVD X-axis position mm,speed Axis position Point number @MOVA point number,speed10@MOVI point number,speed 14@TIMR time 11@MOVF point number,DI number,DI status 16@P+ 15@P point number17@P 20@MSEL pallet number 18@MOVM pallet work position,speed 22@C counter value 21@CSEL array element number23@C+ addition value 24@C- subtraction value 27@D- subtraction value 26@D+ addition value28@SHFT point number Data handling @?MEM @?STP program number@?VER @?ROBOT History number 11 @?ALM history number,display countDisplay count 12@?ERR history number,display count 14@?SRVO 13@?EMG15@?ORG 16@?MODE 18@?DI general-purpose input or memory input number 17@?PVA19@?DO general-purpose output or memory output number Parameter number 20-1 @?PRM parameter number20-2 @?PRM parameter number,parameter number 21-1 @?P point number 22-1 @READ program number,step number,number of steps 21-2 @?P point number,point numberStep number Number of steps 22-4 @READ PRM 22-3 @READ PNT22-5 @READ ALL 22-7 @READ MIO 22-6 @READ DIO22-8 @READ INF 23-1 @WRITE PGM 23-3 @WRITE PRM 23-2 @WRITE PNT 24@?MAT pallet number 23-4 @WRITE ALL25@?MSEL 27@?C array element number 26@?CSELElement number 28@?D Utilities @SWITSK task number @SWI program numberTask number @SINS program number,step number @SMOD program number,step number @SDEL program number,step number @PDEL point number,number of points @DEL program numberNumber of points Message Tables Error message specifications Error MessagesCommand error message Message Soft limit over Cause Operation error message Program error message Multi-task error message System error message TPB Error Messages Stop Messages Message specificationsStop messages Displaying the Error History 1ALM 2ERR 12-10 Troubleshooting If a Trouble Occurs What you were using Alarm specifications Alarm and CountermeasuresIf an alarm is issued To cancel the alarm Alarm Message Meaning Possible Cause Action Alarm message list 13-5 13-6 Relating to the robot movement Troubleshooting for Specific Symptom Troubleshooting for Specific Symptom Relating to the I/O TPB Other Displaying the Alarm History 13-12 Maintenance and Warranty Warranty description WarrantyWarranty Period Exceptions to the Warranty Battery product number CR2450THE Toshiba Battery Replacing the System Backup Battery Updating the System Specifications Srcp sereis Basic specifications LED display Robot number list TPB 15-2 TPB Regenerative Unit RGU-2 15-6 Appendix Using the memory card How to Handle OptionsPrecautions when using the memory card Memory card Data size that can be saved When the PC has a D-sub 9-pin connector When the PC has a D-sub 25-pin connectorPopcom communication cable Memo Revision record