13@?EMG, 14@?SRVO, 15@?ORG, 16@?MODE | Yamaha SRCP instruction

11-5 Communication Command Description

(13)@?EMG

Reads the emergency stop status.
Transmission example	: @?EMG c/r l/f
Response example 1	:	0 c/r l/f	Emergency stop is off.
		OK c/r l/f
Response example 2	:	1 c/r l/f	Emergency stop is on.
		OK c/r l/f
(14)@?SRVO
Reads the servo status.
Transmission example	: @?SRVO c/r l/f
Response example 1	:	0 c/r l/f	Servo is off.
		OK c/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.

11

COMMUNICATION WITH PC

Transmission example	:	@?ORG c/r l/f
Response example 1	:	0 c/r l/f	Return-to-origin not com-
		OK c/r l/f	pleted.
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 stopped.
		OK c/r l/f
Response example 2	:	1 c/r l/f	Program is being executed
		OK c/r l/f	from TPB or PC.
Response example 3	:	2 c/r l/f	Program is being executed by
		OK c/r l/f	I/O command.

11-20

Image 196

Yamaha SRCP manual 13@?EMG, 14@?SRVO, 15@?ORG, 16@?MODE

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 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 an external leakage breaker Installing a circuit protector Connecting the Srcp to the Control Unit Installing current control switchesGrounding 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 1 I/O. CN connector signals I/O Signals2 EXT. CN connector signals Input Signal Description Dedicated command input Absolute point movement command ABS-PT Relative point movement command INC-PTAutomatic operation start command AUTO-R Step operation start command STEP-R Servo recovery command Servo Return-to-origin command ORG-SReset command Reset General-purpose input DI0 to DI7 PRM7 Interlock Lock Service mode input SvceEmergency stop inputs 1, 2 EMG1, EMG2 Output Signal Description Command-in-progress output BusyDedicated output 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 Connecting and Disconnecting the TPB Connecting the TPB to the Srcp controllerWhen 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 Key Operation Basic Operation of the TPB Reading the Screen Program execution screenProgram edit screen 1MOD 2INS 3DEL 4CHG DIO monitor screen Point edit screen teaching playbackCHG 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 Parameter Description PRM0 Robot type numberPRM1 + soft limit PRM2 soft limit PRM3 Payload PRM4 AccelerationPRM5 Return-to-origin direction PRM6 Positioning-completed pulse PRM7 I/O point movement command speed PRM8 No. of conditional input pointsPRM9 Movf speed PRM10 Return-to-origin speed PRM11 No. of encoder pulses 4 mode PRM12 Lead lengthPRM13 Origin detection method PRM14 Overload current PRM18 Speed integration gain PRM19 Position proportional gainPRM20 OUT valid position PRM21 Position data unit PRM24 Teaching count data TPB entry PRM25 Not usedPRM26 Teaching movement data PRM27 Teaching movement data 1 for TPB PRM32 Alarm number output PRM33 Operation at return-to-origin complete PRM34 System mode selection Bit 1 Ready signal sequence settingBit 3 Voltage check setting for system backup battery Bit 6 Interlock function setting PRM38 Speed delay compensation gain PRM39 Control mode selectionPRM40 Reset execution condition selection PRM35 Origin shift PRM41 I/O point movement command speed PRM42 I/O point movement command speedPRM43 I/O point movement command speed PRM44 Maximum speed setting PRM47 Communication parameter setting PRM46 Servo status outputPRM48 Pre-operation action selection PRM49 Controller version PRM52 Hold gain PRM51 Lead program numberPRM53 Zone output selection Zone setting range and output port Zone output function PRM54 Magnetic pole detection level PRM55 Magnetic pole positionPRM56 Controller version PRM58 Not used Programming Basic Contents Editing Programs Creating programs after initialization 1EDIT2OPRT3SYS 4MON1PGM 2PNT 3UTL 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 Correcting a step MOD INS DEL CHGMova Movf Inserting a step 1MOD 2INS 3DEL 4CHG Deleting a step MOD INS EDIT-PGM Program Utility Copying a program Deleting a program 1COPY2DEL 3LIST Viewing the program informationEDIT-UTL Editing Point Data Manual Data Input Menu1MDI 2TCH 3DTCH4DEL 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 Manual Release of Holding Brake EDIT-PNT-DTCH1CHG 2DO 3BRK EDIT-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 Variables Point variable PCounter array variable C, Counter variable D Flag variable memory input/output 100 to Program Function Multi-task function Mova Robot Language DescriptionMovi 4 JMP MovfOther Jmpf Jmpb 7 L Call 9 do Wait Timr 12 P 13 P+14 P Format Example Explanation Stop SrvoOthers 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 28 C+ 29 C30 D 31 D+ 32 D Shft 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 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 Emergency Stop Function Recovering from an emergency stopInitiating an emergency stop Robot Displaying the Memory I/O Status Displaying the Variables Oprt Memo Other Operations Initialization 1PGM 2PNT 3PRM 4ALL 10-3 DIO Monitor Display Display from the monitor menu1DIO 2DUTY MON-DIO System Information Display Display from the DIO key operationOPRT-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 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 Using a Memory Card Saving controller data to a memory card1SAVE2LOAD3FMT 4ID 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 Using the internal flash ROM 1Manual load using the TPB or Popcom options2Auto loading at Srcp power-on Auto-load function 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 Communication Cable Specifications Connector modelConnector model controller side Connector model computer side Communication Command Specifications Communication Command List Robot movement 11-6 11-7 Communication Command Description Robot movements@ORG Transmission example @RUN @SRUN@SRVO servo status Servo status @X+, @X @XINC, @XDEC@MOVD X-axis position mm,speed Axis position Point number @MOVA point number,speed10@MOVI point number,speed 11@MOVF point number,DI number,DI status 14@TIMR time 16@P+ 15@P point number17@P 18@MOVM pallet work position,speed 20@MSEL pallet number 21@CSEL array element number 22@C counter value23@C+ addition value 24@C- subtraction value 27@D- subtraction value 26@D+ addition value28@SHFT point number Data handling @?STP program number @?MEM@?VER @?ROBOT 11 @?ALM history number,display count History numberDisplay count 12@?ERR history number,display count 13@?EMG 14@?SRVO15@?ORG 16@?MODE 18@?DI general-purpose input or memory input number 17@?PVA19@?DO general-purpose output or memory output number 20-1 @?PRM parameter number Parameter number20-2 @?PRM parameter number,parameter number 21-1 @?P point number 21-2 @?P point number,point number 22-1 @READ program number,step number,number of stepsStep number Number of steps 22-4 @READ PRM 22-3 @READ PNT22-5 @READ ALL 22-6 @READ DIO 22-7 @READ MIO22-8 @READ INF 23-1 @WRITE PGM 23-2 @WRITE PNT 23-3 @WRITE PRM 24@?MAT pallet number 23-4 @WRITE ALL25@?MSEL 26@?CSEL 27@?C array element numberElement number 28@?D Utilities @SWI program number @SWITSK task numberTask number @SINS program number,step number @SDEL program number,step number @SMOD program number,step number @PDEL point number,number of points @DEL program numberNumber of points Message Tables Error message specifications Error MessagesCommand error message Operation error message Message Soft limit over Cause Program error message System error message Multi-task error message TPB Error Messages Stop Messages Message specificationsStop messages Displaying the Error History 1ALM 2ERR 12-10 Troubleshooting What you were using If a Trouble Occurs Alarm and Countermeasures Alarm specificationsIf an alarm is issued 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 Warranty descriptionWarranty Period 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 How to Handle Options Using the memory cardPrecautions 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