Yamaha SRCP specification

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Yamaha SRCP manual

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 Peripheral options Accessories and OptionsAccessories Memo Installation and Connection Installation location Installing the Srcp ControllerInstallation method Connecting the power supply Connecting the Power SupplyPower 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 2 EXT. CN connector signals I/O Signals1 I/O. 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 Reset command Reset Return-to-origin command ORG-SServo recovery command Servo General-purpose input DI0 to DI7 PRM7 Emergency stop inputs 1, 2 EMG1, EMG2 Service mode input SvceInterlock Lock 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 CHG SPD Point edit screen teaching playbackDIO monitor screen 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 PRM53 Zone output selection PRM51 Lead program numberPRM52 Hold gain 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 EDIT-UTL Viewing the program information1COPY2DEL 3LIST 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 Movi Robot Language DescriptionMova Other Movf4 JMP Jmpf Jmpb 7 L Call 9 do Wait Timr 14 P 12 P13 P+ Format Example Explanation Others SrvoStop 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 Moving at an equal pitch Sample ProgramsMoving between two points Cancels job 1 command Program Comment NO1 Point Program Comment NO1 Main routine Program description Switching the program from I/OParameter 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 Initiating an emergency stop Recovering from an emergency stopEmergency Stop Function 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 Limiting the robot movement speed Safety settings for Service modeLimiting command input from any device other than TPB 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 10@MOVI point number,speed @MOVA point number,speedPoint number 11@MOVF point number,DI number,DI status 14@TIMR time 17@P 15@P point number16@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 28@SHFT point number 26@D+ addition value27@D- subtraction value 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 19@?DO general-purpose output or memory output number 17@?PVA18@?DI general-purpose input or memory input 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 22-5 @READ ALL 22-3 @READ PNT22-4 @READ PRM 22-8 @READ INF 22-6 @READ DIO22-7 @READ MIO 23-1 @WRITE PGM 23-2 @WRITE PNT 23-3 @WRITE PRM 25@?MSEL 23-4 @WRITE ALL24@?MAT pallet number 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 Number of points @DEL program number@PDEL point number,number of points Message Tables Command error message Error MessagesError message specifications 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 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 Popcom communication cable When the PC has a D-sub 25-pin connectorWhen the PC has a D-sub 9-pin connector Memo Revision record