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Yamaha SRCP manual 1ALM 2ERR

Models: SRCP

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5)History numbers, time that errors occurred (total elapsed time from controller start-up) and error descriptions are displayed. One screen displays the past 4 errors in the order

from the most recent error.
Pressing the		XZ – and	XZ +	keys displays the
hidden items.
Press the STEPUP		and DOWNSTEP	keys to sequentially
scroll through the error list.
00 : 00101,05:11:12, CMU, 62:Interlock
↓	↓		↓	↓
q	w		e	r

qHistory number

wTime the error occurred

(The above example means that the error occurred 101 days, 5 hours, 11 minutes and 12 seconds after controller start-up.)

eMovement command control mode imme- diately before the error occurred.

CMU: TPB or RS-232C control

PIO: Parallel I/O control

SIO: Serial I/O control

WIO: Remote command (CC-Link) control

rError description

(See "12-1 Error Messages" and "12-3 Stop Messages".)

6)To return to the previous screen, press ESC .

12-4 Displaying the Error History

00:00101,05:11:12,CM

01:00096,18:10:02,PI

02:00080,10:07:33,CM

03:00015,20:35:45,CM

[SYS-UTL-REC] select menu

1ALM 2ERR

12

MESSAGE TABLES

12-9

Image 217

Yamaha SRCP manual 1ALM 2ERR

Contents

Srcp Page General Contents Parameters Iii Communication with PC 11-1 Appendix 16-1 Memo Overview ChapterFeatures of the Srcp Series Controller Basic steps Setting Up for OperationSrcp controller External View and Part NamesExterior of the Srcp controller SRCP-05 SRCP-05A, 10A, 20A Three-side view of the Srcp controller 2 TPB System configuration System ConfigurationAccessories 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 breakerInstalling current control switches Connecting the Srcp to the Control UnitGrounding Insulation resistance and voltage breakdown testsRobot I/O connector and signal table Connecting to the RobotConnecting to the I/O. CN Connector Slotted screwdriver Terminal numbers are not actually Connecting to the EXT. CN ConnectorConnecting the Srcp controller to a regenerative unit Connecting to the Regenerative UnitMemo Interface 1 I/O. CN connector signals I/O Signals2 EXT. CN connector signals Dedicated command input Input Signal DescriptionRelative point movement command INC-PT Absolute point movement command ABS-PTAutomatic operation start command AUTO-R Step operation start command STEP-RServo recovery command Servo Return-to-origin command ORG-SReset command Reset PRM7 General-purpose input DI0 to DI7Interlock Lock Service mode input SvceEmergency stop inputs 1, 2 EMG1, EMG2 Command-in-progress output Busy Output Signal DescriptionDedicated output Ready-to-operate output ReadyFeedback pulse output PA±, PB±, PZ±, PZM± General-purpose output DO0 to DO4I/O Circuits 1 I/O circuit specificationsCircuit and connection example 2 I/O circuit and connection exampleConnection to PLC output unit I/O Connection DiagramConnection to the Mitsubishi PLC AX41 input unit Connection to PLC input unitWhen turning the power on I/O Control Timing ChartsWhen 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 inputWhen alarm is issued When emergency stop is inputWhen 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 onDisconnecting the TPB from the Srcp controller Basic Operation of the TPB Basic Key OperationProgram execution screen Reading the ScreenProgram edit screen 1MOD 2INS 3DEL 4CHGDIO monitor screen Point edit screen teaching playbackCHG SPD PGM Hierarchical Menu StructureExplanation of access level Restricting Key Operation by Access LevelMemory card Changing an access level1EDIT2OPRT3SYS 4CARD Parameters Parameters Setting the ParametersPRM0 Robot type number Parameter DescriptionPRM1 + soft limit PRM2 soft limitPRM4 Acceleration PRM3 PayloadPRM5 Return-to-origin direction PRM6 Positioning-completed pulsePRM8 No. of conditional input points PRM7 I/O point movement command speedPRM9 Movf speed PRM10 Return-to-origin speedPRM12 Lead length PRM11 No. of encoder pulses 4 modePRM13 Origin detection method PRM14 Overload currentPRM19 Position proportional gain PRM18 Speed integration gainPRM20 OUT valid position PRM21 Position data unitPRM25 Not used PRM24 Teaching count data TPB entryPRM26 Teaching movement data PRM27 Teaching movement data 1 for TPBPRM33 Operation at return-to-origin complete PRM32 Alarm number outputBit 1 Ready signal sequence setting PRM34 System mode selectionBit 3 Voltage check setting for system backup battery Bit 6 Interlock function settingPRM39 Control mode selection PRM38 Speed delay compensation gainPRM40 Reset execution condition selection PRM35 Origin shiftPRM42 I/O point movement command speed PRM41 I/O point movement command speedPRM43 I/O point movement command speed PRM44 Maximum speed settingPRM46 Servo status output PRM47 Communication parameter settingPRM48 Pre-operation action selection PRM49 Controller versionPRM52 Hold gain PRM51 Lead program numberPRM53 Zone output selection Zone output function Zone setting range and output portPRM55 Magnetic pole position PRM54 Magnetic pole detection levelPRM56 Controller version PRM58 Not usedProgramming Basic Contents Editing Programs 1EDIT2OPRT3SYS 4MON Creating programs after initialization1PGM 2PNT 3UTL EDIT-PGM001MOVA 100 Point No0→999 1MOD 2INS 3DEL 4CHG EDIT-PGM Creating a new programPGM PNT UTL EDIT-PGM Adding a stepEDIT-PGM No10 051JMPF 10 ,31 ,5 MOD INS DEL CHG Correcting a stepMova Movf1MOD 2INS 3DEL 4CHG Inserting a stepMOD INS EDIT-PGM Deleting a stepCopying a program Program UtilityDeleting a program 1COPY2DEL 3LIST Viewing the program informationEDIT-UTL Editing Point Data Menu Manual Data Input1MDI 2TCH 3DTCH4DEL EDIT-PNT-MDITeaching Playback EDIT-PNT-TCH1100 P500 = 167.24 mm 167.24 1CHG 2SPD3SSET4next Direct Teaching EDIT-PNT-DTCH TRC Manual Control of General-Purpose OutputEDIT-PNT-DTCH Manual Release of Holding Brake1CHG 2DO 3BRK EDIT-PNT-DTCH 1CHG 2DO 3BRKDeleting Point Data Tracing Points Moving to a registered data point Robot Language Jmpf Robot Language TableRobot Language Syntax Rules Command statement formatPoint variable P VariablesCounter array variable C, Counter variable D Flag variable memory input/output 100 toMulti-task function Program FunctionMova Robot Language DescriptionMovi 4 JMP MovfOther Jmpf 7 L Jmpb9 do CallTimr Wait13 P+ 12 P14 P Format Example ExplanationStop SrvoOthers Return-to-origin must be reperformed in this case OrgnToff 18 TONCondition is met JmppFined 21 MATMsel Robot MovmJmpd Jmpc27 C Csel29 C 28 C+30 D 31 D+Shft 32 DMoving 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-OriginRobot Using Step Operation OPRT- 010 001MOVA 999,50 SPD OPRT-AUTO 100 0 0 001MOVA 254,100 Using Automatic OperationTherobot 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 VariablesMemo Other Operations 1PGM 2PNT 3PRM 4ALL Initialization10-3 Display from the monitor menu DIO Monitor Display1DIO 2DUTY MON-DIODisplay from the DIO key operation System Information DisplayOPRT-AUTO 1EDIT2OPRT3SYS 4MON InformationService 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 operation1ACLV2SVCE Enabling/disabling the Service mode functionSYS-SAFE-SVCE-SET Service mode = 0Invalid 1ValidSetting the Service mode functions 1SAVE2CHG 3CANCEL Viewing hidden parameters System utilitiesSaving controller data to a memory card Using a Memory Card1SAVE2LOAD3FMT 4ID UP-IDUP-SAVEAREA UP-SAVEArea UP-ID Loading data from a memory cardUP-LOADAREA 3 Select menu SYS-B.UP Formatting a memory card1SAVE2LOAD3FMT 4ID UP-ID Viewing the ID number for memory card dataMethod Duty load factor monitor10-21 Menu Measuring the duty load factor1Manual 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 ROMFROM-SAVE Saving the parameter data onto the flash ROM1ALOD FROM-SAVEOperations Manually loading the data from flash ROM10-27 FROM-INIT Initializing the flash ROM dataSYS-B.UP-FROM from 10-30 Communication with PC PRM47 settings default value Communication Parameter SpecificationsConnector model Communication Cable SpecificationsConnector model controller side Connector model computer sideCommunication Command Specifications Robot movement Communication Command List11-6 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 positionPoint number @MOVA point number,speed10@MOVI point number,speed 14@TIMR time 11@MOVF point number,DI number,DI status16@P+ 15@P point number17@P 20@MSEL pallet number 18@MOVM pallet work position,speed22@C counter value 21@CSEL array element number23@C+ addition value 24@C- subtraction value27@D- subtraction value 26@D+ addition value28@SHFT point number Data handling @?MEM @?STP program number@?VER @?ROBOTHistory number 11 @?ALM history number,display countDisplay count 12@?ERR history number,display count14@?SRVO 13@?EMG15@?ORG 16@?MODE18@?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 number22-1 @READ program number,step number,number of steps 21-2 @?P point number,point numberStep number Number of steps22-4 @READ PRM 22-3 @READ PNT22-5 @READ ALL 22-7 @READ MIO 22-6 @READ DIO22-8 @READ INF 23-1 @WRITE PGM23-3 @WRITE PRM 23-2 @WRITE PNT24@?MAT pallet number 23-4 @WRITE ALL25@?MSEL 27@?C array element number 26@?CSELElement number 28@?DUtilities @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 messageProgram error message Multi-task error message System error messageTPB Error Messages Stop Messages Message specificationsStop messages Displaying the Error History 1ALM 2ERR 12-10 Troubleshooting If a Trouble Occurs What you were usingAlarm specifications Alarm and CountermeasuresIf an alarm is issued To cancel the alarmAlarm Message Meaning Possible Cause Action Alarm message list13-5 13-6 Relating to the robot movement Troubleshooting for Specific SymptomTroubleshooting for Specific Symptom Relating to the I/O TPB OtherDisplaying the Alarm History 13-12 Maintenance and Warranty Warranty description WarrantyWarranty Period Exceptions to the WarrantyBattery product number CR2450THE Toshiba Battery Replacing the System Backup BatteryUpdating the System Specifications Srcp sereis Basic specificationsLED display Robot number listTPB 15-2 TPBRegenerative Unit RGU-2 15-6 Appendix Using the memory card How to Handle OptionsPrecautions when using the memory card Memory cardData 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