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Yamaha SRCP manual Connecting to the Regenerative Unit

Models: SRCP

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2-8 Connecting to the Regenerative Unit

2-8 Connecting to the Regenerative Unit

Some types of robots must be connected to a regenerative unit. In such cases, use the interconnection cable to connect the SRCP controller to the regenerative unit.

Fig. 2-3 Connecting the SRCP controller to a regenerative unit

Use the interconnection cable to make connections.

2

INSTALLATION AND

CONNECTION

2-9

Image 27

Yamaha SRCP manual Connecting to the Regenerative Unit, Connecting the Srcp controller to a regenerative unit

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 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 a circuit protector Installing an external leakage breakerInsulation resistance and voltage breakdown tests Connecting the Srcp to the Control UnitInstalling current control switches GroundingRobot 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 I/O Signals 1 I/O. CN connector signals2 EXT. CN connector signals Dedicated command input Input Signal DescriptionStep operation start command STEP-R Absolute point movement command ABS-PTRelative point movement command INC-PT Automatic operation start command AUTO-RReturn-to-origin command ORG-S Servo recovery command ServoReset command Reset PRM7 General-purpose input DI0 to DI7Service mode input Svce Interlock LockEmergency stop inputs 1, 2 EMG1, EMG2 Ready-to-operate output Ready Output Signal DescriptionCommand-in-progress output Busy Dedicated outputFeedback 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 When the power supply to the controller is turned on Connecting and Disconnecting the TPBConnecting the TPB to the Srcp controller When the power supply to the controller is turned offDisconnecting the TPB from the Srcp controller Basic Operation of the TPB Basic Key Operation1MOD 2INS 3DEL 4CHG Reading the ScreenProgram execution screen Program edit screenPoint edit screen teaching playback DIO monitor screenCHG SPD PGM Hierarchical Menu StructureExplanation of access level Restricting Key Operation by Access LevelMemory card Changing an access level1EDIT2OPRT3SYS 4CARD Parameters Parameters Setting the ParametersPRM2 soft limit Parameter DescriptionPRM0 Robot type number PRM1 + soft limitPRM6 Positioning-completed pulse PRM3 PayloadPRM4 Acceleration PRM5 Return-to-origin directionPRM10 Return-to-origin speed PRM7 I/O point movement command speedPRM8 No. of conditional input points PRM9 Movf speedPRM14 Overload current PRM11 No. of encoder pulses 4 modePRM12 Lead length PRM13 Origin detection methodPRM21 Position data unit PRM18 Speed integration gainPRM19 Position proportional gain PRM20 OUT valid positionPRM27 Teaching movement data 1 for TPB PRM24 Teaching count data TPB entryPRM25 Not used PRM26 Teaching movement dataPRM33 Operation at return-to-origin complete PRM32 Alarm number outputBit 6 Interlock function setting PRM34 System mode selectionBit 1 Ready signal sequence setting Bit 3 Voltage check setting for system backup batteryPRM35 Origin shift PRM38 Speed delay compensation gainPRM39 Control mode selection PRM40 Reset execution condition selectionPRM44 Maximum speed setting PRM41 I/O point movement command speedPRM42 I/O point movement command speed PRM43 I/O point movement command speedPRM49 Controller version PRM47 Communication parameter settingPRM46 Servo status output PRM48 Pre-operation action selectionPRM51 Lead program number PRM52 Hold gainPRM53 Zone output selection Zone output function Zone setting range and output portPRM58 Not used PRM54 Magnetic pole detection levelPRM55 Magnetic pole position PRM56 Controller versionProgramming Basic Contents Editing Programs EDIT-PGM Creating programs after initialization1EDIT2OPRT3SYS 4MON 1PGM 2PNT 3UTL001MOVA 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 Movf Correcting a stepMOD INS DEL CHG Mova1MOD 2INS 3DEL 4CHG Inserting a stepMOD INS EDIT-PGM Deleting a stepCopying a program Program UtilityDeleting a program Viewing the program information 1COPY2DEL 3LISTEDIT-UTL Editing Point Data EDIT-PNT-MDI Manual Data InputMenu 1MDI 2TCH 3DTCH4DELTeaching Playback EDIT-PNT-TCH1100 P500 = 167.24 mm 167.24 1CHG 2SPD3SSET4next Direct Teaching EDIT-PNT-DTCH TRC Manual Control of General-Purpose Output1CHG 2DO 3BRK Manual Release of Holding BrakeEDIT-PNT-DTCH 1CHG 2DO 3BRK EDIT-PNT-DTCHDeleting Point Data Tracing Points Moving to a registered data point Robot Language Jmpf Robot Language TableRobot Language Syntax Rules Command statement formatFlag variable memory input/output 100 to VariablesPoint variable P Counter array variable C, Counter variable DMulti-task function Program FunctionRobot Language Description MovaMovi Movf 4 JMPOther Jmpf 7 L Jmpb9 do CallTimr WaitFormat Example Explanation 12 P13 P+ 14 PSrvo StopOthers Return-to-origin must be reperformed in this case OrgnToff 18 TONCondition is met JmppFined 21 MATMsel Robot MovmJmpd Jmpc27 C Csel31 D+ 28 C+29 C 30 DShft 32 DSample 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 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 Recovering from an emergency stop Emergency Stop FunctionInitiating an emergency stop Robot Displaying the Memory I/O Status Oprt Displaying the VariablesMemo Other Operations 1PGM 2PNT 3PRM 4ALL Initialization10-3 MON-DIO DIO Monitor DisplayDisplay from the monitor menu 1DIO 2DUTY1EDIT2OPRT3SYS 4MON Information System Information DisplayDisplay from the DIO key operation OPRT-AUTOService mode function Safety settings for Service mode Limiting command input from any device other than TPBLimiting 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 utilitiesUP-ID Using a Memory CardSaving controller data to a memory card 1SAVE2LOAD3FMT 4IDUP-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 factorSaving the parameter data to the flash ROM Using the internal flash ROM1Manual load using the TPB or Popcom options 2Auto loading at Srcp power-on Auto-load functionFROM-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 computer side Communication Cable SpecificationsConnector model Connector model controller sideCommunication Command Specifications Robot movement Communication Command List11-6 11-7 Transmission example Communication Command DescriptionRobot movements @ORGServo status @RUN@SRUN @SRVO servo statusAxis position @X+, @X@XINC, @XDEC @MOVD X-axis position mm,speed@MOVA point number,speed Point number10@MOVI point number,speed 14@TIMR time 11@MOVF point number,DI number,DI status15@P point number 16@P+17@P 20@MSEL pallet number 18@MOVM pallet work position,speed24@C- subtraction value 21@CSEL array element number22@C counter value 23@C+ addition value26@D+ addition value 27@D- subtraction value28@SHFT point number Data handling @?ROBOT @?STP program number@?MEM @?VER12@?ERR history number,display count 11 @?ALM history number,display countHistory number Display count16@?MODE 13@?EMG14@?SRVO 15@?ORG17@?PVA 18@?DI general-purpose input or memory input number19@?DO general-purpose output or memory output number 21-1 @?P point number 20-1 @?PRM parameter numberParameter number 20-2 @?PRM parameter number,parameter numberNumber of steps 21-2 @?P point number,point number22-1 @READ program number,step number,number of steps Step number22-3 @READ PNT 22-4 @READ PRM22-5 @READ ALL 23-1 @WRITE PGM 22-6 @READ DIO22-7 @READ MIO 22-8 @READ INF23-3 @WRITE PRM 23-2 @WRITE PNT23-4 @WRITE ALL 24@?MAT pallet number25@?MSEL 28@?D 26@?CSEL27@?C array element number Element numberUtilities @SINS program number,step number @SWI program number@SWITSK task number Task number@SMOD program number,step number @SDEL program number,step number@DEL program number @PDEL point number,number of pointsNumber of points Message Tables Error Messages Error message specificationsCommand error message Message Soft limit over Cause Operation error messageProgram error message Multi-task error message System error messageTPB Error Messages Message specifications Stop MessagesStop messages Displaying the Error History 1ALM 2ERR 12-10 Troubleshooting If a Trouble Occurs What you were usingTo cancel the alarm Alarm and CountermeasuresAlarm specifications If an alarm is issuedAlarm 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 Exceptions to the Warranty WarrantyWarranty description Warranty PeriodBattery 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 Memory card How to Handle OptionsUsing the memory card Precautions when using the memory cardData 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