When emergency stop is input, When alarm is issued | Yamaha SRCP

3-6 I/O Control Timing Charts

3-6-4 When emergency stop is input

Emergency stop

EMG

Dedicated command

BUSY

END

READY

5ms or less 1ms or less

■The READY signal turns off. The BUSY signal also turns off while a dedicated command is being executed. The END signal remains unchanged.

■To enable robot operation, cancel emergency stop to turn on the READY signal, then input the servo recovery command (SERVO).

3-6-5 When alarm is issued

Alarm

Dedicated command

BUSY

END

READY

5ms or less 1ms or less

■The READY, BUSY and END signals all turn off.

■Correct the problem while referring to "13-2 Alarm and Countermeasures".

3

I/O INTERFACE

3-19

Image 47

Yamaha SRCP manual When emergency stop is input, When alarm is issued

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 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 a circuit protector Installing an external leakage breaker Insulation resistance and voltage breakdown tests Connecting the Srcp to the Control UnitInstalling current control switches Grounding 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 2 EXT. CN connector signals I/O Signals1 I/O. CN connector signals Dedicated command input Input Signal Description Step operation start command STEP-R Absolute point movement command ABS-PTRelative point movement command INC-PT Automatic operation start command AUTO-R Reset command Reset Return-to-origin command ORG-SServo recovery command Servo PRM7 General-purpose input DI0 to DI7 Emergency stop inputs 1, 2 EMG1, EMG2 Service mode input SvceInterlock Lock Ready-to-operate output Ready Output Signal DescriptionCommand-in-progress output Busy Dedicated output 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 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 off Disconnecting the TPB from the Srcp controller Basic Operation of the TPB Basic Key Operation 1MOD 2INS 3DEL 4CHG Reading the ScreenProgram execution screen Program edit screen CHG SPD Point edit screen teaching playbackDIO monitor screen 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 PRM2 soft limit Parameter DescriptionPRM0 Robot type number PRM1 + soft limit PRM6 Positioning-completed pulse PRM3 PayloadPRM4 Acceleration PRM5 Return-to-origin direction PRM10 Return-to-origin speed PRM7 I/O point movement command speedPRM8 No. of conditional input points PRM9 Movf speed PRM14 Overload current PRM11 No. of encoder pulses 4 modePRM12 Lead length PRM13 Origin detection method PRM21 Position data unit PRM18 Speed integration gainPRM19 Position proportional gain PRM20 OUT valid position PRM27 Teaching movement data 1 for TPB PRM24 Teaching count data TPB entryPRM25 Not used PRM26 Teaching movement data PRM33 Operation at return-to-origin complete PRM32 Alarm number output Bit 6 Interlock function setting PRM34 System mode selectionBit 1 Ready signal sequence setting Bit 3 Voltage check setting for system backup battery PRM35 Origin shift PRM38 Speed delay compensation gainPRM39 Control mode selection PRM40 Reset execution condition selection PRM44 Maximum speed setting PRM41 I/O point movement command speedPRM42 I/O point movement command speed PRM43 I/O point movement command speed PRM49 Controller version PRM47 Communication parameter settingPRM46 Servo status output PRM48 Pre-operation action selection PRM53 Zone output selection PRM51 Lead program numberPRM52 Hold gain Zone output function Zone setting range and output port PRM58 Not used PRM54 Magnetic pole detection levelPRM55 Magnetic pole position PRM56 Controller version Programming Basic Contents Editing Programs EDIT-PGM Creating programs after initialization1EDIT2OPRT3SYS 4MON 1PGM 2PNT 3UTL 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 Movf Correcting a stepMOD INS DEL CHG Mova 1MOD 2INS 3DEL 4CHG Inserting a step MOD INS EDIT-PGM Deleting a step Copying a program Program Utility Deleting a program EDIT-UTL Viewing the program information1COPY2DEL 3LIST Editing Point Data EDIT-PNT-MDI Manual Data InputMenu 1MDI 2TCH 3DTCH4DEL 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 1CHG 2DO 3BRK Manual Release of Holding BrakeEDIT-PNT-DTCH 1CHG 2DO 3BRK EDIT-PNT-DTCH Deleting Point Data Tracing Points Moving to a registered data point Robot Language Jmpf Robot Language Table Robot Language Syntax Rules Command statement format Flag variable memory input/output 100 to VariablesPoint variable P Counter array variable C, Counter variable D Multi-task function Program Function Movi Robot Language DescriptionMova Other Movf4 JMP Jmpf 7 L Jmpb 9 do Call Timr Wait Format Example Explanation 12 P13 P+ 14 P Others SrvoStop 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 31 D+ 28 C+29 C 30 D Shft 32 D 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 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 Initiating an emergency stop Recovering from an emergency stopEmergency Stop Function Robot Displaying the Memory I/O Status Oprt Displaying the Variables Memo Other Operations 1PGM 2PNT 3PRM 4ALL Initialization 10-3 MON-DIO DIO Monitor DisplayDisplay from the monitor menu 1DIO 2DUTY 1EDIT2OPRT3SYS 4MON Information System Information DisplayDisplay from the DIO key operation OPRT-AUTO Service mode function Limiting the robot movement speed Safety settings for Service modeLimiting command input from any device other than TPB 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 UP-ID Using a Memory CardSaving controller data to a memory card 1SAVE2LOAD3FMT 4ID 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 Saving 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 function 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 computer side Communication Cable SpecificationsConnector model Connector model controller side Communication Command Specifications Robot movement Communication Command List 11-6 11-7 Transmission example Communication Command DescriptionRobot movements @ORG Servo status @RUN@SRUN @SRVO servo status Axis position @X+, @X@XINC, @XDEC @MOVD X-axis position mm,speed 10@MOVI point number,speed @MOVA point number,speedPoint number 14@TIMR time 11@MOVF point number,DI number,DI status 17@P 15@P point number16@P+ 20@MSEL pallet number 18@MOVM pallet work position,speed 24@C- subtraction value 21@CSEL array element number22@C counter value 23@C+ addition value 28@SHFT point number 26@D+ addition value27@D- subtraction value Data handling @?ROBOT @?STP program number@?MEM @?VER 12@?ERR history number,display count 11 @?ALM history number,display countHistory number Display count 16@?MODE 13@?EMG14@?SRVO 15@?ORG 19@?DO general-purpose output or memory output number 17@?PVA18@?DI general-purpose input or memory input number 21-1 @?P point number 20-1 @?PRM parameter numberParameter number 20-2 @?PRM parameter number,parameter number Number of steps 21-2 @?P point number,point number22-1 @READ program number,step number,number of steps Step number 22-5 @READ ALL 22-3 @READ PNT22-4 @READ PRM 23-1 @WRITE PGM 22-6 @READ DIO22-7 @READ MIO 22-8 @READ INF 23-3 @WRITE PRM 23-2 @WRITE PNT 25@?MSEL 23-4 @WRITE ALL24@?MAT pallet number 28@?D 26@?CSEL27@?C array element number Element number Utilities @SINS program number,step number @SWI program number@SWITSK task number Task number @SMOD program number,step number @SDEL 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 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 To cancel the alarm Alarm and CountermeasuresAlarm specifications If an alarm is issued 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 Exceptions to the Warranty WarrantyWarranty description Warranty Period 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 Memory card How to Handle OptionsUsing the memory card Precautions when using the 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