Yamaha SRCP manual Connecting and Disconnecting the TPB, Connecting the TPB to the Srcp controller

4-1 Connecting and Disconnecting the TPB

4-1 Connecting and Disconnecting the TPB

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4-1-1 Connecting the TPB to the SRCP controller

c CAUTION

Do not modify the TPB cable or use any type of relay unit for connecting the TPB to the SRCP controller. Doing so might cause communication errors or malfunctions.

■When the power supply to the controller is turned off

OF THE TPB

Connect the TPB connector to the connec- tor labelled "TPB" on the front panel of the controller and supply power to the control- ler. A beep sounds for approximately 1 sec- ond and then the screen shown at the right appears. This screen is referred to as the "Ini- tial screen" from this point onwards.

[MENU] select menu

1EDIT2OPRT3SYS 4MON

BASIC OPERATION

■When the power supply to the controller is turned on

The TPB can also be connected to the SRCP controller if the power supply to the controller is on. In this case, hold down the ESC switch on the front panel of the controller as you plug in the TPB connector. If the TPB is connected to the controller without pressing the ESC swith, emergency stop might be triggered causing the robot servo to turn off. Also, if the TPB is connected while the controller is executing a program or an I/O dedicated command, then the execution will be inter- rupted regardless of whether or not the ESC switch is held down.

c CAUTION

Any of the messages "08: PNT DATA DESTROY", "09: PRM DATA DESTROY" or "10: PGM DATA DE- STROY" may appear on the TPB when the power to the controller is turned on. (See "13-2 Alarm and Counter- measures".) If one of these messages appears, turn off the power to the controller and then turn it back on again while the emergency stop button of the TPB is still depressed. In this state, the robot servo remains off, but the initial screen appears on the TPB to allow key operation, so initialize and restore the data.

If the message "05: BATT. LOW-VOLTAGE" appears on the TPB when the power is turned on, turn off the power to the controller and then turn it on again while the emergency stop button of the TPB is still depressed. In this state, the robot servo remains off, but the initial screen appears on the TPB to allow key operation, so make a backup of the data, and then replace the lithium battery in the controller (the lithium battery normally lasts five years). (See "14-2 Replacing the System Backup Battery".)

If the message "SIO error" is displayed on the TPB, check whether the I/O dedicated command input is on. If the dedicated command input is on, the TPB cannot be used, so the dedicated input must always be a pulse input (the dedicated command input must be off when the BUSY signal turns on.) (Refer to "3-2-1 Dedicated command input".)

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