Manuals / Yamaha / Computer Equipment / Computer Hardware

Yamaha SRCP manual Memo

Models: SRCP

1 246

Download 246 pages 58.82 Kb

Page 8

MEMO

vi

Image 8

Yamaha SRCP manual Memo

Contents

Srcp Page General Contents Parameters Iii Communication with PC 11-1 Appendix 16-1 Memo Chapter OverviewFeatures of the Srcp Series Controller Setting Up for Operation Basic stepsExternal View and Part Names Srcp controllerExterior of the Srcp controller SRCP-05 SRCP-05A, 10A, 20A Three-side view of the Srcp controller 2 TPB System Configuration System configurationPeripheral 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 protectorConnecting the Srcp to the Control Unit Installing current control switchesGrounding Insulation resistance and voltage breakdown testsConnecting to the Robot Robot I/O connector and signal tableConnecting to the I/O. CN Connector Connecting to the EXT. CN Connector Slotted screwdriver Terminal numbers are not actuallyConnecting to the Regenerative Unit Connecting the Srcp controller to a regenerative unitMemo Interface 2 EXT. CN connector signals I/O Signals1 I/O. CN connector signals Input Signal Description Dedicated command inputAbsolute point movement command ABS-PT Relative point movement command INC-PTAutomatic operation start command AUTO-R Step operation start command STEP-RReset command Reset Return-to-origin command ORG-SServo recovery command Servo General-purpose input DI0 to DI7 PRM7Emergency stop inputs 1, 2 EMG1, EMG2 Service mode input SvceInterlock Lock Output Signal Description Command-in-progress output BusyDedicated output Ready-to-operate output ReadyGeneral-purpose output DO0 to DO4 Feedback pulse output PA±, PB±, PZ±, PZM±1 I/O circuit specifications I/O Circuits2 I/O circuit and connection example Circuit and connection exampleI/O Connection Diagram Connection to PLC output unitConnection to PLC input unit Connection to the Mitsubishi PLC AX41 input unitI/O Control Timing Charts When turning the power onWhen 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 completedWhen emergency stop is input When alarm is issuedWhen executing a point movement command Basic Operation of the TPB Connecting and Disconnecting the TPB Connecting the TPB to the Srcp controllerWhen 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 Key Operation Basic Operation of the TPBReading the Screen Program execution screenProgram edit screen 1MOD 2INS 3DEL 4CHGCHG SPD Point edit screen teaching playbackDIO monitor screen Hierarchical Menu Structure PGMRestricting Key Operation by Access Level Explanation of access levelChanging an access level Memory card1EDIT2OPRT3SYS 4CARD Parameters Setting the Parameters ParametersParameter Description PRM0 Robot type numberPRM1 + soft limit PRM2 soft limitPRM3 Payload PRM4 AccelerationPRM5 Return-to-origin direction PRM6 Positioning-completed pulsePRM7 I/O point movement command speed PRM8 No. of conditional input pointsPRM9 Movf speed PRM10 Return-to-origin speedPRM11 No. of encoder pulses 4 mode PRM12 Lead lengthPRM13 Origin detection method PRM14 Overload currentPRM18 Speed integration gain PRM19 Position proportional gainPRM20 OUT valid position PRM21 Position data unitPRM24 Teaching count data TPB entry PRM25 Not usedPRM26 Teaching movement data PRM27 Teaching movement data 1 for TPBPRM32 Alarm number output PRM33 Operation at return-to-origin completePRM34 System mode selection Bit 1 Ready signal sequence settingBit 3 Voltage check setting for system backup battery Bit 6 Interlock function settingPRM38 Speed delay compensation gain PRM39 Control mode selectionPRM40 Reset execution condition selection PRM35 Origin shiftPRM41 I/O point movement command speed PRM42 I/O point movement command speedPRM43 I/O point movement command speed PRM44 Maximum speed settingPRM47 Communication parameter setting PRM46 Servo status outputPRM48 Pre-operation action selection PRM49 Controller versionPRM53 Zone output selection PRM51 Lead program numberPRM52 Hold gain Zone setting range and output port Zone output functionPRM54 Magnetic pole detection level PRM55 Magnetic pole positionPRM56 Controller version PRM58 Not usedProgramming Basic Contents Editing Programs Creating programs after initialization 1EDIT2OPRT3SYS 4MON1PGM 2PNT 3UTL EDIT-PGM001MOVA 100 Point No0→999 Creating a new program 1MOD 2INS 3DEL 4CHG EDIT-PGMAdding a step PGM PNT UTL EDIT-PGMEDIT-PGM No10 051JMPF 10 ,31 ,5 Correcting a step MOD INS DEL CHGMova MovfInserting a step 1MOD 2INS 3DEL 4CHGDeleting a step MOD INS EDIT-PGMProgram Utility Copying a programDeleting a program EDIT-UTL Viewing the program information1COPY2DEL 3LIST Editing Point Data Manual Data Input Menu1MDI 2TCH 3DTCH4DEL EDIT-PNT-MDITeaching Playback EDIT-PNT-TCH1100 P500 = 167.24 mm 167.24 1CHG 2SPD3SSET4next Direct Teaching EDIT-PNT-DTCH Manual Control of General-Purpose Output TRCManual Release of Holding Brake EDIT-PNT-DTCH1CHG 2DO 3BRK EDIT-PNT-DTCH 1CHG 2DO 3BRKDeleting Point Data Tracing Points Moving to a registered data point Robot Language Robot Language Table JmpfCommand statement format Robot Language Syntax RulesVariables Point variable PCounter array variable C, Counter variable D Flag variable memory input/output 100 toProgram Function Multi-task functionMovi Robot Language DescriptionMova Other Movf4 JMP Jmpf Jmpb 7 LCall 9 doWait Timr12 P 13 P+14 P Format Example ExplanationOthers SrvoStop Orgn Return-to-origin must be reperformed in this case18 TON ToffJmpp Condition is met21 MAT FinedMsel Movm RobotJmpc JmpdCsel 27 C28 C+ 29 C30 D 31 D+32 D ShftMoving 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 2STEP3AUTORobot Using Step Operation OPRT- 010 001MOVA 999,50 SPD Using Automatic Operation OPRT-AUTO 100 0 0 001MOVA 254,100Therobot 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 OprtMemo Other Operations Initialization 1PGM 2PNT 3PRM 4ALL10-3 DIO Monitor Display Display from the monitor menu1DIO 2DUTY MON-DIOSystem Information Display Display from the DIO key operationOPRT-AUTO 1EDIT2OPRT3SYS 4MON InformationService 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 functionEnabling/disabling the Service mode function 1ACLV2SVCEService mode = 0Invalid 1Valid SYS-SAFE-SVCE-SETSetting the Service mode functions 1SAVE2CHG 3CANCEL System utilities Viewing hidden parametersUsing a Memory Card Saving controller data to a memory card1SAVE2LOAD3FMT 4ID UP-IDUP-SAVE UP-SAVEAREALoading data from a memory card Area UP-IDUP-LOADAREA 3 Select menu Formatting a memory card SYS-B.UPViewing the ID number for memory card data 1SAVE2LOAD3FMT 4ID UP-IDDuty load factor monitor Method10-21 Measuring the duty load factor MenuUsing the internal flash ROM 1Manual load using the TPB or Popcom options2Auto loading at Srcp power-on Auto-load function Saving the parameter data to the flash ROMSaving the parameter data onto the flash ROM FROM-SAVEFROM-SAVE 1ALODManually loading the data from flash ROM Operations10-27 Initializing the flash ROM data FROM-INITSYS-B.UP-FROM from 10-30 Communication with PC Communication Parameter Specifications PRM47 settings default valueCommunication Cable Specifications Connector modelConnector model controller side Connector model computer sideCommunication Command Specifications Communication Command List Robot movement11-6 11-7 Communication Command Description Robot movements@ORG Transmission example@RUN @SRUN@SRVO servo status Servo status@X+, @X @XINC, @XDEC@MOVD X-axis position mm,speed Axis position10@MOVI point number,speed @MOVA point number,speedPoint number 11@MOVF point number,DI number,DI status 14@TIMR time17@P 15@P point number16@P+ 18@MOVM pallet work position,speed 20@MSEL pallet number21@CSEL array element number 22@C counter value23@C+ addition value 24@C- subtraction value28@SHFT point number 26@D+ addition value27@D- subtraction value Data handling @?STP program number @?MEM@?VER @?ROBOT11 @?ALM history number,display count History numberDisplay count 12@?ERR history number,display count13@?EMG 14@?SRVO15@?ORG 16@?MODE19@?DO general-purpose output or memory output number 17@?PVA18@?DI general-purpose input or memory input number 20-1 @?PRM parameter number Parameter number20-2 @?PRM parameter number,parameter number 21-1 @?P point number21-2 @?P point number,point number 22-1 @READ program number,step number,number of stepsStep number Number of steps22-5 @READ ALL 22-3 @READ PNT22-4 @READ PRM 22-6 @READ DIO 22-7 @READ MIO22-8 @READ INF 23-1 @WRITE PGM23-2 @WRITE PNT 23-3 @WRITE PRM25@?MSEL 23-4 @WRITE ALL24@?MAT pallet number 26@?CSEL 27@?C array element numberElement number 28@?DUtilities @SWI program number @SWITSK task numberTask number @SINS program number,step number@SDEL program number,step number @SMOD program number,step numberNumber 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 CauseProgram error message System error message Multi-task error messageTPB Error Messages Stop messages Message specificationsStop Messages Displaying the Error History 1ALM 2ERR 12-10 Troubleshooting What you were using If a Trouble OccursAlarm and Countermeasures Alarm specificationsIf an alarm is issued To cancel the alarmAlarm message list Alarm Message Meaning Possible Cause Action13-5 13-6 Troubleshooting for Specific Symptom Relating to the robot movementTroubleshooting for Specific Symptom Relating to the I/O Other TPBDisplaying the Alarm History 13-12 Maintenance and Warranty Warranty Warranty descriptionWarranty Period Exceptions to the WarrantyReplacing the System Backup Battery Battery product number CR2450THE Toshiba BatteryUpdating the System Specifications Basic specifications Srcp sereisRobot number list LED display15-2 TPB TPBRegenerative Unit RGU-2 15-6 Appendix How to Handle Options Using the memory cardPrecautions when using the memory card Memory cardData 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