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Yamaha SRCP manual Edit-Pnt-Dtch

Models: SRCP

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Page 94

7-3 Direct Teaching

7

EDITING POINT DATA

7) Move the robot to the teaching position by hand.

8)Press to input the current position as point data.

Use the same procedure to input all other nec- essary point data, and then press the ESC key.

9)Following the message, release the emergency stop button on the TPB.

10)A confirmation message appears asking whether to turn the servo on.

To turn the servo on, press F1 (yes).

To leave the servo off, press F2 (no).

11)The screen returns to step 3.

[EDIT-PNT-DTCH]

P500 = 19.27 [mm]

[ 0.00]

1CHG 2DO 3BRK

[EDIT-PNT-DTCH]

P500 = 167.24 [mm] [ 167.24]

1CHG 2DO 3BRK

[EDIT-PNT-DTCH] release EMG.button

[EDIT-PNT-DTCH] servo on ready ?

1yes 2no

[EDIT-PNT] select menu

1MDI 2TCH 3DTCH4DEL

7-6

Image 94

Yamaha SRCP manual Edit-Pnt-Dtch

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 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 an external leakage breaker Installing a circuit protectorGrounding Connecting the Srcp to the Control UnitInstalling current control switches 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 1 I/O. CN connector signals I/O Signals2 EXT. CN connector signals Input Signal Description Dedicated command inputAutomatic operation start command AUTO-R Absolute point movement command ABS-PTRelative point movement command INC-PT Step operation start command STEP-RServo recovery command Servo Return-to-origin command ORG-SReset command Reset General-purpose input DI0 to DI7 PRM7Interlock Lock Service mode input SvceEmergency stop inputs 1, 2 EMG1, EMG2 Dedicated output Output Signal DescriptionCommand-in-progress output Busy 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 When the power supply to the controller is turned off Connecting and Disconnecting the TPBConnecting the TPB to the Srcp controller When the power supply to the controller is turned onDisconnecting the TPB from the Srcp controller Basic Key Operation Basic Operation of the TPBProgram edit screen Reading the ScreenProgram execution screen 1MOD 2INS 3DEL 4CHGDIO monitor screen Point edit screen teaching playbackCHG SPD Hierarchical Menu Structure PGMRestricting Key Operation by Access Level Explanation of access levelChanging an access level Memory card1EDIT2OPRT3SYS 4CARD Parameters Setting the Parameters ParametersPRM1 + soft limit Parameter DescriptionPRM0 Robot type number PRM2 soft limitPRM5 Return-to-origin direction PRM3 PayloadPRM4 Acceleration PRM6 Positioning-completed pulsePRM9 Movf speed PRM7 I/O point movement command speedPRM8 No. of conditional input points PRM10 Return-to-origin speedPRM13 Origin detection method PRM11 No. of encoder pulses 4 modePRM12 Lead length PRM14 Overload currentPRM20 OUT valid position PRM18 Speed integration gainPRM19 Position proportional gain PRM21 Position data unitPRM26 Teaching movement data PRM24 Teaching count data TPB entryPRM25 Not used PRM27 Teaching movement data 1 for TPBPRM32 Alarm number output PRM33 Operation at return-to-origin completeBit 3 Voltage check setting for system backup battery PRM34 System mode selectionBit 1 Ready signal sequence setting Bit 6 Interlock function settingPRM40 Reset execution condition selection PRM38 Speed delay compensation gainPRM39 Control mode selection PRM35 Origin shiftPRM43 I/O point movement command speed PRM41 I/O point movement command speedPRM42 I/O point movement command speed PRM44 Maximum speed settingPRM48 Pre-operation action selection PRM47 Communication parameter settingPRM46 Servo status output PRM49 Controller versionPRM52 Hold gain PRM51 Lead program numberPRM53 Zone output selection Zone setting range and output port Zone output functionPRM56 Controller version PRM54 Magnetic pole detection levelPRM55 Magnetic pole position PRM58 Not usedProgramming Basic Contents Editing Programs 1PGM 2PNT 3UTL Creating programs after initialization1EDIT2OPRT3SYS 4MON 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 Mova Correcting a stepMOD INS DEL CHG MovfInserting a step 1MOD 2INS 3DEL 4CHGDeleting a step MOD INS EDIT-PGMProgram Utility Copying a programDeleting a program 1COPY2DEL 3LIST Viewing the program informationEDIT-UTL Editing Point Data 1MDI 2TCH 3DTCH4DEL Manual Data InputMenu 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 TRC1CHG 2DO 3BRK EDIT-PNT-DTCH Manual Release of Holding BrakeEDIT-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 RulesCounter array variable C, Counter variable D VariablesPoint variable P Flag variable memory input/output 100 toProgram Function Multi-task functionMova Robot Language DescriptionMovi 4 JMP MovfOther Jmpf Jmpb 7 LCall 9 doWait Timr14 P 12 P13 P+ Format Example ExplanationStop SrvoOthers Orgn Return-to-origin must be reperformed in this case18 TON ToffJmpp Condition is met21 MAT FinedMsel Movm RobotJmpc JmpdCsel 27 C30 D 28 C+29 C 31 D+32 D ShftMoving 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 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 Emergency Stop Function Recovering from an emergency stopInitiating an emergency stop Robot Displaying the Memory I/O Status Displaying the Variables OprtMemo Other Operations Initialization 1PGM 2PNT 3PRM 4ALL10-3 1DIO 2DUTY DIO Monitor DisplayDisplay from the monitor menu MON-DIOOPRT-AUTO System Information DisplayDisplay from the DIO key operation 1EDIT2OPRT3SYS 4MON InformationService mode function Limiting command input from any device other than TPB Safety settings for Service modeLimiting the robot movement speed 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 parameters1SAVE2LOAD3FMT 4ID Using a Memory CardSaving controller data to a memory card 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 Menu2Auto loading at Srcp power-on Auto-load function Using the internal flash ROM1Manual load using the TPB or Popcom options 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 valueConnector model controller side Communication Cable SpecificationsConnector model Connector model computer sideCommunication Command Specifications Communication Command List Robot movement11-6 11-7 @ORG Communication Command DescriptionRobot movements Transmission example@SRVO servo status @RUN@SRUN Servo status@MOVD X-axis position mm,speed @X+, @X@XINC, @XDEC Axis positionPoint number @MOVA point number,speed10@MOVI point number,speed 11@MOVF point number,DI number,DI status 14@TIMR time16@P+ 15@P point number17@P 18@MOVM pallet work position,speed 20@MSEL pallet number23@C+ addition value 21@CSEL array element number22@C counter value 24@C- subtraction value27@D- subtraction value 26@D+ addition value28@SHFT point number Data handling @?VER @?STP program number@?MEM @?ROBOTDisplay count 11 @?ALM history number,display countHistory number 12@?ERR history number,display count15@?ORG 13@?EMG14@?SRVO 16@?MODE18@?DI general-purpose input or memory input number 17@?PVA19@?DO general-purpose output or memory output number 20-2 @?PRM parameter number,parameter number 20-1 @?PRM parameter numberParameter number 21-1 @?P point numberStep number 21-2 @?P point number,point number22-1 @READ program number,step number,number of steps Number of steps22-4 @READ PRM 22-3 @READ PNT22-5 @READ ALL 22-8 @READ INF 22-6 @READ DIO22-7 @READ MIO 23-1 @WRITE PGM23-2 @WRITE PNT 23-3 @WRITE PRM24@?MAT pallet number 23-4 @WRITE ALL25@?MSEL Element number 26@?CSEL27@?C array element number 28@?DUtilities Task number @SWI program number@SWITSK task number @SINS program number,step number@SDEL program number,step number @SMOD program number,step number@PDEL point number,number of points @DEL program numberNumber of points Message Tables Error message specifications Error MessagesCommand error message 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 OccursIf an alarm is issued Alarm and CountermeasuresAlarm specifications 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 Period WarrantyWarranty description 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 Precautions when using the memory card How to Handle OptionsUsing 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