Yamaha SRCP User Manual

Download

YAMAHA SINGLE-AXIS ROBOT CONTROLLER

SRCP

User’s Manual

ENGLISH

E84-Ver. 2.04

General Contents

Chapter 1 OVERVIEW........................................................................................................... 1-1

1-1 Features of the SRCP Series Controller................................................................................... 1-2

1-2 Setting Up for Operation .......................................................................................................1-3

1-3 External View and Part Names ...............................................................................................1-4

1-3-1 SRCP controller ............................................................................................................................................. 1-4

1-3-2 TPB ................................................................................................................................................................ 1-7

1-4 System Configuration .............................................................................................................1-8

1-4-1 System configuration ..................................................................................................................................... 1-8

1-5 Accessories and Options ........................................................................................................ 1-9

1-5-1 Accessories .................................................................................................................................................... 1-9

1-5-2 Peripheral options ......................................................................................................................................... 1-9

Chapter 2 INSTALLATION AND CONNECTION .................................................................. 2-1

2-1 Installing the SRCP Controller................................................................................................2-2

2-1-1 Installation method ....................................................................................................................................... 2-2

2-1-2 Installation location ....................................................................................................................................... 2-2

2-2 Connecting the Power Supply ................................................................................................2-3

2-2-1 Power supply ................................................................................................................................................. 2-3

2-2-2 Connecting the power supply ........................................................................................................................ 2-3

2-2-3 Installing an external leakage breaker ........................................................................................................... 2-4

2-2-4 Installing a circuit protector .......................................................................................................................... 2-4

2-2-5 Installing current control switches ................................................................................................................ 2-5

2-2-6 Insulation resistance and voltage breakdown tests ........................................................................................ 2-5

2-3 Grounding..............................................................................................................................2-5

2-4 Connecting the SRCP to the Control Unit .............................................................................. 2-5

2-5 Connecting to the Robot ........................................................................................................ 2-6

2-5-1 Robot I/O connector and signal table ........................................................................................................... 2-6

2-5-2 Motor connector and signal table .................................................................................................................. 2-6

2-6 Connecting to the I/O. CN Connector ................................................................................... 2-7

2-7 Connecting to the EXT. CN Connector ...................................................................................2-8

2-8 Connecting to the Regenerative Unit ..................................................................................... 2-9

Chapter 3 I/O INTERFACE .................................................................................................... 3-1

3-1 I/O Signals .............................................................................................................................3-2

3-1-1 I/O. CN connector signals ............................................................................................................................. 3-2

3-1-2 EXT. CN connector signals ............................................................................................................................. 3-2

3-2 Input Signal Description ........................................................................................................ 3-3

3-2-1 Dedicated command input ............................................................................................................................ 3-3

3-2-2 General-purpose input (DI0 to DI7) .............................................................................................................. 3-6

3-2-3 SERVICE mode input (SVCE) .......................................................................................................................... 3-7

3-2-4 Interlock (LOCK) ........................................................................................................................................... 3-7

3-2-5 Emergency stop inputs 1, 2 (EMG1, EMG2) ................................................................................................... 3-7

3-3 Output Signal Description ..................................................................................................... 3-8

3-3-1 Dedicated output .......................................................................................................................................... 3-8

3-3-2 General-purpose output (DO0 to DO4) ........................................................................................................ 3-9

3-3-3 Feedback pulse output (PA±, PB±, PZ±, PZM±)............................................................................................. 3-9

3-4 I/O Circuits ..........................................................................................................................3-10

3-4-1 I/O circuit specifications ............................................................................................................................. 3-10

3-4-2 I/O circuit and connection example ............................................................................................................ 3-11

3-5 I/O Connection Diagram .....................................................................................................3-12

3-5-1 Connection to PLC output unit .................................................................................................................... 3-12

3-5-2 Connection to PLC input unit ...................................................................................................................... 3-13

3-6 I/O Control Timing Charts ................................................................................................... 3-14

3-6-1 When turning the power on ........................................................................................................................ 3-14

3-6-2 When executing a dedicated input command.............................................................................................. 3-15

3-6-3 When interlock signal is input ..................................................................................................................... 3-18

3-6-4 When emergency stop is input .................................................................................................................... 3-19

3-6-5 When alarm is issued ................................................................................................................................... 3-19

3-6-6 When executing a point movement command ............................................................................................ 3-20

Chapter 4 BASIC OPERATION OF THE TPB ......................................................................... 4-1

4-1 Connecting and Disconnecting the TPB .................................................................................4-2

4-1-1 Connecting the TPB to the SRCP controller ................................................................................................... 4-2

4-1-2 Disconnecting the TPB from the SRCP controller .......................................................................................... 4-3

4-2 Basic Key Operation .............................................................................................................. 4-4

4-3 Reading the Screen ................................................................................................................ 4-5

4-3-1 Program execution screen ............................................................................................................................. 4-5

4-3-2 Program edit screen....................................................................................................................................... 4-5

4-3-3 Point edit screen (teaching playback) ............................................................................................................ 4-6

4-3-4 DIO monitor screen ...................................................................................................................................... 4-6

4-4 Hierarchical Menu Structure.................................................................................................. 4-7

4-5 Restricting Key Operation by Access Level ............................................................................. 4-8

4-5-1 Explanation of access level ............................................................................................................................ 4-8

4-5-2 Changing an access level ............................................................................................................................... 4-9

Chapter 5 PARAMETERS ....................................................................................................... 5-1

5-1 Setting the Parameters ...........................................................................................................5-2

5-2 Parameter Description ........................................................................................................... 5-3

Chapter 6 PROGRAMMING ................................................................................................. 6-1

6-1 Basic Contents ....................................................................................................................... 6-2

6-1-1 Robot language and point data ...................................................................................................................... 6-2

6-1-2 Using the TPB to enter the robot language .................................................................................................... 6-2

6-1-3 Program specifications .................................................................................................................................. 6-2

6-2 Editing Programs .................................................................................................................... 6-3

6-2-1 Creating programs after initialization ............................................................................................................ 6-4

6-2-2 Creating a new program ................................................................................................................................ 6-6

6-2-3 Adding a step ................................................................................................................................................. 6-7

6-2-4 Correcting a step ........................................................................................................................................... 6-9

6-2-5 Inserting a step ............................................................................................................................................ 6-10

6-2-6 Deleting a step ............................................................................................................................................ 6-11

6-3 Program Utility ....................................................................................................................6-12

6-3-1 Copying a program ...................................................................................................................................... 6-12

6-3-2 Deleting a program...................................................................................................................................... 6-13

6-3-3 Viewing the program information ................................................................................................................ 6-14

Chapter 7 EDITING POINT DATA ........................................................................................ 7-1

7-1 Manual Data Input .................................................................................................................7-2

7-2 Teaching Playback.................................................................................................................. 7-3

7-3 Direct Teaching ......................................................................................................................7-5

7-4 Manual Control of General-Purpose Output ..........................................................................7-7

7-5 Manual Release of Holding Brake ..........................................................................................7-8

7-6 Deleting Point Data ............................................................................................................... 7-9

7-7 Tracing Points (Moving to a registered data point) ............................................................... 7-10

Chapter 8 ROBOT LANGUAGE ............................................................................................ 8-1

8-1 Robot Language Table ............................................................................................................8-2

8-2 Robot Language Syntax Rules ................................................................................................ 8-3

8-2-1 Command statement format .......................................................................................................................... 8-3

8-2-2 Variables........................................................................................................................................................ 8-4

8-3 Program Function .................................................................................................................. 8-5

8-3-1 Multi-task function ........................................................................................................................................ 8-5

8-4 Robot Language Description .................................................................................................. 8-6

8-4-1 MOVA ........................................................................................................................................................... 8-6

8-4-2 MOVI ............................................................................................................................................................ 8-6

8-4-3 MOVF ............................................................................................................................................................ 8-7

8-4-4 JMP ................................................................................................................................................................ 8-7

8-4-5 JMPF .............................................................................................................................................................. 8-8

8-4-6 JMPB ............................................................................................................................................................. 8-9

8-4-7 L .................................................................................................................................................................... 8-9

8-4-8 CALL ............................................................................................................................................................ 8-10

8-4-9 DO .............................................................................................................................................................. 8-10

8-4-10 WAIT ........................................................................................................................................................... 8-11

8-4-11 TIMR ........................................................................................................................................................... 8-11

8-4-12 P .................................................................................................................................................................. 8-12

8-4-13 P+ ................................................................................................................................................................ 8-12

8-4-14 P- ................................................................................................................................................................. 8-12

8-4-15 SRVO ........................................................................................................................................................... 8-13

8-4-16 STOP ........................................................................................................................................................... 8-13

8-4-17 ORGN ......................................................................................................................................................... 8-14

8-4-18 TON ............................................................................................................................................................ 8-15

8-4-19 TOFF ........................................................................................................................................................... 8-15

8-4-20 JMPP ............................................................................................................................................................ 8-16

8-4-21 MAT............................................................................................................................................................. 8-17

8-4-22 MSEL ........................................................................................................................................................... 8-18

8-4-23 MOVM ........................................................................................................................................................ 8-19

8-4-24 JMPC ........................................................................................................................................................... 8-20

8-4-25 JMPD ........................................................................................................................................................... 8-20

8-4-26 CSEL ............................................................................................................................................................ 8-21

8-4-27 C .................................................................................................................................................................. 8-21

8-4-28 C+ ............................................................................................................................................................... 8-22

8-4-29 C- ................................................................................................................................................................ 8-22

8-4-30 D ................................................................................................................................................................. 8-22

8-4-31 D+ ............................................................................................................................................................... 8-22

8-4-32 D- ................................................................................................................................................................ 8-23

8-4-33 SHFT ............................................................................................................................................................ 8-23

8-5 Sample Programs ................................................................................................................. 8-24

8-5-1 Moving between two points ........................................................................................................................ 8-24

8-5-2 Moving at an equal pitch ............................................................................................................................. 8-24

8-5-3 Positioning 2 points and sending job commands to a PLC at each position ................................................. 8-25

8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece .............................. 8-26

8-5-5

Picking up 3 kinds of workpieces flowing on the front conveyor and placing them on the next conveyors while sorting ...

8-5-6 Switching the program from I/O ................................................................................................................. 8-29

8-5-7 Axis movement and I/O multi-task .............................................................................................................. 8-31

8-5-8 Turning ON general-purpose outputs during robot movement after a certain time has elapsed .................. 8-32

8-5-9 Turning ON a general-purpose output during robot movement when it has passed a specified position ..... 8-33

8-27

Chapter 9 OPERATING THE ROBOT .................................................................................... 9-1

9-1 Performing Return-to-Origin.................................................................................................. 9-2

9-2 Using Step Operation.............................................................................................................9-4

9-3 Using Automatic Operation ................................................................................................... 9-7

9-4 Switching the Execution Program........................................................................................... 9-9

9-5 Emergency Stop Function.....................................................................................................9-10

9-5-1 Initiating an emergency stop ....................................................................................................................... 9-10

9-5-2 Recovering from an emergency stop ............................................................................................................ 9-10

9-6 Displaying the Memory I/O Status .......................................................................................9-12

9-7 Displaying the Variables .......................................................................................................9-13

Chapter 10 OTHER OPERATIONS ........................................................................................ 10-1

10-1 Initialization ........................................................................................................................10-2

10-2 DIO Monitor Display ...........................................................................................................10-4

10-2-1 Display from the monitor menu .................................................................................................................. 10-4

10-2-2 Display from the DIO key operation ........................................................................................................... 10-5

10-3 System Information Display .................................................................................................10-5

10-4 SERVICE mode function .......................................................................................................10-6

10-4-1 Safety settings for SERVICE mode ................................................................................................................ 10-7

10-4-2 Enabling/disabling the SERVICE mode function ........................................................................................... 10-9

10-4-3 Setting the SERVICE mode functions ......................................................................................................... 10-11

10-5 System utilities ...................................................................................................................10-13

10-5-1 Viewing hidden parameters ....................................................................................................................... 10-13

iii

10-6 Using a Memory Card ........................................................................................................10-14

10-6-1 Saving controller data to a memory card................................................................................................... 10-14

10-6-2 Loading data from a memory card............................................................................................................. 10-16

10-6-3 Formatting a memory card ........................................................................................................................ 10-18

10-6-4 Viewing the ID number for memory card data .......................................................................................... 10-19

10-7 Duty (load factor) monitor ................................................................................................. 10-20

10-7-1 Measuring the duty (load factor) ............................................................................................................... 10-22

10-8 Using the internal flash ROM ............................................................................................. 10-23

10-8-1 Saving the parameter data onto the flash ROM ......................................................................................... 10-24

10-8-2 Manually loading the data from flash ROM ............................................................................................... 10-26

10-8-3 Initializing the flash ROM data .................................................................................................................. 10-28

Chapter 11 COMMUNICATION WITH PC ........................................................................... 11-1

11-1 Communication Parameter Specifications............................................................................11-2

11-2 Communication Cable Specifications ................................................................................... 11-3

11-2-1 Connecting to the computer with a 25-pin D-sub connector ...................................................................... 11-3

11-2-2 Connecting to the computer with a 9-pin D-sub connector ........................................................................ 11-3

11-3 Communication Command Specifications ........................................................................... 11-4

11-4 Communication Command List ............................................................................................11-5

11-5 Communication Command Description ...............................................................................11-8

11-5-1 Robot movements ........................................................................................................................................ 11-8

11-5-2 Data handling ............................................................................................................................................ 11-17

11-5-3 Utilities ...................................................................................................................................................... 11-29

Chapter 12 MESSAGE TABLES............................................................................................... 12-1

12-1 Error Messages .....................................................................................................................12-2

12-1-1 Error message specifications ........................................................................................................................ 12-2

12-1-2 Command error message ............................................................................................................................. 12-2

12-1-3 Operation error message ............................................................................................................................. 12-3

12-1-4 Program error message ................................................................................................................................ 12-4

12-1-5 System error message .................................................................................................................................. 12-5

12-1-6 Multi-task error message ............................................................................................................................. 12-5

12-2 TPB Error Messages ..............................................................................................................12-6

12-3 Stop Messages ......................................................................................................................12-7

12-3-1 Message specifications ................................................................................................................................ 12-7

12-3-2 Stop messages .............................................................................................................................................. 12-7

12-4 Displaying the Error History ................................................................................................ 12-8

Chapter 13 TROUBLESHOOTING ........................................................................................ 13-1

13-1 If A Trouble Occurs .............................................................................................................. 13-2

13-2 Alarm and Countermeasures ................................................................................................13-3

13-2-1 Alarm specifications .................................................................................................................................... 13-3

13-2-2 Alarm message list ....................................................................................................................................... 13-4

13-3 Troubleshooting for Specific Symptom................................................................................. 13-7

13-3-1 Relating to the robot movement .................................................................................................................. 13-7

13-3-2 Relating to the I/O ...................................................................................................................................... 13-9

13-3-3 Other ......................................................................................................................................................... 13-10

13-4 Displaying the Alarm History .............................................................................................13-11

Chapter 14 MAINTENANCE AND WARRANTY .................................................................... 14-1

14-1 Warranty.............................................................................................................................. 14-2

14-1-1 Warranty description................................................................................................................................... 14-2

14-1-2 Warranty Period .......................................................................................................................................... 14-2

14-1-3 Exceptions to the Warranty ......................................................................................................................... 14-2

14-2 Replacing the System Backup Battery ..................................................................................14-3

14-3 Updating the System ............................................................................................................14-4

Chapter 15 SPECIFICATIONS ............................................................................................... 15-1

15-1 SRCP sereis .......................................................................................................................... 15-2

15-1-1 Basic specifications ..................................................................................................................................... 15-2

15-1-2 Robot number list ........................................................................................................................................ 15-3

15-1-3 LED display .................................................................................................................................................. 15-3

15-2 TPB ...................................................................................................................................... 15-4

15-2-1 Basic specifications ..................................................................................................................................... 15-4

15-3 Regenerative Unit (RGU-2) ..................................................................................................15-5

15-3-1 Basic specifications ..................................................................................................................................... 15-5

15-3-2 Dimensions .................................................................................................................................................. 15-5

Chapter 16 APPENDIX .......................................................................................................... 16-1

16-1 How to Handle Options .......................................................................................................16-2

16-1-1 Memory card ............................................................................................................................................... 16-2

16-1-2 POPCOM communication cable ................................................................................................................. 16-4

MEMO

Chapter 1 OVERVIEW

Thank you for purchasing the YAMAHA single-axis robot controller SRCP series (hereafter called "SRCP controller" or simply "SRCP" or "this controller"). This manual describes SRCP controller features and operating procedures. When used with a YAMAHA single-axis PHASER series robot, the SRCP controller performs positioning and pick-and-place tasks of various mechanical parts and devices. This first chapter explains basic information you should know before using the SRCP controller such as names and functions of the various parts, steps necessary to prepare the robot for operation, and the architecture of the system itself. Please read this chapter carefully for a basic overview of the SRCP controller.

OVERVIEW

1-1

1-1 Features of the SRCP Series Controller

The SRCP series is a high-performance robot controller using a 32-bit RISC chip CPU. When used with a YAMAHA single-axis PHASER series robot, the SRCP controller performs positioning tasks of various mechanical parts and devices. The SRCP controller also performs I/O control of solenoid valves and sensors, and controls communication with a PC (personal computer). Using only one SRCP controller allows configuring a complete system for simple applications such as pick-and-place tasks.

OVERVIEW

The SRCP series has the following features:

■ A high-performance 32-bit RISC chip CPU is used for high-speed, high-precision software

servo control.

■ Program assets created with the previous SRC, SRCA, ERC, SRCH, ERCX and SRCX series

can be used without any modifications.

■ Ideal acceleration and deceleration speeds can be obtained by simply entering the number of

the robot to control and the payload parameter. No troublesome servo adjustments are required.

■ The I/O interface provides 8 input and 5 output points for general-purpose user wiring as a

standard feature.

■ The TPB programming box (option) allows interactive user operation by simple menus that

permit immediate use. The robot can also be operated from a personal computer (PC) just the same as TPB when the POPCOM software (option) is installed in the PC.

■ Programs for robot operation can be written with an easy-to-learn robot language that closely

resembles BASIC. Even first-time users will find it easy to use.

■ Users not accustomed to robot language can use a PLC (programmable logic controller) to

directly move the robot by specifying the operation points.

■ Users can create programs and control the robot on a personal computer (PC). Communication

with the PC is performed with an easy-to-learn robot language similar to BASIC. Even firsttime users will find it easy to use.

■ A built-in multi-task function allows efficiently creating the programs.

■ The I/O interface supports pulse trains to allow position control by input of a pulse train.

NOTE

The SRCP controller can be operated from either a TPB (programming box) or a PC running with communication software such as POPCOM. This user's manual mainly describes operations using the TPB. For details on operation with POPCOM, refer to the POPCOM manual. If you want to use your own methods to operate the SRCP controller from a PC, refer to Chapter 11 "Communications with PC" for pertinent information.

1-2

1-2 Setting Up for Operation

The chart below illustrates the basic steps to follow from the time of purchase of this controller until it is ready for use. The chapters of this user's manual are organized according to the operation procedures, and allow first time users to proceed one step at a time.

Basic steps

Operation Information to be familiar with Refer to

Installation • Installing the controller 2-1

Wiring and connection • Connecting the power supply 2-2

• Grounding 2-3

• Connecting peripheral equipment

• Understanding the I/O interface Chapter 3

Setting parameters • Understanding basic TPB Chapter 4

operations

• Setting the various parameters Chapter 5

2-4 to 2-8

OVERVIEW

Programming • Inputting or editing programs Chapter 6

• Editing point data Chapter 7

• Robot language

Running the robot • Return-to-origin Chapter 9

• Various operation steps

• Emergency stop

Chapter 8

1-3

1-3 External View and Part Names

OVERVIEW

1-3 External View and Part Names

This section explains part names of the SRCP controller and TPB along with their functions. Note that the external view and specifications are subject to change without prior notice to the user.

1-3-1 SRCP controller

1. Status Display Lamp

This lamp indicates the operating status of the robot and controller. Refer to "15-1-3 LED display" for information on controller status and the matching LED

display.

2. Escape Switch (ESC switch)

Hold down this switch when connecting or disconnecting the TPB from the SRCP controller. (See "4-1 Connecting and Disconnecting the TPB.")

3. TPB Connector

This is used to connect the TPB or the RS-232C terminal of a PC (personal computer).

4. COM Connector

This is used to connect a network system when the optional network card is installed. (This is covered when the option is not in use.)

5. Robot I/O Connector

Input/output connector for robot peripheral device signals such as position signals.

6. I/O. CN

This is used to connect external equipment such as a PLC.

7. EXT. CN

Connector for emergency stop signal input. This connector also supplies 24V power for the I/O devices.

8.Motor Connector

This is the power line connector for the servo motor.

9. Regenerative Unit Connector (RGEN connector)

Some types of robots require connection to a regenerative unit. In such cases, use this to connect the regenerative unit (RGU-2).

10.

Terminal Block ACIN (L, N, )

These are terminals for supplying AC power to the SRCP controller. The ground terminal must be properly grounded to prevent electrical shock to the human body and to maintain equipment reliability.

No connection. Do not use.

T1, T2

These are input power voltage switching terminals. When an input power voltage of AC100 to 115V is used, short the T1 and T2 terminals. When an input power voltage of AC200 to 230V is used, leave the T1 and T2 terminals open. (SRCP-05A, 10A, 20A only)

1-4

11. Serial number nameplate

MODEL.

SER. NO.

FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN

SRCP 05 370001

Controller model No.

Production No. (Serial No.) Example:

370001

Consecutive numbers

Month of production

Year of production (lowest digit of year)

Fig. 1-1 Exterior of the SRCP controller

1-3 External View and Part Names

OVERVIEW

1 2

SRCP-05 SRCP-10, 20

1 2

SRCP-05A, 10A, 20A

1 2

1-5

1-3 External View and Part Names

OVERVIEW

Fig. 1-2 Three-side view of the SRCP controller

SRCP-05

250

157

注意

CAUTION

高温注意

HIGH TEMPERATURE

5.5

SRCP

MOTOR

TPB

COM

ROB I/O

ACIN

I/O

200-230V~ 50-60Hz MAX. 400VA

PWR (G)

ESC

EMG 24V 24G

MODEL.

SER. NO.

FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN

SRCP 05

ERR (R)

265

290

SRCP-10, 20

250

SRCP-05A, 10A, 20A

250

157

78 40

5.5

SRCP

MOTOR

RGEN

ACIN1 (PWR)

•

200-230V~ 50-60Hz

MAX.1000VA

T1/T2

DONT CONNECT

78 40

5.5

SRCP

MOTOR

RGEN

ACIN1 (PWR)

ERR

PWR

(R)

(G)

ESC

TPB

COM

ROB I/O

I/O

SRCP 10

MODEL.

SER. NO.

FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN

ERR

PWR

(R)

(G)

ESC

TPB

COM

ROB I/O

I/O

SRCP 10A

MODEL.

SER. NO.

FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN

250

265

290

EMG

24V 24G

250

265

290

EMG

24V 24G

1-6

1-3 External View and Part Names

1-3-2 TPB

1. Liquid Crystal Display (LCD) Screen

This display has four lines of twenty characters each and is used as a program console.

2. Memory Card Slot

An IC memory card can be inserted here. Be careful not to insert the card upside-down.

3. Control Keys

The TPB can be operated in interactive data entry mode. Instructions are input through the control keys while reading the contents on the LCD screen.

4. Connection Cable

This cable connects the TPB to the SRCP controller.

5. DC Power Input Terminal

Not used.

6. Emergency Stop Button

This is the emergency stop button. When pressed, it locks in the depressed position. To release this button, turn it clockwise. To cancel emergency stop, first release this button and then use the servo recovery command via the I/O interface or the servo recovery operation from the TPB.

OVERVIEW

Fig. 1-3 Exterior of the TPB

Fig. 1-4 Three-side view of the TPB

F I

F 2

CHG

STOP

DIO

RUN

TIMR P L

456

CALL

WAIT

JMP

JMPB

JMPF

•

MOVF

MOVI

MOVA

TPB

F 3 F 4

STEPUPSTEP

YAM

EMG

ESC

Y + R

DOWN

1-7

1-4 System Configuration

OVERVIEW

1-4 System Configuration

1-4-1 System configuration

The SRCP controller can be combined with various peripheral units and optional products to configure a robot system as shown below.

Fig.1-5 System configuration diagram

SRCP Controller

RS-232C communication control

TPB programming box IC memory card

I/O control

Personal computer

General-purpose input: 8 points, dedicated input: 8 points

Power

supply

Single-axis robot (PHASER series)

* Programming box TPB and support software POPCOM are sold separately.

24VDC for I/O devices

General-purpose output: 5 points, dedicated output: 3 points

Gripper, limit switches, etc.

Support software

POPCOM

External control (PLC and similar units)

1-8

1-5 Accessories and Options

1-5-1 Accessories

The SRCP robot controller comes with the following accessories. After unpacking, check that all items are included.

1. EXT. CN connector

Connector : 733-104 made by WAGO 1 piece

2. I/O. CN connector with flat cable (option)

Connector : XG4M-4030-U made by OMRON 1 piece

3. RS-232C dust cover

XM2T-2501 made by OMRON 1 piece

1-5-2 Peripheral options

The following options are available for the SRCP controller:

1. TPB

This is a hand-held programming box that connects to the SRCP controller for teaching point data, editing robot programs and operating the robot. The TPB allows interactive user operation by simple menus so that even first-time users can easily operate the robot with the TPB.

2. IC memory card

An IC memory card can be used with the TPB to back up programs, point data and parameter data.

OVERVIEW

3. POPCOM

The POPCOM is support software that runs on a PC (personal computer) connected to the SRCP controller. The POPCOM software allows easy editing of robot programs and operation of a robot just the same as with a TPB.

1-9

MEMO

1-10

Chapter 2 INSTALLATION AND CONNECTION

This chapter contains precautions that should be observed when installing the controller, as well as procedures and precautions for wiring the controller to the robot and to external equipment.

INSTALLATION AND CONNECTION

2-1

2-1 Installing the SRCP Controller

2-1-1 Installation method

Using the L-shaped brackets attached to the top and bottom of the controller, install the controller from the front or rear position. (See Fig.1-2 Three-side view of the SRCP controller.)

2-1-2 Installation location

INSTALLATION AND CONNECTION

■ Install the controller in locations where the ambient temperature is between 0 to 40°C and the

humidity is between 35 to 85% without condensation.

■ Do not install the controller upside down or at an angle.

■ Install the controller in locations with sufficient space (at least 20mm away from the wall or

other object) for good ventilation and air flow.

■ Do not install the controller in locations where corrosive gases such as sulfuric acid or hydro-

chloric acid gas are present, or in atmosphere containing flammable gases and liquids.

■ Install the controller in locations with a minimal amount of dust.

■ Avoid installing the controller in locations subject to cutting chips, oil or water from other

machines.

■ Avoid installing the controller in locations where electromagnetic noise or electrostatic noise

is generated.

■ Avoid installing the controller in locations subject to shock or large vibration.

2-2

2-2 Connecting the Power Supply

2-2-1 Power supply

Type and Item

SRCP-05

SRCP-10

SRCP-20

SRCP-05A

SRCP-10A

SRCP-20A

CAUTION

If the power supply voltage drops below the above range during operation, the alarm circuit will work and return

Power supply voltage

AC200 to 230V ±10% AC200 to 230V ±10%

AC200 to 230V ±10% AC100 to 115/200 to 230V ±10% AC100 to 115/200 to 230V ±10% AC100 to 115/200 to 230V ±10%

the SRCP controller to the initial state the same as just after power-on, or stop operation. To avoid this problem, use a regulated power supply with voltage fluctuations of less than ±10%. Since the SRCP controller uses a capacitor input type power supply circuit, a large inrush current flows when the power is turned on. Do not use fast-blow circuit breakers and fuses. For the same reason, avoid turning the power off and on again repeatedly in intervals of less than 10 seconds. This could harm the main circuit elements in the SRCP controller.

No. of phases

Single-phase

Frequency

50/60Hz

Max. power consumption

400VA or less

600VA or less

1000VA or less

400VA or less

600VA or less

1000VA or less

2-2-2 Connecting the power supply

Connect the power supply to the power terminal block on the front panel of the SRCP controller. Make correct connections while referring to the printed letters and mark. Misconnections may result in serious danger such as fire. Securely connect the end of each wire to the terminal so that it will not come loose.

INSTALLATION AND CONNECTION

Fig. 2-1 Power supply connections (SRCP-05, SRCP-10, SRCP-20)

L (AC IN)

N (AC IN)

(Ground)

L (AC IN)

N (AC IN)

(Ground)

Do not connect.

SRCP-10, 20SRCP-05

The SRCP-05A, SRCP-10A and SRCP-20A have different connections to T1 and T2, depending on the input voltage.

Fig. 2-2 Power supply connections (SRCP-05A, SRCP-10A, SRCP-20A)

L (AC IN) N (AC IN)

(Ground)

NC NC

L (AC IN)

N (AC IN)

(Ground)

Do not connect. Do not connect.

NC NC

T1 T2

4. 4.

Short T1 and T2 when input voltage is AC100 to 115V.

or more

0.75mm (equivalent to AWG18)

AC 100V-115V AC 200V-230V

T1 T2

Leave T1 and T2 open when input voltage is AC200 to 230V.

2-3

2-2 Connecting the Power Supply

CAUTION

The SRCP series controller does not have a power switch. Be sure to provide a power supply breaker (insulation) of the correct specifications that will turn the power on or off to the entire system including the robot controller. Power to EXT. CN must first be supplied before supplying power to the power supply terminal block. If this order is reversed, an alarm (06: 24V POWER OFF) might be issued to prevent operation. (See "2.7 Connecting to the EXT. CN Connector" in this chapter and Chapter 3, "I/O INTERFACE".)

WARNING

Before beginning the wiring work, make sure that the power supply for the entire system is turned off. Doing the wiring work while power is still turned on may cause electrical shocks.

2-2-3 Installing an external leakage breaker

To ensure safety, a leakage breaker must be installed in the power supply connection section of the robot controller. Since the robot controller drives the motors by PWM control, leakage current flows at high frequencies. This might cause the external leakage breaker to malfunction. When installing an external leakage current breaker, it is important to choose the optimum sensitivity current rating (IΔn). (Check the leakage breaker manufacturer's data sheets to select the optimum product compatible with inverters.)

Leakage current

CAUTION

1. Leak current was measured with a leak tester with a low-pass filter turned on (100Hz).

INSTALLATION AND CONNECTION

2. When using two or more controllers, sum the leakage current of each controller.

3. Make sure that the controller is securely grounded.

4. Stray capacitance between the cable and FG may vary depending on the cable installation condition, causing

WARNING

Electrical shocks, injuries or fires might occur if the motor breaks down while the robot controller is used without installing a leakage breaker.

2-2-4 Installing a circuit protector

To ensure safety, a circuit protector must be installed in the power supply connection section of the robot controller. An inrush current, which might be from several to nearly 20 times higher than the rated current, flows at the instant that the SRCP controller is turned on or the robot motors start to operate. When installing an external circuit protector for the robot controller, select a circuit protector that provides optimum operating characteristics. To ensure proper operation, we recommend using a medium to slow response circuit protector with an inertial delay function. (Refer to the circuit protector manufacturer's data sheets for making the selection.)

SRCP 4mA (Max.)

Leak tester: Hioki Electric 3283

the leakage current to fluctuate.

2-4

Example

Rated current

SRCP 20A

WARNING

Electrical shocks, injuries or fires might occur if the motor breaks down while the robot controller is used without installing a circuit protector.

Operating characteristics

Slow type with inertia delay

300% 2 sec.

(

1000% 0.01 sec.

)

2-2 Connecting the Power Supply

2-2-5 Installing current control switches

When controlling the power on/off of the robot controller from an external device such as a PLC, a current control switch (contactor, breaker, etc.) may be used. In this case, the current control switch usually creates a large on/off inrush current. To minimize this on/off inrush current, surge killers must be installed for surge absorption. Connect a surge killer in parallel with and close to each contact of the current control switch.

Recommended surge killer:

Okaya Electric XE1201, XE1202, RE1202

Example:

Controller

: Surge killer

: Contactor

INSTALLATION AND CONNECTION

AC IN

2-2-6 Insulation resistance and voltage breakdown tests

Never attempt insulation resistance tests or voltage breakdown tests on the SRCP controller. Since capacitive grounding is provided between the controller body and 0V, these tests may mistakenly detect excess leakage current or damage the internal circuitry. If these tests are required, please consult your YAMAHA sales office or representative.

2-3 Grounding

The SRCP controller must be grounded to prevent danger to personnel from electrical shocks in case of electrical leakage and prevent equipment malfunctions due to electrical noise. We strongly recommend that Class D (grounding resistance of 100 ohms or less) or higher grounding be provided. For grounding the controller, use the ground terminal on the power supply terminal block.

* Class D grounding is the same as Class 3 grounding previously used.

2-4 Connecting the SRCP to the Control Unit

The SRCP controller can be operated either through the TPB programming box or through a PC (personal computer) equipped with an RS-232C terminal. When using the TPB, plug the TPB cable connector into the TPB connector of the SRCP controller. (Refer to "4-1-1 Connecting the TPB to the SRCP controller".) When using a PC, plug the RS-232C interface cable connector (25 pins) into the TPB connector of the SRCP controller. (Refer to "11-2 Communication Cable Specifications".) To prevent equipment malfunction due to noise, we strongly recommend that Class D (grounding resistance of 100 ohms or less) or higher grounding be provided.

2-5

2-5 Connecting to the Robot

First make sure that the power to the SRCP controller is turned off, and then connect the robot cable to the robot I/O connector and motor connector on the front panel of the SRCP controller. Fully insert the robot cable until it clicks in position.

* When the robot cable is disconnected from the controller, an alarm (15: FEEDBACK ERROR

2) is issued.

2-5-1 Robot I/O connector and signal table

Mating connector type No. : 0-174047-2 (AMP)

Mating connector contact type No. : 0-175180-2

SRCP’s connector type No. : 0-174055-2

Signal table

Terminal No.

INSTALLATION AND CONNECTION

2-5-2 Motor connector and signal table

Mating connector type No. : 1-178128-4 (AMP)

Mating connector contact type No. : 1-175218-5

SRCP's connector type No. : 1-179277-5

Signal table

Terminal No.

1 2 3 4 5 6 7 8 9

1 2

Signal name

PS+ PSPC+ PC+5V GND Z+ ZDG DG

Signal name

FG MU

Position SIN input (+)

Description

Position SIN input (-)

Position COS input (+)

Position COS input (-)

+5V

GND

Linear scale Z+

Linear scale Z-

Digital ground

Description

Frame ground

Motor U-phase output

Terminal No.

11 12 13 14 15 16 17 18 19 20

Terminal No.

3 4

Signal name

NC ORG +24V +24V 0V 0V BK+ BKNC FG

Signal name

MV MW

No connection

Description

Origin sensor input

Origin sensor, +24V

Origin sensor, 24GND

Brake (+)

Brake (-)

No connection

Frame ground

Description

Motor V-phase output

Motor W-phase output

2-6

2-6 Connecting to the I/O. CN Connector

The I/O. CN connector is used for connecting the SRCP controller to external equipment such as a PLC. When using external equipment for I/O control, connect the wiring to the I/O. CN connector (with a flat cable) supplied as an accessory and then plug it into the I/O. CN connector on the SRCP controller. Signals assigned to the I/O. CN connector terminals and their functions are described in detail in Chapter 3.

The mating connector with a flat cable (option) for the I/O. CN terminal on the SRCP series controller is as follows:

Mating connector type No. : XG4M-4030-U (OMRON)

SRCP's I/O. CN connector type No. : XG4C-4034

INSTALLATION AND CONNECTION

B20 A20 B19 A19 B18 A18

. . . . . . . .

. B3 A3 B2 A2 B1 A1

Triangular mark

CAUTION

Regardless of whether I/O control is used or not, DC 24V power must be supplied to EXT. CN to enable robot

A20 A19 A18 A17 A16 A15

A6 A5 A4 A3 A2 A1

. . . . . . . . .

operation. If no power is supplied to EXT. CN, an alarm (06: 24V POWER OFF) is issued to prevent operation. (See "2.7 Connecting to the EXT. CN Connector" in this chapter.) If not using I/O control, disable the interlock function in PRM34 (System mode selection parameter). If the interlock function is not disabled, it will be triggered during operation to prohibit the robot from operating.

B20 B19 B18 B17 B16 B15

B6 B5 B4 B3 B2 B1

. . . . . . . . .

2-7

2-7 Connecting to the EXT. CN Connector

Connect an emergency stop circuit and a 24V power supply for I/O control to the EXT. CN connector. Make the necessary wiring hookup (see below) to the mating connector that comes with the

SRCP controller and then plug it into the EXT. CN connector. Make sure the wiring is correct since miswiring may cause serious accidents such as fire. Regardless of whether I/O control is used or not, 24V power for I/O control must always be supplied to the EXT. CN connector. The meaning and operation of signals assigned to each terminal on the EXT. CN connector are explained in detail in Chapter 3, "I/O INTERFACE".

The mating connector for the EXT. CN terminal on the SRCP series controller is as follows:

Mating connector type No. : 733-104 (WAGO)

SRCP's EXT. CN connector type No. : 733-364

Slotted screwdriver

Terminal numbers are not actually indicated, but designated from 1 to 4, from the left as viewed from the front (wire insertion side) as shown

in the drawing.

INSTALLATION AND CONNECTION

To make the wiring hookup to the mating connector (WAGO 733-104), insert the wire lead into the terminal slot while pressing down the internal spring with a slotted screwdriver through the top slot. (If you have a dedicated tool, insert it into the smaller slot just above each terminal slot for wire insertion to make a quick connection.

CAUTION

Regardless of whether I/O control is used or not, DC 24V power must be supplied to EXT. CN to enable robot operation. If no power is supplied to EXT. CN, an alarm (06: 24V POWER OFF) is issued to prevent operation. Power to EXT. CN must first be supplied before supplying AC power to the power supply terminal block. If this order is reversed, an alarm (06: 24V POWER OFF) might be issued.

CAUTION

If you do not configure an emergency stop circuit, then short terminal No. 1 (EMG1) to terminal No. 2 (EMG2). Unless these terminals are shorted, emergency stop is always activated to prohibit the robot from operating.

DANGER

Be sure to turn off the power to the entire robot system before doing any wiring to the SRCP controller. Failure to do so may cause electrical shocks.

2-8

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

INSTALLATION AND CONNECTION

Use the interconnection cable to make connections.

2-9

MEMO

2-10

Chapter 3 I/O INTERFACE

The SRCP series has I/O interface connectors (EXT. CN and I/O. CN) as a standard feature. The EXT. CN is used for emergency stop input and 24V power input for I/O control. The I/O. CN consists of an interlock input, 7 dedicated command inputs, 3 dedicated outputs, 8 general-purpose inputs, 5 general-purpose outputs, feedback pulse outputs, etc. These I/O interfaces allow exchanging commands and data between the SRCP series and external equipment. These I/O interfaces can also directly connect to and control actuators such as valves and sensors. To construct a system utilizing the features of the SRCP series, you must understand the signals assigned to each terminal on the I/O. CN and EXT. CN and how they work. This chapter covers this fundamental information. This chapter also provides examples of I/O circuit connections and timing charts for expanding the system by using a PLC or similar devices. Refer to these diagrams and examples when creating sequence programs. Terms "ON" and "OFF" used in this chapter mean "on" and "off" of switches connected to the input terminal when referring to input signals. They also mean "on" and "off" of output transistors when referring to output signals.

I/O INTERFACE

3-1

3-1 I/O Signals

The SRCP controller has two I/O interface connectors (EXT. CN and I/O. CN) as a standard feature. The EXT. CN is used for emergency stop input and 24V power input for I/O control. The I/O. CN is used for interlock signal input, dedicated command input, dedicated output, general-purpose input and output, and feedback pulse output.

I/O INTERFACE

3-1-1 I/O. CN connector signals

The I/O. CN connector of the SRCP controller has 40 pins, with an individual signal assigned to each pin. The following table shows the pin number as well as the name and description of each signal assigned to each pin. For a more detailed description of each signal, refer to "3-2 Input Signal Description" and onwards.

Pin No.

No.

3 5 7

9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39

A2 A3 A4 A5 A6 A7 A8

A9 A10 A11 A12 A13 A14 A15 A16 A17 A18 A19 A20

Signal name

ABS-PT

AUTO-R

ORG-S

SERVO

BUSY

PZM+

Absolute point movement command Automatic operation start command Return-to-origin command Servo recovery command General-purpose input 0

DI0

General-purpose input 2

DI2

General-purpose input 4

DI4

General-purpose input 6

DI6

General-purpose output 0

DO0

General-purpose output 2

DO2

General-purpose output 4

DO4

Command-in-progress output Frame ground

Signal ground

GND

Reserved (Do not use.)

Feedback pulse output

PA+

Feedback pulse output

PB+

Feedback pulse output

PZ+

Feedback pulse output

NOTE

Pin B8 functions as the SERVICE mode input terminal only when the SERVICE mode function is enabled.

Description

No.

10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40

4 6 8

Pin No.

B2 B3 B4 B5 B6 B7 B8

B9 B10 B11 B12 B13 B14 B15 B16 B17 B18 B19 B20

Signal name

INC-PT

STEP-R

RESET

LOCK

DI1 DI3 DI5

DI7/SVCE

DO1 DO3 END

READY

GND

NC NC PAPBPZ-

PZM-

Relative point movement command

Description

Step operation start command Reset command Interlock General-purpose input 1 General-purpose input 3 General-purpose input 5 General-purpose input 7/SERVICE mode input General-purpose output 1 General-purpose output 3 End-of-run output Ready-to-operate output Frame ground Signal ground Reserved (Do not use.) Reserved (Do not use.) Feedback pulse output Feedback pulse output Feedback pulse output Feedback pulse output

3-1-2 EXT. CN connector signals

The EXT. CN connector of the SRCP controller has 4 pins, with an individual signal assigned to each pin. The following table shows the pin number as well as the name and description of each signal assigned to each pin. For a more detailed description of each signal, refer to "3-2 Input Signal Description" and onwards.

Pin No.

Signal name

EMG1

NOTE

The positive polarity of the 24V DC must be connected to pin 3 (24V) and the negative polarity to pin 4 (24G).

Emergency stop input 1 (used with EMG2) 24V power supply for sequence input

24V

Description

Pin No.

Signal name

EMG2

24G

Emergency stop input 2 (used with

Description

EMG1) 24V power supply for sequence input

3-2

3-2 Input Signal Description

Input signals consist of 7 dedicated command inputs, 8 general-purpose inputs and interlock signals fed to the I/O. CN terminal, as well as an emergency stop input fed to the EXT. CN terminal.

* DI7 functions as the SERVICE mode input when the SERVICE mode function is enabled.

In this case, 7 general-purpose inputs are available.

All input circuits other than the emergency stop input use photocoupler-isolated input circuit specs. Only the emergency stop input circuit uses contact point input circuit specs. This contact point is directly connected to the relay coil that turns the internal motor power supply on and off.

3-2-1 Dedicated command input

The dedicated command input is used to control the SRCP controller from a PLC or other external equipment. To accept this input, the READY, BUSY and LOCK signals must be set as follows.

■ READY signal : ON

■ BUSY signal : OFF

■ LOCK signal : ON

I/O INTERFACE

If the above conditions are not satisfied, then dedicated command inputs cannot be accepted even if they are input from external equipment. For example, when the BUSY signal is on, this means that the controller is already executing a dedicated command, so other dedicated commands are ignored even if they are input. When the LOCK signal is off, no other commands can be accepted since an interlock is active. (One exception is the reset and servo recovery commands that can be executed even when the LOCK signal is off as long as the READY and BUSY signals meet the above conditions.)

A dedicated command input is accepted when the dedicated command input is switched from "off" to "on" (at the instant the contact point closes). Whether the controller accepts the command or not can be checked by monitoring the BUSY signal. Note that dedicated command inputs cannot be used as data in a program.

CAUTION

The dedicated command inputs explained below must always be pulse inputs. In other words, they must be turned off (contact open) after the BUSY signal turns on. If a dedicated command input is not turned off, then the BUSY signal will remain on even when the command has ended normally. So the next command will not be accepted.

CAUTION

When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function" for more details.)

• No dedicated commands can be executed in "SERVICE mode state" when command input from other than

the TPB is prohibited.

3-3

3-2 Input Signal Description

■ Absolute point movement command (ABS-PT)

This command moves the robot to an absolute position specified by a point number at a specified speed along an axis coordinate whose origin is defined as 0. The point number and speed are specified by general-purpose input. (See "3-2-2 General-purpose input (DI0 to DI7)".)

NOTE

The number of general-purpose input (DI) points used to specify the point numbers and speed differs depending on whether SERVICE mode is enabled or disabled and also on the PRM7 (I/O point movement command speed parameter) setting. (See "3-2-2 General-purpose input (DI0 to DI7)".)

CAUTION

The DI0 to DI7 (DI0 to DI6 when SERVICE mode is enabled) status must be confirmed before ABS-PT is executed. (See "3-6-6 When executing a point movement command".)

■ Relative point movement command (INC-PT)

This command moves the robot a distance specified by a point number from the current position at a specified speed. The point number and speed are specified by general-purpose input. (See "32-2 General-purpose input (DI0 to DI7)".)

I/O INTERFACE

NOTE

Current position does not always indicate the actual robot position. More accurately, it is the current position data stored in the controller. Each time a movement command is executed correctly, the current position data in the controller is replaced with the target position data of the movement command. Therefore, if the robot is stopped by an interlock while executing a relative movement command, re-executing the same relative movement command moves the robot to the target position. (The robot does not move a relative distance from the stopped position by the interlock.) Similarly, after a robot movement command is executed, the controller still retains the target position data of that movement command as the current position data even if you move the robot to another position by manual operation. When a relative movement command is executed under this condition, the robot moves the specified distance from the target position of the movement command that was previously executed, rather than the actual robot position, so use caution. Current position data differs from the actual robot position when:

• Emergency stop or interlock (LOCK) was activated while the robot was moving.

• A communication command ^C (movement interruption) was transmitted while the robot was moving.

• The SERVICE mode input was changed while the robot was moving.

• The robot was moved by manual operation.

• The robot was moved by hand during servo-off (including emergency stop).

NOTE

CAUTION

The DI0 to DI7 (DI0 to DI6 when SERVICE mode is enabled) status must be specified before INC-PT is executed. (See "3-6-6 When executing a point movement command".)

3-4

■ Automatic operation start command (AUTO-R)

This command executes the robot program continuously, starting from the current step.

All tasks are executed if the robot program is a multi-task program.

■ Step operation start command (STEP-R)

This command executes the robot program one step at a time, starting from the current step.

Only the selected task is executed even if the robot program is a multi-task program.

3-2 Input Signal Description

■ Return-to-origin command (ORG-S)

This command returns the robot to its origin position by using stroke-end detection as the origin detection method.

NOTE

The magnetic pole is detected simultaneously with return-to-origin operation. Return-to-origin is incomplete each time the power is turned on. Always perform return-to-origin after turning on power to the controller, before starting operation. Return-to-origin is also always incomplete after a parameter related to the origin position is changed. Return-to-origin must be re-performed in this case.

CAUTION

If the robot is operated while return-to-origin is still incomplete, the necessary thrust to move the robot is unavailable and an alarm or abnormal operation occurs. Always perform return-to-origin before starting robot operation.

CAUTION

When performing return-to-origin by the stroke-end detection method, do not interrupt return-to-origin operation while the origin position is being detected (robot is making contact with its mechanical limit). Otherwise, the operation will stop due to a controller overload alarm and the power will need to be turned off and back on again.

CAUTION

Do not continuously repeat return-to-origin operation. If return-to-origin must be repeated by the stroke-end detection method, wait at least 5 seconds before repeating it.

I/O INTERFACE

■ Servo recovery command (SERVO)

After emergency stop, releasing the emergency stop button and turning this input on (closing the contact) turns the servo power on, so the robot is ready for restart. (As with other dedicated command inputs, the servo recovery command should be a pulse input, so it must be turned off (contact open) when the BUSY signal turns on.)

NOTE

When the servo is first turned on after power-on, a sound is heard for 0.5 to 2 seconds during servo-on. This sound is produced by a small robot movement for acquiring information needed to control the robot, and is not an abnormal condition.

■ Reset command (RESET)

This command returns the program step to the first step of the lead program and turns off the general-purpose outputs and the memory I/O. It also clears the point variable "P" to 0.

* When PRM33 ("Operation at return-to-origin complete" parameter) is set to 1 or 3, DO4 does

not turn off even if the reset command is executed. Likewise, when PRM46 ("Servo status output" parameter) is set to 1, DO3 does not turn off even if the reset command is executed.

NOTE

The lead program is the program that has been selected as the execution program by the TPB or POPCOM. (See "9-4 Switching the Execution Program".) The lead program can also be selected by executing a communication command "@SWI". It may also be selected when the program data is loaded into the SRCP controller from the memory card.

3-5

3-2 Input Signal Description

3-2-2 General-purpose input (DI0 to DI7)

These general-purpose inputs are available to users for handling data input in a program. These inputs are usually connected to sensors or switches. These inputs can also be directly connected to a PLC output circuit.

As a special function during execution of an ABS-PT or INC-PT point movement command, these general- purpose inputs can be used to specify the point numbers and movement speed. The number of general-purpose input (DI) points used to specify the point numbers and speed differs depending on whether SERVICE mode is enabled or disabled and also on the PRM7 (I/O point movement command speed parameter) setting. For example, when PRM7 is 100 in normal mode (SERVICE mode disabled), the point numbers should be input in binary code with DI0 to DI7 to specify P0 to P255 as shown in the table below. If PRM7 is 0 in normal mode (SERVICE mode disabled), then point numbers should be input with DI0 to DI5 in binary code to specify P0 to P63 as shown in the table below. The movement speed is specified as 100% when both DI6 and DI7 are off. In other cases, it is set to the speed specified by the parameter. (See "5-2 Parameter Description".) Also see the tables below for more details.

I/O INTERFACE

DI used to specify point numbers

DI7 to DI0 (256 points)

DI6 to DI0 (128 points)

DI5 to DI0 (64 points)

DI6 to DI0 (128 points)

DI5 to DI0 (64 points)

NORMAL mode (SERVICE mode disabled)

SERVICE mode enabled

PRM7

100 (default setting)

1 to 99

100 (default setting)

1 to 99

Example of point number setting

DI No.

Point No.

P15

P31

P63

P127

P254

P255

DI7

OFF

DI6

)

OFF

DI5

)

OFF

DI4

)

OFF

DI3

)

OFF

Example of point movement speed setting

DI used to specify speed

Not specified

DI7

DI7, DI6

Not specified

DI6

DI2

)

OFF

DI1

)

OFF

DI0

)

OFF

Speed setting method

100%

Speed setting pattern 2

Speed setting pattern 1

100%

Speed setting pattern 3

)

3-6

Speed setting pattern 1

DI7 DI6

OFF

Speed setting pattern 2

DI7 Movement speed

OFF

Speed setting pattern 3

DI6 Movement speed

OFF

Movement speed

OFF

100%

PRM41

PRM42

PRM43

100%

PRM7

100%

PRM7

* DI7 functions as the SERVICE mode input when the SERVICE mode function is enabled.

In this case, DI0 to DI6 can be used as the general-purpose inputs.

3-2 Input Signal Description

3-2-3 SERVICE mode input (SVCE)

When the SERVICE mode function is enabled, DI7 functions as the SERVICE mode input (SVCE). The SERVICE mode input is used to notify the SRCP controller whether the current state is a "SERVICE mode state". This input should be turned off (contact open) in "SERVICE mode state". Refer to "10-4 SERVICE mode function" for details on the SERVICE mode function.

NOTE

Operation stops immediately if the SERVICE mode input status is changed during robot operation while the SERVICE mode function is enabled.

NOTE

Even with the SERVICE mode function enabled, the SERVICE mode input status can be checked in the program as DI7.

3-2-4 Interlock (LOCK)

This input is used to temporarily stop robot movement. The robot immediately stops when this input is turned off (contact open) during execution of a dedicated I/O command or during program operation or return-to-origin operation from the TPB (or PC). (This also interrupts the robot program operation.) As long as this input is off (contact open), no dedicated I/O commands can be executed, and also no programs and return-to-origin operation can be performed from the TPB (or PC). The only exceptions to this are the reset command and servo recovery command that can be executed regardless of whether the LOCK signal is on or off. Leave this LOCK signal turned on (contact closed) during normal operation. Once this LOCK signal is turned off (contact open), the robot remains stopped even after this input is turned back on (contact closed), until another command (AUTO-R, ORG-S, etc.) is input. Changing the PRM34 (System mode selection parameter) setting enables or disables the interlock function. (See "5-2 Parameter Description".)

3-2-5 Emergency stop inputs 1, 2 (EMG1, EMG2)

Use these inputs to trigger robot emergency stop from an external safety device (for example, safety enclosure, manual safety switch, etc.). Servo power turns off at the same time when the contact between EMG1 and EMG2 is open (turned off). Use a relay contact with a current capacity of at least 50mA. To resume operation, close (turn on) the contact between EMG1 and EMG2, check that the READY signal is turned on, and then input the servo recovery command (SERVO). The servo will turn on to enable robot operation. The TPB or PC can also be used to reset emergency stop when the SRCP controller is connected to the TPB or PC.

CAUTION

Emergency stop inputs 1 and 2 (EMG1 and EMG2) are provided on the EXT. CN connector, and not on the I/O. CN connector. Do not use the different inputs.

I/O INTERFACE

3-7

3-3 Output Signal Description

I/O INTERFACE

3-3 Output Signal Description

The output signals consist of 3 dedicated outputs (READY, BUSY and END), 5 general-purpose outputs, and feedback pulse outputs. In this section, terms "ON" and "OFF" mean the output transistors are "on" and "off".

3-3-1 Dedicated output

The dedicated outputs are used for exchanging signals between the SRCP controller and an external device such as a PLC.

■ Ready-to-operate output (READY)

This output is on as long as the SRCP controller system is in normal operation. If an emergency stop or alarm occurs, then this output turns off to let the motor idle.

•When emergency stop was triggered: The READY signal turns on again when emergency stop is cancelled.

Operation can be restarted by input of the servo recovery command (SERVO) after canceling emergency stop.

•When an alarm was issued: If the READY signal is off while the robot is not in emergency stop, this means that an alarm was issued. If this happens, correct the problem while referring to Chapter 13, "Troubleshooting".

In this case, the SRCP controller should be turned off before attempting to restart operation.

■ Command-in-progress output (BUSY)

The BUSY signal is on during execution of a dedicated command input or a command from the TPB or PC. The BUSY signal turns on when the SRCP controller accepts a dedicated command input. The dedicated command input should be turned off (contact open) when the BUSY signal turns on. The BUSY signal turns off when command execution is complete. (At this point, all the dedicated command inputs must be turned off (contact open).)

CAUTION

The dedicated command input must be a pulse input so that it is off when the BUSY signal turns on. If the command input is left on, the BUSY signal cannot turn off even after the command execution is complete. As long as the BUSY signal is on, the SRCP controller will not accept other dedicated command inputs or commands from the TPB or PC. Avoid operating the TPB while the SRCP controller is being operated through the I/O interface. (Doing so might cause malfunctions during data exchange with a PLC or cause communication errors on the TPB side.)

■ End-of-run output (END)

The END signal turns off when a dedicated command input is received and turns on when command execution is complete. The END signal remains off if an error occurs or an interlock or emergency stop is triggered during command execution.

CAUTION

When a reset command or a movement command specifying a very small amount of movement is used, the command execution time will be very short. In other words, the period that the END signal is off will be very short (1ms or less in some cases). The END signal does not change by operation from the TPB or PC.

NOTE

The PRM34 (system mode selection parameter) setting can be changed so that the execution result END signal output for the completed dedicated command occurs only after the dedicated command input turns off. (See section 5-2 "Parameter Description".)

3-8

3-3 Output Signal Description

3-3-2 General-purpose output (DO0 to DO4)

These general-purpose outputs are available to users for freely controlling on/off operation in a program. These outputs are used in combination with an external 24V power supply, to drive loads such as solenoid valves and LED lamps. These outputs of course, can be directly connected to a PLC input circuit. All general-purpose outputs are reset (turned off) when the SRCP controller is turned on or the program is reset.

* When PRM33 ("Operation at return-to-origin complete" parameter) is set to 1 or 3, DO4 does

not turn off even if the program is reset. Similarly, when PRM46 ("Servo status output" parameter) is set to 1, DO3 does not turn off even if the program is reset.

General-purpose output (DO0 to DO4) can be used to perform the following specific functions by parameter setting.

Function name

Alarm output

Return-to-origin complete output

Servo-ON status output

Zone output

Parameter

PRM32 (Alarm number output)

PRM33 (Operation at return-to-origin complete)

PRM46 (Servo status)

PRM53 (Zone output)

Usable general-purpose input

DO0 to DO4

DO4

DO3

DO0 to 3

For more details, see "5-2 Parameter Description".

3-3-3 Feedback pulse output (PA±, PB±, PZ±, PZM±)

This outputs current position data as differential output.

Relation between pulse output and phase

Output pin

A17:PA+

B17:PA-

A18:PB+

B18:PB-

A19:PZ+

B19:PZ-

CW direction CCW direction

I/O INTERFACE

Number of output pulses and Z-phase timing

Number of output pulses*

1 [pulses/µm]

*: Number of output pulses is a count after bein

Z-phase output timing

Every 1024 µm

multiplied by 4.

ZM phase

The ZM phase is output at the magnetic pole detection points of the PHASER series. Refer to the drawing below.

PHASER series

ZM phase

Magnetic pole detection point

：

3-9

3-4 I/O Circuits

I/O INTERFACE

3-4 I/O Circuits

This section provides the SRCP controller I/O circuit specifications and examples of how the I/O circuits should be connected. Refer to these specifications and diagrams when connecting to external equipment such as a PLC.

3-4-1 I/O circuit specifications

■ Input Power

DC24V±10% (supplied through EXT.CN)

■ Input Circuit

Excluding emergency stop input circuit

Insulation method: Photocoupler insulation

Input terminal: Relay contact or NPN open collector transistor connected between

input terminal and 0V terminal.

Input response: 30ms max.

Input current: 5mA/DC24V

Input sensitivity: Current on: 3mA min.

Current off: 1mA max.

Emergency stop input circuit

Input terminal: Relay contact connected between emergency stop inputs 1 and 2

(between EMG1 and EMG2).

Input response: 5ms max.

Input current: 40mA/DC24V

■ Output Circuit

Insulation method: Photocoupler insulation between internal circuit and output tran-

sistor

Output terminal: NPN open collector output of all collective output common termi-

nals (0V side)

Output response: 1ms max.

Max. output current: 50mA/DC24V per output

Residual ON voltage: 1.5V max.

■ Pulse Output Circuit

Output method: Line driver (26LS31 or equivalent)

Maximum output current:

20mA

3-10

3-4-2 I/O circuit and connection example

I/O circuit and connection example

Photocoupler

Push-button

Input signal

3-4 I/O Circuits

I/O INTERFACE

NPN transistor

Incandescent lamp

Solenoid valve

24V

24G

External DC24V power supply

Pulse output circuit connection example

Output signal

Controller side

PA+

PA-

PB+

26LS32 or equivalent 26LS31 or equivalent

PB-

PZ+

PZ-

PZM+

PZM-

3-11

3-5 I/O Connection Diagram

3-5-1 Connection to PLC output unit

Connection to the Mitsubishi© PLC AY51 output unit

I/O INTERFACE

AY51 type output unit

Y00

TB 1

Y01

Y02

Y03

Y04

Y05

Y06

Y07

Y08

Y09

Y0A

Y0B

Y0C

Y0D

Y0E

Y0F

DC24V

Y10

Y11

Y12

Y13

Y14

Y15

Y16

Y17

Y18

DC24V

SRCP series controller

I/O. CN

DI 0

DI 1

DI 2

DI 3

DI 4

DI 5

DI 6

DI 7

LOCK

SERVO

RESET

ORG-S

STEP-R

AUTO-R

INC-PT

ABS-PT

EXT. CN

EMG 1

EMG 2

24V

24G

3-12

External DC 24V

power supply

3-5-2 Connection to PLC input unit

Connection to the Mitsubishi© PLC AX41 input unit

3-5 I/O Connection Diagram

SRCP series controller

I/O. CN

READY

BUSY

END

DO 0

DO 1

DO 2

DO 3

DO 4

B12

A12

B11

A10

B10

A11

TB 1

X00

X01

X02

X03

X04

X05

X06

X07

DC24V

X08

X09

AX41 type input unit

I/O INTERFACE

Internal circuit

Photocoupler

24V

24G

EXT. CN

External DC 24V

power supply

X0A

X0B

X0C

X0D

X0E

X0F

DC24V

3-13

3-6 I/O Control Timing Charts

The following shows typical timing charts for I/O control. Refer to these diagrams when creating a sequence program.

3-6-1 When turning the power on

When emergency stop is triggered:

DC24V power supply

AC power supply

300ms or more

READY

END

I/O INTERFACE

When emergency stop is canceled:

DC24V power supply

AC power supply

500ms or more

READY

END

When an alarm is issued:

DC24V power supply

AC power supply

READY

END

■ The SRCP initial state depends on whether emergency stop is triggered when the power is

turned on. When the power is turned on while emergency stop is cancelled, the SRCP controller starts with the READY signal and also the servo turned on. (Robot is ready to operate in this state.) In contrast, when the power is on while emergency stop is triggered, the SRCP controller starts with the READY signal turned off under emergency stop conditions. (Robot operation is prohibited in this state.) To enable robot operation, cancel the emergency stop to turn on the READY signal, and then input a servo recovery command (SERVO).

■ After turning the power on, make sure that the END signal is on before inputting a dedicated

command.

■ If the READY and END signals are still off for more than the specified time after turning the

power on, this means that an alarm has occurred. If that happens, correct the problem while referring to "13-2 Alarm and Countermeasures".

■ Before supplying AC power to the power supply terminal block, DC 24V power to EXT. CN

must be supplied.

3-14

CAUTION

DC 24V power to EXT. CN must first be supplied before supplying AC power to the power supply terminal block. If this order is reversed, an alarm (06: 24V POWER OFF) might be issued.

3-6 I/O Control Timing Charts

3-6-2 When executing a dedicated input command

■ The BUSY signal turns on when a dedicated command is received. Whether the received com-

mand has ended normally can be checked with the END signal status at the point that the BUSY signal turns off. When the END signal is on, this means that the command has ended normally. If it is off, the command has not ended normally.

■ The dedicated command input must be a pulse input. If the dedicated command input stays on,

the BUSY signal does not turn off even after the command has been executed.

(1)When a command with a long execution time runs and ends normally:

(Command execution is still in progress and the END signal is off when turning off (contact open) the dedicated command input.)

Dedicated command

BUSY

END

30ms or less

(1)At the rising edge of the dedicated command input, the END signal turns off and the BUSY

signal turns on.

(2)Turn off (contact open) the dedicated command input after checking that the BUSY signal

turns on.

(3)Wait until the BUSY signal turns off.

(4)The END signal should be on when the BUSY signal turns off, indicating that the command

has ended normally.

1ms or less 1ms or less

I/O INTERFACE

CAUTION

In the case of the automatic operation start command (AUTO-R), the END signal turns on and the BUSY signal turns off when the program ends or a STOP statement is executed. If an endless program (one that automatically returns to the top of the program from the last step) is executed, the BUSY signal will not turn off until an interlock or emergency stop is triggered.

3-15

3-6 I/O Control Timing Charts

(2)When a command with a short execution time runs and ends normally:

(Command execution has already ended and the END signal is on before turning off (contact open) the dedicated command input, as in the examples listed below.)

•A movement command (ABS-PT, INC-PT) for a very short distance was executed.

•A reset command (RESET) was executed.

•A step run was executed using a command with a very short execution time such as the L and

DO statements.

Dedicated command

BUSY

I/O INTERFACE

END

30ms or less

1ms or less

30ms or less

(1)At the rising edge of the dedicated command input, the END signal turns off and the BUSY

signal turns on.

(2)Turn off (contact open) the dedicated command input after checking that the BUSY signal

turns on.

(3)Wait until the BUSY signal turns off. (The BUSY signal immediately turns off since the com-

mand execution is already complete.)

(4)The END signal should be on when the BUSY signal turns off, indicating that the command

has ended normally.

However, the PRM34 (system mode selection parameter) "bit 7 END output sequence setting at command execution completion" setting can be changed so that the END signal turns on when the dedicated command input turns off.

NOTE

The PRM34 (system mode selection parameter) "bit 7 END output sequence setting at command execution completion" setting is supported only in Ver. 24.32 and later versions.

3-16

Dedicated command

BUSY

END

Dedicated command execution completion

30ms or less

1ms or less 1ms or less1ms or less

Even after dedicated command execution completion, the END signal does not turn on until the dedicated command input turns off.

3-6 I/O Control Timing Charts

(3)When a command cannot be executed from the beginning:

(Command execution is impossible from the beginning and the END signal does not turn on, as in the examples listed below.)

•A movement command (ABS-PT, INC-PT) was executed without return-to-origin being com-

pleted.

• An operation start command (AUTO-R, STEP-R) was executed while return-to-origin is in-

complete (except for cases where PRM48 (Pre-operation action selection parameter) is set to 1 or 3).

•A movement command (ABS-PT, INC-PT) was executed by specifying a point number whose

point data is unregistered.

•A dedicated command was executed during interlock or emergency stop (except for the reset

(RESET) and servo recovery (SERVO) commands).

•When a dedicated command input (ABS-PT, INC-PT, AUTO-R, STEP-R, ORG-S, SERVO,

RESET) was executed in "SERVICE mode state".

Dedicated command

I/O INTERFACE

BUSY

END

30ms or less

1ms or less

30ms or less

(1)At the rising edge of the dedicated command input, the END signal turns off and the BUSY

signal turns on.

(2)Turn off (contact open) the dedicated command input after checking that the BUSY signal

turns on.

(3)Wait until the BUSY signal turns off. (The BUSY signal immediately turns off since the com-

mand cannot be executed from the beginning.)

(4)The END signal remains off when the BUSY signal turns off, indicating that the command

could not end normally.

3-17

3-6 I/O Control Timing Charts

I/O INTERFACE

(4)When command execution cannot be completed:

(Command execution stops before completion and the END signal does not turn on, as in the examples listed below.)

• An interlock or emergency stop was triggered during execution of a dedicated command.

•The SERVICE mode input was changed during execution of a dedicated command.

• An error was caused due to a jump to an unregistered program or point during automatic

operation.

Command execution impossible

Dedicated command

BUSY

END

Differs according to execution command

(1)At the rising edge of the dedicated command input, the END signal turns off and the BUSY

signal turns on.

(2)Turn off (contact open) the dedicated command input after checking that the BUSY signal

turns on.

(3)Wait until the BUSY signal turns off.

(4)The BUSY signal turns off since the command execution stops before completion.

(5)The END signal remains off when the BUSY signal turns off, indicating that the command

could not end normally.

3-6-3 When interlock signal is input

Interlock

LOCK

Dedicated command

3-18

BUSY

END

Differs according to execution command

■ When a interlock signal is input while a dedicated command is being executed, the BUSY

signal turns off. The READY and END signals remain unchanged.

3-6-4 When emergency stop is input

EMG

3-6 I/O Control Timing Charts

Emergency stop

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

I/O INTERFACE

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".

3-19

3-6 I/O Control Timing Charts

3-6-6 When executing a point movement command

■ When executing a point movement command (ABS-PT, INC-PT), the point data and speed

data must first be input before inputting the command.

The point data and speed data can be specified with DI0 to DI7 (or DI0 to DI6 when SERVICE mode is enabled). Refer to "3-2-2 General-purpose input (DI0 to DI7)".

I/O INTERFACE

Point data (DI0 to 7) Speed data

Point movement command (ABS-PT, INC-PT)

BUSY

Actual robot operation

END

Data retention

Robot movement

30ms or more

(1)Specify the point data and speed data, using the general-purpose input DI0 to DI7. These input

conditions should be kept unchanged until the BUSY signal turns on. (If these conditions are changed before the BUSY signal turns on, then the data might be misrecognized.)

(2)When a minimum of 30ms has elapsed, input the point movement command (ABS-PT, INC-

PT).

(3)At the rising edge of the dedicated command input, the END signal turns off and the BUSY

signal turns on.

(4)Turn off (contact open) the dedicated command input after checking that the BUSY signal

turns on.

Now, you may change the point data and speed data (DI0 to DI7) for the next movement.

(5)Wait until the BUSY signal turns off.

(6)The END signal should be on when the BUSY signal turns off, indicating that the command

has ended normally.

3-20

NOTE

Chapter 4 BASIC OPERATION OF THE TPB

The TPB is a hand-held, pendant-type programming box that connects to the SRCP controller to edit or run programs for robot operation. The TPB allows interactive user operation on the display screen so that even first-time users can easily operate the robot with the TPB. This chapter describes the basic operation of the TPB. The TPB used with the SRCP series controller must be version 12.50 or later.

BASIC OPERATION OF THE TPB

4-1

4-1 Connecting and Disconnecting the TPB

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

■ When the power supply to the controller is turned off

■ When the power supply to the controller is turned on

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.

Connect the TPB connector to the connector labelled "TPB" on the front panel of the controller and supply power to the controller. A beep sounds for approximately 1 second and then the screen shown at the right appears. This screen is referred to as the "Initial screen" from this point onwards.

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 interrupted regardless of whether or not the ESC switch is held down.

[MENU]

select menu

1EDIT2OPRT3SYS 4MON

BASIC OPERATION OF THE TPB

CAUTION

Any of the messages "08: PNT DATA DESTROY", "09: PRM DATA DESTROY" or "10: PGM DATA DESTROY" may appear on the TPB when the power to the controller is turned on. (See "13-2 Alarm and Countermeasures".) 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".)

4-2

4-1 Connecting and Disconnecting the TPB

4-1-2 Disconnecting the TPB from the SRCP controller

To disconnect the TPB from the controller while a program or an I/O dedicated command is being executed, pull out the TPB while holding down the ESC switch on the front panel of the controller. Failing to hold down the ESC switch will trigger emergency stop in the controller and turn off the servo. When the TPB will be left disconnected from the controller for a long period of time, we recommend attaching the RS-232C connector dust cover (supplied) to the TPB connector on the controller.

BASIC OPERATION OF THE TPB

4-3

4-2 Basic Key Operation

1) Selectable menu items are displayed on the 4th line (bottom line) of the TPB screen.

Example A is the initial screen that allows you to select the following modes.

[MENU]

select menu

BASIC OPERATION OF THE TPB

1 EDIT 2 OPRT 3 SYS 4 MON

The number to the left of each mode corresponds to the function keys from

2) On the initial screen shown in A, pressing a function key moves to a lower level in the menu hierarchy. (A→B→C→D)

To return to the previous screen or menu level, press the Menu Structure" in this chapter.)

key. (See "4-4 Hierarchical

ESC

1EDIT2OPRT3SYS 4MON

↓

[OPRT]

select menu

1ORG 2STEP3AUTO

↓

[OPRT-STEP] 100 0: 0

001:MOVA 254,100

[ 0.00]

1SPD 2RSET3CHG 4next

ESC

↑

ESC

↑

3) If an error occurs during operation, a buzzer sounds for approximately 1 second and an error message like that shown in Example E appears on the 3rd line of the screen. If this happens, check the contents of the error message and then press the sage will be cleared to allow continuing operation. To correct the error, refer to the message tables in Chapter 12.

4) If an alarm occurs during operation, its alarm message appears on the 3rd line of the screen and a buzzer keeps sounding. The TPB cannot be used in this state. Turn off the power to the controller and then correct the problem by referring to "13-2 Alarm and Countermeasures".

key. The error mes-

ESC

↓

[OPRT-STEP] 100 0: 0

PGM No = _ (program No) 0→99

[OPRT-STEP]

32:origin incomplete

↑

ESC

4-4

4-3 Reading the Screen

The following explains the basic screen displays and what they mean.

4-3-1 Program execution screen

The display method slightly differs depending on the version of TPB.

Ver. 12.50 or earlier Ver. 12.51 or later

[OPRT-STEP] 100 0:31

062:MOVA 200,100

[ 0.00]

1SPD 2RSET3CHG 4next

1. Current mode

2. Execution speed

3. No. of task being executed

4. No. of program being executed

* On TPB version 12.51 or later, when switched from the lead program to another program,

this area shows the program numbers as the "currently executed program / lead program".

5. No. of step being executed

6. Current position

[STEP] 100% 0: 31

062:MOVA 200,100

[ 0.00]

1SPD 2RSET3CHG 4next

BASIC OPERATION OF THE TPB

4-3-2 Program edit screen

1. Current mode

2. No. of program being edited

3. No. of step being edited

[EDIT-PGM] No31

062:MOVA 200,100

1MOD 2INS 3DEL 4CHG

4-5

4-3 Reading the Screen

4-3-3 Point edit screen (teaching playback)

[EDIT-PNT-TCH](1)100

P255 = 123.45 [mm]

[ 0.00]

1CHG 2SPD 3S_SET4next

1. Current mode

2. Speed selection number

3. Speed parameter (%)

4. Edit point number

5. Current position

4-3-4 DIO monitor screen

BASIC OPERATION OF THE TPB

1. General-purpose input

From left

DI7 to DI0

2. Dedicated input

From left

Interlock (LOCK)

0: Locked state (robot movement not

possible)

1: Unlocked state (robot movement

possible) Return-to-origin command (ORG-S) Reset command (RESET) Automatic operation start command (AUTO-R) Step operation start command (STEP-R) Absolute point movement command (ABS-PT) Relative point movement command (INC-PT) Servo recovery command (SERVO)

DI 00000000 00000000

DO 10100000 O:0 S:1

3. Dedicated and general-purpose outputs From left

4. Origin sensor status and servo status From left

READY, BUSY, END, DO4 to DO0

O: Origin sensor status

0: Off (Closed) 1: On (Open)

S: Servo status

0: Servo off 1: Servo on

4-6

4-4 Hierarchical Menu Structure

POWER ON

INFORMATION (System information)

PGM (Program Edit)

EDIT (Editing)

OPRT (Operation)

PNT (Point Edit)

UTL (Utility)

ORG (Origin Return)

STEP (Step Run)

AUTO (Auto Run)

PRM (Parameter Setting)

MOD (Step Edit) INS (Step Insert) DEL (Step Delete) CHG (Program Change)

MDI (Manual Data Input)

TCH (Teaching Playback)

DTCH (Direct Teaching) DEL (Delete)

COPY (Program Copy) DEL (Program Delete) LIST (Program List)

SPD (Execution Speed Change) RSET (Program Reset) CHG (Program Change) VAL (Variable Monitor) S_ON (Servo ON) CHGT (Task Change) MIO (Memory IO Monitor)

PRM1 (No.0~63) PRM2 (No.64~)

CHG (Point Change)

CHG (Point Change) SPD (Speed Change) S_SET (Speed Set) DO (General-purpose Output Control) TRC (Point trace)

CHG (Point Change) DO (General-purpose Output Control) BRK (Brake)

SPD (Execution Speed Change) RSET (Program Reset) CHG (Program Change) VAL (Variable Monitor) S_ON (Servo ON) CHGT (Task Change) MIO (Memory IO Monitor)

BASIC OPERATION OF THE TPB

PGM (Program) PNT (Point) PRM (Parameter) ALL (All Data)

ALOD (Automatic Load)

EDIT (Editing) OPRT (Operation) SYS (System) CARD (Memory Card)

SET (Enable/Disable Setting)

(Limitation to Operating Device)

DEV SPD (Speed Limitation)

(Step Run/Auto Run Limitation)

RUN HtoR (Hold-to-Run Setting)

ALM (Alarm) ERR (Error)

SYS (System)

MON (Monitor)

B.UP (Backup)

INIT (Initialization)

SAFE (Safety Setting)

OPT (Option)

UTL (Utility)

DIO (DIO Monitor)

DUTY (DUTY Monitor)

SAVE (Save)

CARD (Memory card)

FROM (Flash ROM)

PGM (Program) PNT (Point) PRM (Parameter) ALL (All Data)

ACLV (Access Level)

SVCE (SERVICE mode)

(Hidden parameter display)

HDPR

REC (Record)

RUN (Monitor Start) STOP (Monitor Stop) RSLT (Result Display)

LOAD (Load) FMT (Format) ID (Control No.)

SAVE (Save) LOAD (Load) INIT (Initialization)

The menu hierarchy slightly differs depending on the versions of the controller and TPB.

4-7

4-5 Restricting Key Operation by Access Level

4-5

Restricting Key Operation by Access Level

The TPB key operations can be limited by setting the access levels (operation levels). A person not trained in robot operation might accidentally damage the robot system or endanger others by using the TPB incorrectly. Set the access levels to restrict TPB key operations and prevent such accidents.

NOTE

The access level settings are protected by a password so that changes cannot be instantly made.

4-5-1 Explanation of access level

The access levels can be set individually for editing, operation, system and memory card. The details of the key operations limited at each level are explained below.

Editing

Level

All operations are permitted.

Program editing is prohibited. (Program data can be checked.)

In addition to Level 1, point data editing, manual release of brake and point trace (movement to registered data point) are prohibited.

(The and keys can be used to move the robot and general-purpose outputs can be controlled.)

Any operation in EDIT mode is prohibited. (Cannot enter EDIT mode.)

Description

BASIC OPERATION OF THE TPB

Operation

Level

All operations are permitted.

Changing the execution speed and program is prohibited.

In addition to Level 1, automatic operation, step operation and program reset are prohibited.

(Return-to-origin can be performed and variables can be monitored.)

Any operation in OPRT mode is prohibited. (Cannot enter OPRT mode.)

System-related data

Level

All operations are permitted.

Initialization is prohibited.

In addition to Level 1, changing the parameters and setting the option units are prohibited.

(Parameter data and option unit settings can be checked.)

Parameter editing, initialization and option setting are prohibited.

(Cannot enter SYS-PRM, SYS-INIT and SYS-OPT modes.)

Description

4-8

Memory card

4-5 Restricting Key Operation by Access Level

Level

All operations are permitted.

Loading the parameters and all data to the SRCP is prohibited.

(Point data or program data can be loaded.)

Loading any data to the SRCP is prohibited.

(Data can be saved and the memory card formatted.)

Use of memory card is prohibited.

(Cannot enter SYS-B.UP mode.)

4-5-2 Changing an access level

1) Press

2) Press

(SYS) on the initial screen.

(next) to switch the menu display

and then press

(SAFE).

Description

BASIC OPERATION OF THE TPB

[MENU]

select menu

1EDIT2OPRT3SYS 4MON

[SYS]

select menu

3) When the password entry screen appears, enter the password and press .

4) When the password is accepted, the screen shown on the right appears.

Press

(ACLV) here.

1SAFE2OPT 3UTL 4next

[SYS-SAFE]

Password: 24.00_

input password

[SYS-SAFE]

select menu

1ACLV2SVCE

4-9

4-5 Restricting Key Operation by Access Level

BASIC OPERATION OF THE TPB

5) Select the item you want to change.

To change the access level for editing, press

(EDIT).

To change the access level for operation, press

(OPRT).

To change the access level for system-related data, press

To change the access level for memory card,

press F4(CARD).

6) The currently set access level appears.

To change this setting, use the number key to enter the access level and then press .

7) When the access level has been changed, the memory write screen appears.

To save the change permanently (retain the change even after the controller power is turned off), press

To save the change temporarily (retain the change until the power is turned off), press

(CHG).

To cancel changing of the setting, press

(CANCEL).

(SYS).

(SAVE).

[SYS-SAFE-ACLV]

select menu

1EDIT2OPRT3SYS 4CARD

[SYS-SAFE-ACLV-EDIT]

access level : 0

all access OK

[SYS-SAFE-ACLV-EDIT]

access level : 1

change PGM invalid

1SAVE2CHG 3CANCEL

8) When writing is complete, the screen returns to step 6.

[SYS-SAFE-ACLV-EDIT]

access level : 1

change PGM invalid

NOTE

The password is identical to the SRCP controller's version number. For example, if the controller version is 24.00, enter 24.00 as the password. Once the password is accepted, it will not be requested unless the TPB is disconnected from the controller or the controller power is turned off.

NOTE

To avoid access level conflict between operation and others, the access levels may be automatically adjusted. For example, if the access levels related to editing, system and memory card are "0", they are automatically changed to "1" when the operation-related access level is "1" or "2" or "3". The access levels remain unchanged if they are "1" or "2" or "3".

4-10

Chapter 5 PARAMETERS

The SRCP controller uses a software servo system, so no adjustment of hardware components such as potentiometers or DIP switches are required. Instead, the SRCP controller uses parameters that can be easily set or changed by the TPB or PC (personal computer). This chapter contains a detailed description of each of the parameters, and explains how to use the TPB to change and specify parameter settings.

SAFETY

Errors such as motor overload are detected by the software, so the controller parameters must be set correctly to match the connected robot model. The parameters are initialized to match the robot model when the robot is shipped, so confirm them before starting use. If there is any trouble, please contact our sales office or sales representative.

PARAMETERS

5-1

5-1 Setting the Parameters

PARAMETERS

1) On the initial screen, press F3 (SYS).

2) Next, press F1 (PRM).

3) Select the parameter group you want to edit. When editing PRM0 to PRM63, press (PRM1). When editing PRM64 onward, press (PRM2).

[MENU]

select menu

1EDIT2OPRT3SYS 4MON

[SYS]

select menu

1PRM 2B.UP3INIT

4next

[SYS-PRM]

select menu

1PRM1 2PRM2

4) The current PRM0 (robot type number ) setting appears on the screen. (The PRM64 set-

ting appears when

in step 3. ) Use the the parameters until you find the parameter you want to set.

5) When the desired parameter is displayed, enter the new value with the number keys and then press

6) When the setting is complete, the cursor moves back to the beginning of the parameter data.

(PRM2) was pressed

STEP

and

STEP

keys to scroll

DOWN

[SYS-PRM-PRM1]

PRM0 = 20

robot type

read only

[SYS-PRM-PRM1]

PRM1 = 450_ [mm]

(+)soft limit

range -9999→9999

[SYS-PRM-PRM1]

PRM1 =

450 [mm]

(+)soft limit range -9999→ 9999

5-2

5-2 Parameter Description

The parameters are described in order below.

CAUTION

Parameters not displayed on the TPB screen are automatically set or optimized to match the robot type when the robot parameters are initialized. You usually do not have to change these parameter settings. If for some special reason you need to change or check these hidden parameters, use any of the following methods.

• Turn on the power to the controller while holding down the

• Connect the TPB to the controller while holding down the

• Use the system utility mode that allows you to display hidden parameters. (See "10-5-1 Viewing hidden parameters".)

Take extra caution when handling hidden parameters.

key on the TPB.

ESC

key on the TPB.

ESC

PRM0: Robot type number

This parameter shows the robot number currently used. (See "15-1-2 Robot number list".) This is a read-only parameter. When changing the robot number or if the memory contents are corrupted, perform parameter initialization. (See "10-1 Initialization".)

PRM1: (+) soft limit

The + side robot movement range is set. Set a suitable value for safety purposes.

Input range: -9999 to 9999 (mm) Default value: Depends on robot type.

CAUTION

The soft limit will not work unless return-to-origin has been completed.

PRM2: (-) soft limit

The - side robot movement range is set. Set a suitable value for safety purposes.

Input range: -9999 to 9999 (mm) Default value: Depends on robot type.

CAUTION

The soft limit will not work unless return-to-origin has been completed.

PARAMETERS

5-3

5-2 Parameter Description

PARAMETERS

PRM3: Payload

This specifies the total weight of the workpiece and tool attached to the robot. In cases where this weight varies, enter the maximum payload. Based on this parameter, the controller determines the optimum acceleration speed for the robot, so ensure that the correct payload is set. If set too small, abnormal vibration or overheat may occur resulting in troubles with the robot or controller. Conversely, if this parameter is larger than the actual payload, a loss of the cycle time occurs which lowers productivity.

Input range: Depends on robot type. Units are in kilograms (kg). Default value: 0

* This parameter is set to maximum payload when the controller is shipped from factory.

PRM4: Acceleration

This parameter sets the acceleration. The controller will automatically set optimum acceleration according to the robot type and payload. If you want to increase the initial acceleration setting, manually enter the proper value by referring to the robot user's manual.

Input range: 1 to 200 (%) Default value: 100

CAUTION

If acceleration is too rapid, problems such as abnormal vibrations and reduced service life of the robot might result.

PRM5: Return-to-origin direction

This parameter sets the return-to-origin direction. Normally, return-to-origin is performed toward the L side when this parameter is set to 1, and toward the R side when set to 1. (See our robot product catalog to check the L and R sides.)

Input range: 0 or 1 Default value: Depends on robot type.

PRM6: Positioning-completed pulse

This specifies the range in which the controller determines that positioning is complete. When a movement command is executed, the robot moves toward the target position. The controller then determines that the positioning has been completed when the remaining distance to the target position is within this parameter setting. However, the robot continues moving until it reaches the target position even after the robot enters the "positioningcompleted pulse" range. Since executing the next movement command is not allowed until the positioning is complete, setting a large value for this parameter can reduce cycle time in cases where critical positioning accuracy is not required.

Input range: 1 to 4000 (pulses) Default value: 80

* If the range specified by this parameter is larger than the range of the OUT valid posi-

tion, the controller does not decide that the "positioning-completed pulse" range is entered until the axis reaches the OUT valid position.

5-4

5-2 Parameter Description

PRM7: I/O point movement command speed

This parameter sets the movement speed to execute a point movement command (ABSPT, INC-PT) and also determines the number of points that can be used with a point movement command. (See "3-2-2 General-purpose input (DI0 to DI7)".)

Input range: 0 to 100 (%) Default value: 100

PRM8: No. of conditional input points

This parameter specifies the number of effective points for the third data conditional input for executing the JMPF statement of the robot language. For example, when the default setting is selected for this parameter, the four points from DI0 to DI3 are used as the conditional inputs for the JMPF statement.

Input range: 1 to 8 (points) Default value: 4

No. of conditional input points versus general-purpose input and setting range

PARAMETERS

No. of conditional input points

NOTE

When SERVICE mode is enabled, DI7 functions as a service mode input (SVCE). Because of this, the DI7 status will be the same as SERVICE mode input (SVCE) status when the number of conditional input points is 8.

General-purpose input Setting range

DI0

DI0 to DI1

DI0 to DI2

DI0 to DI3

DI0 to DI4

DI0 to DI5

DI0 to DI6

DI0 to DI7

0 to 1

0 to 3

0 to 7

0 to 15

0 to 31

0 to 63

0 to 127

0 to 255

PRM9: MOVF speed

This sets the speed at which the robot moves when the program language MOVF statement is executed.

Input range: Depends on robot type. (mm/sec) Default value: 10

PRM10: Return-to-origin speed

This specifies the movement speed during return- to-origin.

Input range: 1 to 100 (mm/sec) Default value: 20

CAUTION

When the return-to-origin speed is increased, an alarm might be issued during return-to-origin depending on the robot type. We recommend using the default value as much as possible.

5-5

5-2 Parameter Description

PRM11: No. of encoder pulses (4✕ mode)

This parameter indicates the constant that is determined by the linear scale.

Default value: Depends on robot type.

PRM12: Lead length

This parameter indicates the constant that is determined by the linear scale.

Default value: Depends on robot type.

PRM13: Origin detection method

This parameter specifies the origin (reference point) detection method. The SRCP controller uses the stroke-end detection method.

Default value: 1 (Stroke-end detection method)

CAUTION

The origin detection method is predetermined by the machine specifications. Do not change the default setting. If changed inadvertently, serious problems might occur with the robot and controller.

PARAMETERS

PRM14: Overload current

This sets the reference current value used to detect an overload.

Default value: Equal to the motor rated current.

PRM15: Overload time

This specifies conditions such as time required to detect an overload. The default value is set so that an overload alarm is issued when a current three times higher than the overload current (PRM14) flows for a period of 3 seconds or an equivalent condition is detected.

Default value: 240

PRM16: Current limit

This sets the maximum motor input current.

Default value: Depends on robot type.

PRM17: Speed proportional gain

This sets the speed control gain. Typically, PRM17 and PRM18 should be input at a ratio of 3 : 2. Generally, the larger the gain, the higher the acceleration will be. However, if the gain is set too high, abnormal oscillation or noise might be generated, causing serious problems in the robot and controller. Use caution when selecting this parameter to avoid such problems.

5-6

Default value: Depends on robot type.

PRM18: Speed integration gain

Default value: Depends on robot type.

PRM19: Position proportional gain

This sets the position control gain. If this parameter is changed carelessly, serious problems may occur in the robot and controller.

5-2 Parameter Description

Default value: Depends on robot type.

PRM20: OUT valid position

This specifies the range in which the controller determines that movement command is complete. When a movement command is executed, the robot moves toward the target position. The controller then determines that the movement command has ended when the remaining distance to the target position is within this parameter setting. The controller then initiates the subsequent step processing when the robot reaches this OUT valid position, so setting this parameter to a larger value can reduce cycle time. However, if the subsequent command is a movement command, it is not executed until the ongoing positioning is complete.

Input range: 0 to 9999 (mm) Default value: 1

PRM21: Position data unit

This parameter sets the units in which point data is to be displayed. Do not change this parameter for the PHASER series. Always use the default value.

Default value: 0 (shown in mm)

CAUTION

Do not change this parameter for the PHASER series.

PARAMETERS

PRM22: English/Japanese selection

This parameter sets the language for the response messages displayed on the TPB or handled by RS-232C communications.

Input range: 0 or 1 Meaning: 0: English

1: Japanese

Default value: 0

PRM23: Payload-dependent acceleration coefficient

The value calculated from PRM0, PRM12 and PRM3 is set automatically for this parameter.

Default value: Depends on robot type.

5-7

5-2 Parameter Description

PRM24: Teaching count data (TPB entry)

This is entered in the TPB and cannot be used.

Default value: 0

PRM25: Not used

Default value: 0

PRM26: Teaching movement data

This parameter is used during movement with a communication command @X+ or @XINC. This is also used for point teaching playback.

PARAMETERS

Input range: 1 to 100 (%) Default value: 100

PRM27: Teaching movement data 1 (for TPB)

This is entered in the TPB and cannot be used.

Input range: 1 to 100 (%) Default value: 100

* The TPB writes the contents of PRM27 into PRM26 when connected to the controller.

PRM28: Teaching movement data 2 (for TPB)

This is entered in the TPB and cannot be used.

Input range: 1 to 100 (%) Default value: 50

PRM29: Teaching movement data 3 (for TPB)

This is entered in the TPB and cannot be used.

Input range: 1 to 100 (%) Default value: 10

5-8

PRM30: Maximum program speed

The speed data defined by the MOVA, MOVI and MOVM statements in a program is multiplied by this parameter value to determine the maximum speed at which the robot actually moves. This is used to lower the speed of the overall program. When the TPB is used, any speed changes in the AUTO and STEP modes will also change this parameter value. Max. speed (%) = PRM30 × speed operand (%) of movement command / 100

Input range: 1 to 100 (%) Default value: 100

PRM31: Mechanical lock detection level

This parameter sets the sensitivity to detect mechanical locking caused by collision of the robot with an object. The upper limit of this parameter is 254. The sensitivity becomes lower as the parameter value increases. Leave this parameter set to 255 when you want to disable this function.

Input range: 1 to 255 (.01 sec.) Default value: 255 (This function is disabled.)

PRM32: Alarm number output

When an alarm is issued, this parameter selects whether the alarm number is to be output as a general-purpose output. When this parameter is set to 1, the alarm number is output as a 5-bit binary signal through DO0 to DO4.

Input range: 0 or 1 Meaning: 0: No output

1: Output

Default value: 0

Example of alarm Number - DO output

5-2 Parameter Description

OVER LOAD

OVER CURRENT

OVER HEAT

POWER DOWN

ABNORMAL VOLTGAE

SYSTEM FAULT 2

FEEDBACK ERROR 3

SYSTEM FAULT 3

Alarm MessageAlarm No.

DO4 DO3 DO2 DO1 DO0

OFF

* For more details on the alarm No. and contents, refer to "13-2-2 Alarm message list".

PRM33: Operation at return-to-origin complete

Selects the operation to be executed simultaneously with completion of return-to-origin. A signal can be output as a general-purpose output indicating that return-to-origin has been completed or to reset the program.

Input range: 0 to 3 Meaning: 0: Nothing is executed

1: DO4 is turned on 2: Program reset is executed 3: DO4 turns on after program reset

Default value: 2

OFF

PARAMETERS

* When this parameter is set to 1 or 3, DO4 is not affected by program reset (in other

words, DO4 does not turn off even when the program is reset). If you want to turn off DO4 after return-to-origin is complete, use the program command to execute DO 4,0 or manually operate the general-purpose output by using the TPB. (See "7-4 Manual Control of General-Purpose Output".)

5-9

5-2 Parameter Description

PRM34: System mode selection

This parameter specifies the system operation mode. When you want to use the SRCP series in operating specifications that differ from normal mode, change this parameter as explained below. This parameter functions are allocated in bit units.

Input range: 0 to 255 Default value: 0

Function allocation in bit units

PARAMETERS

Bit

Function

15 to 8

Selected operating mode

ON when emergency stop is canceled. (DRCA compatible)

ON when servo is ON. (SRCA compatible)

ON after controller has started normally.

OFF after controller has started normally.

Check

No check

Enable

Disable

ON at normal command completion

ON at command signal OFF at normal command completion

5 to 4

PRM34

64+4=68

Bit

Reserved for system use

READY signal sequence setting

END signal sequence setting when the

controller has started normally

Voltage check setting for system backup

battery

Reserved for system use

4 to 5

Interlock function setting

END output sequence setting at command

execution completion

Reserved for system use

8 to 15

Example: To turn off the END output sequence after the controller has started normally, and disable the

PRM34 should be set to "68" because of 0000000001000100 (binary)=68 (decimal)

interlock function:

Setting

Addition value

Bit 1: READY signal sequence setting

This selects whether to set the READY signal sequence compatible with the DRCA or SRCA controller. In DRCA compatible mode, the READY signal turns on at the instant that emergency stop is released. In the SRCA compatible mode the READY signal turns on when the servo is turned on. (The READY signal will not turn on just by releasing emergency stop.)

Setting

Addition value

128

5-10

Bit 2: END signal sequence setting when the controller has started nor-

mally

This selects whether to turn on the END signal when the controller has started normally. In normal mode, the END signal turns on when the controller has started normally. In conventional compatible mode, the END signal remains off even when the controller has started normally.

Bit 3: Voltage check setting for system backup battery

This selects whether to check the system backup battery voltage when the controller servo is turned on. In such cases where you want to operate the robot immediately even when the battery needs to be replaced, you can temporarily disable this voltage check. (System backup batteries are located inside the controller and used to back up the parameters and point data.)

Bit 6: Interlock function setting

This selects whether to enable or disable the interlock function. The interlock function is enabled by default. If the interlock function is disabled, use caution and be aware of the robot movement.

Bit 7: END output sequence setting at command execution completion

(supported by Ver. 24.32 and later versions):

This selects the END output sequence at dedicated command completion. With the standard setting ("0"), the command's execution result is output to the END output when the command is completed. When set to "1", the command's execution result is output to the END output when the command is completed, but only after the command signal turns off.

PRM35: Origin shift

This parameter specifies a shift to the origin position after return-to-origin is complete. The origin position is usually "0" when return-to-origin is complete. If for some reason the origin position needs to be shifted from the "0" point, then change this parameter. For example, if an unwanted position shift occurred, then reteaching of all point data needs to be performed. However, the time and effort needed for this reteaching can be eliminated by setting the shift amount for this parameter to quickly correct the point data.

Input range: -9999 to 9999 (0.01mm) Default value: 0

* The parameter change is enabled after reperforming return-to-origin.

5-2 Parameter Description

PARAMETERS

PRM36: Origin search data

This specifies the performance data for detecting the origin position during return-to-origin by the origin search method.

Default value: Depends on robot type.

PRM37: QP band width

This parameter specifies the control switching point (pulse width) that compensates for the frictional resistance during deceleration.

Input range: 1 to 1000 (pulses) Default value: Depends on robot type.

PRM38: Speed delay compensation gain

Default value: Depends on robot type.

PRM39: Control mode selection

Default value: Depends on robot type.

PRM40: RESET execution condition selection

Selects the operation to be executed with the I/O reset command.

Input range: 0 to 2 Meaning: 0: Turns on the servo and resets the program.

Switches the operation depending on the LOCK signal status.

When OFF (interlocked), only the servo is turned on. When ON, the servo is turned on and the program is reset.

2: Resets only the program.

Default value: 2

5-11

5-2 Parameter Description

PRM41: I/O point movement command speed 1

This parameter sets the speed at which the robot moves when a point movement command (ABS-PT, INC-PT) is executed. The speed set here is the movement speed used in normal mode (SERVICE mode disabled) with PRM7set to 0, DI6 turned on and DI7 turned off.

Input range: 1 to 100 (%) Default value: 10

* The actual speed is the speed obtained by multiplying the execution speed displayed on

the AUTO or STEP mode by this parameter (see "4-3-1 Program execution screen"). Example: When the execution speed displayed in AUTO or STEP mode is 50 and

this parameter is set to 10, the actual speed will be 2000mm/sec. × (50/100) × (10/100) = 100mm/sec. (when PRM44=2000)

PRM42: I/O point movement command speed 2

Input range: 1 to 100 (%) Default value: 30

PARAMETERS

* The actual speed is the speed obtained by multiplying the execution speed displayed on

the AUTO or STEP mode by this parameter (see "4-3-1 Program execution screen"). Example: When the execution speed display in the AUTO or STEP mode is 50 and

this parameter is set to 30, the actual speed will be 2000mm/sec. × (50/100) × (30/100) = 300mm/sec. (when PRM44=2000)

PRM43: I/O point movement command speed 3

Input range: 1 to 100 (%) Default value: 70

* The actual speed is the speed obtained by multiplying the execution speed displayed on

the AUTO or STEP mode by this parameter (see "4-3-1 Program execution screen"). Example: When the execution speed display in the AUTO or STEP mode is 50 and

this parameter is set to 70, the actual speed will be 2000mm/sec. × (50/100) × (70/100) =700mm/sec. (when PRM44=2000)

PRM44: Maximum speed setting

This parameter sets the maximum robot speed.

5-12

Input range: 1 to 2500 (mm/sec.) Default value: Depends on robot type.

CAUTION

Changing this parameter carelessly might shorten the robot service life or cause other problems.

PRM45: Feed forward gain

Default value: Depends on robot type.

PRM46: Servo status output

This parameter selects whether to output the axis servo status as a general-purpose output. When this parameter is set to 1, DO3 turns on and off along with servo on/off.

Input range: 0 or 1 Meaning: 0: Does not output the servo status.

1: Outputs the servo status.

Default value: 0

* When this parameter is set to 1, DO3 is not affected by program reset (in other words,

DO3 does not turn off even when the program is reset).

PRM47: Communication parameter setting

This sets communication parameters used for data transmission through RS-232C. For more details, see "11-1 Communication Parameter Specifications".

Default value: 0

PRM48: Pre-operation action selection

This parameter checks whether return-to-origin has been performed or resets the program before running automatic operation or step operation. When set to 0 or 2, an error (return-to-origin incomplete) is issued if return-to-origin has not been performed and automatic operation and step operation are not accepted. When set to 1 or 3, the program runs even when return-to-origin has not been performed. However, an error (return-to-origin incomplete) is issued when a movement command (MOVA, etc.) is executed if return-to-origin is still incomplete. To avoid this, perform return-to-origin in advance or insert the ORGN command into the program.

5-2 Parameter Description

PARAMETERS

Input range: 0 to 3 Meaning: 0: Checks whether return-to-origin has been performed.

1: Nothing is executed. 2: Resets the program after checking return-to-origin. 3: Resets the program.

Default value: 1

* When set to 2 or 3, the program is reset only during automatic operation. (The program

is not reset during step operation.)

PRM49: Controller version 1

This parameter reads out the version information (1) on the control software in the controller. This is a read-only parameter.

PRM50: Deceleration

Use this parameter to reduce only the deceleration. When this parameter is left set to the default value (100), the deceleration is the same as the acceleration. If vibration occurs during positioning, then set this parameter to a smaller value to reduce only the deceleration. This parameter value can be changed in 1% steps, with 100% equal to the value determined by PRM4.

Input range: 1 to 100 (%) Default value: 100

5-13

5-2 Parameter Description

PRM51: Lead program number

This parameter sets the lead program number.

Default value: 0

NOTE

The lead program is the program that has been selected as the execution program by the TPB or POPCOM. (See "9-4 Switching the Execution Program".) The lead program can also be selected by executing a communication command "@SWI". It may also be switched when the program data is loaded into the controller from the memory card.

PRM52: Hold gain

PARAMETERS

Default value: Depends on the robot.

PRM53: Zone output selection

This parameter is used to select the output destination and output logic when the zone output function is enabled. The zone output is used to control the signal output when the robot's current position is within the specified range. A maximum of 4 zone outputs are available by setting for PRM53. The output logic can also be changed. This parameter functions are allocated in bit units.

Input range: 0 to 255 Default value: 0

Function allocation in bit units

Bit

Zone 0 output enable setting

Zone 1 output enable setting

Zone 2 output enable setting

Zone 3 output enable setting

Zone 0 output logic setting

Zone 1 output logic setting

Zone 2 output logic setting

Zone 3 output logic setting

8 to 15

Reserved for system use

Function

Selected value Addition value

0: Disabled

1: Enabled

0: Disabled

1: Enabled

0: Disabled

1: Enabled

0: Disabled

1: Enabled

0: Positive logic

1: Negative logic

0: Positive logic

1: Negative logic

0: Positive logic

1: Negative logic

0: Positive logic

1: Negative logic

128

5-14

Example: To set zone 1 output to positive logic and zone 2 output to negative logic while enabling

zone 1 output and zone 2 output, make the following settings. PRM53 should be set to "70" because of 0000000001000110 (binary)=70 (decimal).

Bit

Selected value

Addition value

15 to 8

PRM53

64+4+2=70

5-2 Parameter Description

Zone output function

To use the zone output function, the desired zone must be specified with point data. (See Chapter 7, "EDITING POINT DATA".) When the robot enters the specified zone, its result is output to the specified port. Point numbers and output port that can be used for each zone output are listed below.

Zone setting range and output port

Zone No.

Zone 0

Zone 1

Zone 2

Zone 3

CAUTION

The zone output function does not work if one item of the point data is unspecified or return-to-origin is incomplete.

Specified range Output port

P900-P901

P902-P903

P904-P905

P906-P907

DO0

DO1

DO2

DO3

Example q

PRM53=1 (Zone 0 output enabled, positive logic output)

Current position

DO0

P900=100.00

100.00 200.00

OFF

P901=200.00

Example w

PARAMETERS

OFF

PRM53=68 (Zone 2 output enabled, negative logic output)

Current position

DO2

P904=100.00

100.00 200.00

P905=200.00

OFF

5-15

5-2 Parameter Description

PARAMETERS

PRM54: Magnetic pole detection level

Default value: Depends on the robot.

PRM55: Magnetic pole position

Default value: 0

PRM56: Controller version 2

This parameter reads out the version information (2) on the control software in the controller. This is a read-only parameter.

PRM57: Servo braking selection (available for version 24.15 or later)

This parameter is used to select the servo braking method. When emergency stop is triggered while the robot is moving, the servo braking function immediately reduces the robot speed as much as possible before the servo turns off, so that the braking time and distance can be shortened. Besides the case of emergency stop, this function is also effective when an overload or 24V power-off alarm occurs or when the power is cut off.

Default value: 2

CAUTION

Do not change the setting.

PRM58: Not used

Default value: 0

PRM59: Not used

Default value: 0

PRM60 to 63: Spare

PRM64 to 99: Data area for pulse trains

5-16

Chapter 6 PROGRAMMING

In this chapter we will try programming some operations. First, you will learn how to enter a program using the TPB programming box.

PROGRAMMING

6-1

6-1 Basic Contents

6-1-1 Robot language and point data

The SRCP controller uses the YAMAHA robot language that is very similar to BASIC. It allows you to easily create programs for robot operation. In programs created with the YAMAHA robot language, the robot position data (absolute position, amount of movement) are not expressed in terms of direct numeric values. Instead, point numbers are used to express the position data indirectly. Point numbers and their corresponding position information are stored as point data separately from programs. This means that when you want to change only the position information while using the same program, all that you have to do is edit the point data.

Example

Program Point Data

005: MOVA 0, 100 P0 = 50.00

006: MOVI 1, 50 P1 = 100.00

PROGRAMMING

In the above example, the robot first moves to a position (P0) 50mm from the origin point, and then moves to another point (P1) 100mm away from that position.

To change the above operation so that the robot first moves to a position (P0) 50.5mm from the origin point and then moves to another point (P1) 100mm away from that position, just change the P0 point data to P0=50.50.

6-1-2 Using the TPB to enter the robot language

Robot language commands frequently used to create programs are printed on the lower part of each number key on the TPB. When creating or editing a program, you can enter robot language commands simply by pressing these keys. To select other robot language commands not printed on these keys, use the function key matching that command. During program editing, you can enter numbers (numerical values) with the number keys except when the edit cursor for robot language command input appears on the TPB screen.

6-1-3 Program specifications

The SRCP controller has the following memory capacity:

Total number of programs : 100 programs (NO0 to NO99)

Max. number of steps per program : 255 steps

Max. number of steps in all programs together : 3000 steps

Max. number of points : 1000 points (P0 to P999)

6-2

6-2 Editing Programs

"Program editing" refers to operations such as creating a program right after initialization, creating a new program, changing an existing program, and deleting or copying a program. In this section, you will learn the basic procedures for program editing using the TPB.

"Creating a program right after initialization" means creating a program for the first time after purchasing the controller or creating a program right after initialization while there are still no programs stored in the controller (see "10-1 Initialization"). "Creating a new program" means creating or editing a new program while at least one program has already been created and stored. "Changing an existing program" means correcting, adding, deleting, or inserting steps in a program to change only part of it.

This section explains all the above program editing procedures, and also describes how to view program information such as the number of steps left in a program.

■ Creating a program right after initialization

6-2-1 Creating a program (right after initialization)............ 6-4

PROGRAMMING

■ Creating a new program

6-2-2 Creating a new program ............................................. 6-6

■ Changing an existing program

6-2-3 Adding a step ............................................................. 6-7

6-2-4 Correcting a step ........................................................ 6-9

6-2-5 Inserting a step ......................................................... 6-10

6-2-6 Deleting a step ......................................................... 6-11

■ Copying a program

6-3-1 Copying a program .................................................. 6-12

■ Deleting a program

6-3-2 Deleting a program .................................................. 6-13

■ Viewing the program information

6-3-3 Viewing the program information............................ 6-14

6-3

6-2 Editing Programs

6-2-1 Creating programs after initialization

PROGRAMMING

1) On the initial screen, press F1 (EDIT).

2) Next, press F1 (PGM).

3) Since no program is registered after initialization, an error message appears on the screen, indicating that no program exists.

4) Press the mation message then appears asking whether to create a new program as program No. 0. To select and edit program No. 0, press (yes). To select and edit a program other than No. 0, press F2 (no).

ESC

key to reset the error. A confir-

[MENU]

select menu

1EDIT2OPRT3SYS 4MON

[EDIT]

select menu

1PGM 2PNT 3UTL

[EDIT]

select menu

43:cannot find PGM

1PGM 2PNT 3UTL

[EDIT-PGM]

PGM No = 0

New entry OK ?

1yes 2no

5) When you selected F2 (no) in step 4, enter the number of the program to be edited with the number keys and press . The screen returns to step 4. Make sure the program number is correct and press F1 (yes).

6) Select F1 to F3 or a robot language command shown on the lower part of each number key.

To change the robot language menu display, press F4 (next). To go back to the previous menu display, press the BS key.

[EDIT-PGM]

PGM No = _

(Program No) 0→99

[EDIT-PGM] No 0

001:_

1MOVA 2MOVI3MOVF 4next

6-4

7) After selecting the robot language command, enter the operand data.

When you press

, the cursor moves to operand 1, so enter the data with the number keys. (Do not press at this point.)

While pressing

–

to move the cur-

sor, enter all necessary operand data as needed.

8) After entering the operand data, press .

6-2 Editing Programs

[EDIT-PGM] No 0

001:MOVA 0 ,100 (point No)0→999

[EDIT-PGM] No 0

001:MOVA 1 ,80_ (speed)1→100

9) When entry is completed correctly, the cursor moves to the operation code part.

To edit the next step, press

STEP

to scroll the

step and repeat the procedure from step 6.

[EDIT-PGM] No 0

PROGRAMMING

001:MOVA 1 ,80

1MOVA 2MOVI3MOVF 4next

6-5

6-2 Editing Programs

6-2-2 Creating a new program

1) On the initial screen, press F1 (EDIT).

2) Next, press F1 (PGM).

3) The execution program number and step are displayed on the screen. Press F4 (CHG) here.

[MENU]

select menu

1EDIT2OPRT3SYS 4MON

[EDIT]

select menu

1PGM 2PNT 3UTL

[EDIT-PGM] No10

017:MOVA 254,100

PROGRAMMING

4) Enter the new program number with the number keys and press .

5) A confirmation message appears. Make sure the program number is correct and press F1 (yes).

6) Proceed with program editing by following step 6 onward in "6-2-1 Creating programs after initialization."

1MOD 2INS 3DEL 4CHG

[EDIT-PGM]

PGM No = _ (Program No) 0→99

[EDIT-PGM]

PGM No = 14

New entry OK ?

1yes 2no

[EDIT-PGM] No14

001:_

6-6

1MOVA 2MOVI3MOVF 4next

6-2-3 Adding a step

6-2 Editing Programs

1) On the initial screen, press F1 (EDIT).

2) Next, press F1 (PGM).

3) The execution program number and step are displayed on the screen. Press F4 (CHG) here.

[MENU]

select menu

1EDIT2OPRT3SYS 4MON

[EDIT]

select menu

1PGM 2PNT 3UTL

PROGRAMMING

[EDIT-PGM] No10

017:MOVA 254,100

1MOD 2INS 3DEL 4CHG

4) Enter the program number you want to edit with the number keys and press .

5) Enter the last step number with the number keys and press .

6) When the last step is displayed, press

STEP

[EDIT-PGM]

PGM No = _

(Program No) 0→99

[EDIT-PGM]

PGM No = 10

STEP No = _

(REG.steps) 50

[EDIT-PGM] No10

050:WAIT 3 ,1

1MOD 2INS 3DEL 4CHG

6-7

6-2 Editing Programs

7) Select

to F3 or a robot language com-

mand shown on the lower part of each number key.

To change the robot language menu display, press

(next). To go back to the previous

menu display, press the BS key.

8) After selecting the robot language command, enter the operand data.

When you press

, the cursor moves to operand 1, so enter the data with the number keys. (Do not press at this point.)

While pressing

–

to move the cur-

sor, enter all necessary operand data as needed.

9) After entering the operand data, press .

[EDIT-PGM] No10

051:_

1MOVA 2MOVI3MOVF 4next

[EDIT-PGM] No10

051:JMPF 0 ,10 ,1 (label No) 0→255

[EDIT-PGM] No10

051:JMPF 10 ,31 ,5_ (DI condition) 0→255

PROGRAMMING

10)When the program has been edited correctly, the screen returns to step 6.

When you want to add another step, press

STEP

to scroll to the next step and then repeat from step 7.

[EDIT-PGM] No10

051:JMPF 10 ,31 ,5

1MOD 2INS 3DEL 4CHG

6-8

6-2-4 Correcting a step

1) Use the same procedure up to step 4 in "6-2-3 Adding a step".

6-2 Editing Programs

2) Enter the number of the step you want to correct with the number keys and press

3) Press F1 (MOD).

4) Select F1 to F3 or a robot language command shown on the lower part of each number key.

To change the robot language menu display, press F4 (next). To go back to the previous menu display, press the BS key.

[EDIT-PGM]

PGM No = 10

STEP No = _

(REG.steps) 50

[EDIT-PGM] No10

010:MOVA 999,100

1MOD 2INS 3DEL 4CHG

[EDIT-PGM] No10

010:MOVA 999,100

1MOVA 2MOVI3MOVF 4next

PROGRAMMING

5) After selecting the robot language command, enter the operand data.

When you press

, the cursor moves to operand 1, so enter the data with the number keys. (Do not press at this point.)

While pressing

–

to move the cur-

sor, enter all necessary operand data as needed.

6) After entering the operand data, press .

7) When entry is completed correctly, the cursor moves to the operation code part.

If you want to change another step, press

STEP

to scroll the step and repeat the procedure from step 4.

[EDIT-PGM] No10

010:MOVA 10_,100 (point No) 0→999

[EDIT-PGM] No10

010:MOVA 10

,100

(speed) 1→100

[EDIT-PGM] No10

010:MOVA 10 ,100

1MOVA 2MOVI3MOVF 4next

6-9

6-2 Editing Programs

6-2-5 Inserting a step

1) Use the same procedure up to step 4 in "6-2-3 Adding a step".

2) Enter the number of the step where you want to insert a step with the number keys and press

[EDIT-PGM]

PGM No = 10

STEP No = _

(REG steps) 50

PROGRAMMING

3) Press F2 (INS).

4) Select

to F3 or a robot language com-

mand shown on the lower part of each number key.

To change the robot language menu display, press menu display, press the

(next). To go back to the previous

key.

5) After selecting the robot language command, enter the operand data.

When you press

, the cursor moves to operand 1, so enter the data with the number keys. (Do not press

While pressing

at this point.)

–

to move the cur-

sor, enter all necessary operand data as needed.

[EDIT-PGM] No10

010:MOVA 999,100

1MOD 2INS 3DEL 4CHG

[EDIT-PGM] No10

010:_

1MOVA 2MOVI3MOVF 4next

[EDIT-PGM] No10

010:MOVA 10_,100

(point No) 0→999

6-10

6) After entering the operand data, press

7) When entry is completed correctly, the screen returns to step 3.

[EDIT-PGM] No10

010:MOVA 10

,100

(speed) 1→100

[EDIT-PGM] No10

010:MOVA 10 ,100

1MOD 2INS 3DEL 4CHG

6-2-6 Deleting a step

1) Use the same procedure up to step 4 in "6-2-3 Adding a step".

2) Enter the number of the step you want to delete with the number keys and press

6-2 Editing Programs

[EDIT-PGM]

PGM No = 10

STEP No = _

(REG steps) 50

3) Press F3 (DEL).

4) A confirmation message appears.

To delete the step, press F1 (yes).

To cancel the deletion, press F2 (no).

5) When the step has been deleted, the screen returns to step 3.

[EDIT-PGM] No10

010:MOVA 999,100

1MOD 2INS 3DEL 4CHG

[EDIT-PGM] No10

010:MOVA 999,100

delete OK ?

1yes 2no

[EDIT-PGM] No10

010:WAIT 3 ,1

1MOD 2INS 3DEL 4CHG

PROGRAMMING

6-11

6-3 Program Utility

6-3-1 Copying a program

PROGRAMMING

1) On the initial screen, press F1 (EDIT).

2) Next, press F3 (UTL).

3) Press

(COPY).

[MENU]

select menu

1EDIT2OPRT3SYS 4MON

[EDIT]

select menu

1PGM 2PNT 3UTL

[EDIT-UTL]

select menu

1COPY2DEL 3LIST

4) Enter the program number you want to copy from with the number keys, and then press

5) Enter the program number you want to copy to with the number keys, and then press .

[EDIT-UTL-COPY]

Copy from No = _

(Program No) 0→99

[EDIT-UTL-COPY]

Copy from No = 0

Copy to No = 99_

(Program No) 0→99

6-12

6) If program data is already registered with the selected program number, a confirmation message appears.

To overwrite the program, press

To cancel, press

(no).

(yes).

6-3 Program Utility

[EDIT-UTL-COPY]

Copy from No = 0

No99 overwrite OK ?

1yes 2no

7) When the program has been copied, the screen returns to step 3.

6-3-2 Deleting a program

1) Use the same procedure up to step 2 in "6-3-1 Copying a program".

2) Press F2 (DEL).

[EDIT-UTL]

select menu

1COPY2DEL 3LIST

PROGRAMMING

[EDIT-UTL]

select menu

1COPY2DEL 3LIST

3) Enter the number of the program you want to delete with the number keys and press .

4) A confirmation message appears asking whether to delete the selected program.

To delete the program, press

To cancel the deletion, press F2 (no).

5) If the program has been deleted, the screen returns to step 2.

(yes).

[EDIT-UTL-DEL]

delete PGM No = _

(Program No) 0→99

[EDIT-UTL-DEL]

delete PGM No = 22

delete OK ?

1yes 2no

[EDIT-UTL]

select menu

1COPY2DEL 3LIST

6-13

6-3 Program Utility

6-3-3 Viewing the program information

1) Use the same procedure up to 2 in "6-3-1 Copying a program".

PROGRAMMING

2) Press

3) The program numbers are displayed on the screen, along with the number of registered steps and the number of available remaining steps.

To view other program information, press the

STEP

4) Press the step 2.

and

(LIST).

STEP

keys to scroll the screen.

DOWN

ESC

key to return to the screen of

[EDIT-UTL]

select menu

1COPY2DEL 3LIST

[EDIT-UTL-LIST]

free 678 steps

No 0 57 steps

No 1 255 steps

[EDIT-UTL]

select menu

1COPY2DEL 3LIST

* In addition to the number of existing steps, the steps equivalent to the number of programs are

used internally as the program control steps. For example, if two programs are registered and their respective 50 and 100 steps are registered, then the number of available remaining steps will be as follows: 3000 – 2 – 50 – 100 = 2848 steps

6-14

Chapter 7 EDITING POINT DATA

There are three methods to enter point data: manual data input (MDI), teaching playback, and direct teaching. Manual data input allows you to directly enter point data with the TPB number keys. Teaching playback moves the robot in manual operation to a desired position and then obtains that position as point data. Direct teaching is basically the same as teaching playback, except that you move the robot by hand.

EDITING POINT DATA

7-1

7-1 Manual Data Input

1) On the initial screen, press F1 (EDIT).

2) Next, press F2 (PNT).

3) Press F1 (MDI).

4) The currently selected point data in the execution program appears on the screen.

If you want to edit another point data, press the

STEP

To directly select the point data, press (CHG).

and

STEP

keys to scroll the point data.

DOWN

[MENU]

select menu

1EDIT2OPRT3SYS 4MON

[EDIT]

select menu

1PGM 2PNT 3UTL

[EDIT-PNT]

select menu

1MDI 2TCH 3DTCH4DEL

[EDIT-PNT-MDI]

P0 = 0.00 [mm]

input data[_ ]

1CHG

EDITING POINT DATA

5) Enter the point number you want to edit with the number keys, and press .

6) Enter the point data with the number keys and press .

7) The input data is then registered as point data.

[EDIT-PNT-MDI]

Pn : n = _

(point No) 0→999

[EDIT-PNT-MDI]

P500 = -19.27 [mm]

input data[21. 76_ ]

1CHG

[EDIT-PNT-MDI]

P500 = 21.76 [mm]

input data[_ ]

7-2

1CHG

7-2 Teaching Playback

1) On the initial screen, press F1 (EDIT).

2) Next, press (PNT).

3) Press F2 (TCH).

4) The currently selected point data in the execution program appears on the screen.

If you want to edit another point data, press the

STEP

To directly select the point data, press (CHG).

and

STEP

keys to scroll the point data.

DOWN

[MENU]

select menu

1EDIT2OPRT3SYS 4MON

[EDIT]

select menu

1PGM 2PNT 3UTL

[EDIT-PNT]

select menu

1MDI 2TCH 3DTCH4DEL

[EDIT-PNT-TCH](1) 50

P0 = 0.00 [mm]

[ 0.00]

1CHG 2SPD3S_SET4next

EDITING POINT DATA

5) Enter the point number you want to edit with the number keys, and press .

[EDIT-PNT-TCH](1) 50

Pn : n = _ (point No) 0→999

7-3

7-2 Teaching Playback

EDITING POINT DATA

6) Move the robot to the teaching position with

X Z

the

key is pressed, the robot moves a certain

–

keys. Each time the

–

amount in the direction indicated by the key and then stops.

Holding down the

X Z

key moves the

–

robot continuously at a constant speed until the key is released.

The amount of robot movement and the speed are proportional to the number (teaching movement data) displayed on the upper right of the screen.

In the example at the right, the teaching movement data is 50 (%), so the robot moves 0.5mm each time the

X Z

key is pressed, as

–

calculated below:

1mm (constant) × (50/100) = 0.5mm

If the

–

key is kept pressed, the robot continuously moves at a speed of 50mm/s, as calculated below:

100mm/s (constant) × (50/100) = 50mm/s

7) Three different speed settings, SPEED (1), SPEED (2), and SPEED (3), are selectable as the teaching movement data. Each time

(SPD) is pressed, the setting changes in the order of 1→2→3→1.

To change the teaching movement data setting, press

(S_SET), enter the desired speed

with the number keys, and press . The screen then returns to step 6 when the data has been changed correctly.

[EDIT-PNT-TCH](1) 50

P500 = 19.27 [mm]

[ 0.00]

1CHG 2SPD3S_SET4next

[EDIT-PNT-TCH](1) 50

SPEED(1) = _

(speed) 1→100

8) Move the robot to the teaching position in this way and press . The current position is input as point data.

[EDIT-PNT-TCH](1)100

P500 = 167.24 [mm]

[ 167.24]

1CHG 2SPD3S_SET4next

CAUTION

When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".)

• Robot movement speed is limited to 10mm/s or less in "SERVICE mode state" when the robot movement speed limit is enabled.

7-4

7-3 Direct Teaching

1) On the initial screen, press F1 (EDIT).

2) Next, press F2 (PNT).

3) Press

4) Following the message, press the emergency stop button on the TPB.

(DTCH).

[MENU]

select menu

1EDIT2OPRT3SYS 4MON

[EDIT]

select menu

1PGM 2PNT 3UTL

[EDIT-PNT]

select menu

1MDI 2TCH 3DTCH4DEL

[EDIT-PNT-DTCH]

press EMG.button

EDITING POINT DATA

5) The currently selected point data in the execution program appears on the screen.

If you want to edit another point data, press the

STEP

To directly select the point data, press (CHG).

6) Enter the point number you want to edit with the number keys, and press

and

STEP

keys to scroll the point data.

DOWN

[EDIT-PNT-DTCH]

P0 = 0.00 [mm]

[ 0.00]

1CHG 2DO 3BRK

[EDIT-PNT-DTCH]

Pn : n = _ (point No) 0→999

7-5

7-3 Direct Teaching

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

8) Press

data.

Use the same procedure to input all other necessary point data, and then press the

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

to input the current position as point

key.

ESC

[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

EDITING POINT DATA

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

To turn the servo on, press

To leave the servo off, press

11)The screen returns to step 3.

(yes).

(no).

[EDIT-PNT-DTCH]

servo on ready ?

1yes 2no

[EDIT-PNT]

select menu

1MDI 2TCH 3DTCH4DEL

7-6

7-4 Manual Control of General-Purpose Output

When performing teaching playback or direct teaching with systems that use a general-purpose

output through the I/O interface to operate a gripper or other tools, you may want to check the position of workpiece by actually moving it.

For this reason, the SRCP controller is designed to allow manual control of general-purpose outputs from the TPB.

1) Move the robot with the same procedure up to step 6 in "7-2 Teaching Playback" or up to step 7 in "7-3 Direct Teaching".

The following steps are explained using the teaching playback screen.

2) When the robot reaches the position where you want to operate general-purpose output, stop the robot. Then press menu display and then press F1(DO).

3) The current status of the general-purpose output appears on the screen.

Press the function key that matches the DO number to switch the output on and off (on=1, off=0).

If selecting DO3 to DO5, press F4 (next) to change the menu display.

4) Press

to return to step 2.

ESC

(next) to change the

[EDIT-PNT-TCH](1) 50

P0 = 0.00 [mm]

[ 0.00]

1CHG 2SPD3S_SET4next

[EDIT-PNT-TCH](1) 50

DO 0=0 DO 1=0 DO 2=0

DO 3=0 DO 4=0

1DO0 2DO1 3DO2 4next

[EDIT-PNT-TCH](1) 50

P0 = 0.00 [mm]

[ 0.00]

1DO 2TRC 3 4next

EDITING POINT DATA

7-7

7-5 Manual Release of Holding Brake

The holding brake on the vertical type robot can be released. Since the movable part will drop when the brake is released, attaching a stopper to protect the tool tip from being damaged is recommended.

1) Use the same procedure up to step 4 in "7-3 Direct Teaching".

EDITING POINT DATA

2) Press

3) A confirmation message appears asking whether to release the brake.

To release the brake, press F1 (yes).

To cancel releasing the brake, press F2 (no).

4) The screen returns to step 2.

The brake stays released until F3 (BRK) is pressed again or the robot servo is turned on.

(BRK).

[EDIT-PNT-DTCH]

P0 = 0.00 [mm]

[ 0.00]

1CHG 2DO 3BRK

[EDIT-PNT-DTCH]

take off the brake ?

1yes 2no

[EDIT-PNT-DTCH]

P0 = 0.00 [mm]

[ 0.00]

1CHG 2DO 3BRK

NOTE

Manual release of the holding brake is only possible on those robots equipped with a brake.

7-8

7-6 Deleting Point Data

1) Use the same procedure up to step 2 in "7-1 Manual Data Input".

7-6 Deleting Point Data

2) Press

3) Enter the point number at the start to delete point data with the number keys and press

4) Enter the point number at the end to delete point data with the number keys and press

5) A confirmation message appears asking whether to delete the data.

To delete the data, press F1 (yes).

To cancel the deletion, press

(DEL).

(no).

[EDIT-PNT]

select menu

1MDI 2TCH 3DTCH4DEL

[EDIT-PNT-DEL]

DEL range P_ -P (point No) 0→999

[EDIT-PNT-DEL]

DEL range P100-P_

(point No) 0→999

[EDIT-PNT-DEL]

DEL range P100-P110

delete OK ?

EDITING POINT DATA

6) When the point data has been deleted, the screen returns to step 2.

1yes 2no

[EDIT-PNT]

select menu

1MDI 2TCH 3DTCH4DEL

7-9

7-7 Tracing Points (Moving to a registered data point)

The robot can be moved to the position specified by a registered data point. You can check the input point data by actually moving the robot.

1) Use the same procedure up to step 5 in "7-2 Teaching Playback".

2) Press

3) The coordinate data of the movement destina-

4) When the movement is completed, the screen

(next) to change the menu display

and then press F2 (TRC).

tion and the movement speed are displayed.

To move the robot, press F1 (yes).

To cancel moving the robot, press F2 (no).

The movement speed will be 10% of the number (speed parameter) displayed at the upper right of the screen.

returns to step 2.

[EDIT-PNT-TCH](1)100

P10 = 350.00 [mm]

[ 0.00]

1DO 2TRC 3 4next

[EDIT-PNT-TCH](1)100

P10 = 350.00 [mm]

trace by VEL10% OK?

1yes 2no

[EDIT-PNT-TCH](1)100

P10 = 350.00 [mm]

[ 350.00]

EDITING POINT DATA

1DO 2TRC 3 4next

CAUTION

When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".)

• Robot movement speed is limited to 3% or less of maximum speed in "SERVICE mode state" when the robot

movement speed limit is enabled.

• If the hold-to-run function is enabled, robot movement stops upon releasing F1 (yes) in "SERVICE mode

state". (You must hold down F1 (yes) in step 3 until the robot reaches the target point.)

7-10

Chapter 8 ROBOT LANGUAGE

This chapter explains the robot language. It describes what kind of commands are available and what they mean. The SRCP series uses the YAMAHA robot language. This is an easy-to-learn BASIC-like programming language. Even a first-time user can easily create programs to control complex robot and peripheral device movements. At the beginning of this chapter, you will find a convenient table of robot language commands. At the end of this chapter, sample programs are listed for just your reference.

ROBOT LANGUAGE

8-1

8-1 Robot Language Table

ROBOT LANGUAGE

8-1 Robot Language Table

Instruction Description and Format

MOVA

MOVF

JMPF

JMPB

CALL

WAIT

TIMR

SRVO

STOP

ORGN

TOFF

JMPP

MSEL

MOVM

JMPC

JMPD

CSEL

SHFT

Values in brackets [ ] can be omitted.

Moves to point data position. MOVA <point number>, <maximum. speed> Moves from current position by amount of point data.

MOVI

MOVI <point number>, <maximum. speed> Moves until specified DI input is received. MOVF <point number>, <DI number>, <DI status> Jumps to a specified label in a specified program.

JMP

JMP <label number>, <program number> Jumps to a specified label in a specified program according to the input condition. JMPF <label number>, <program number>, <input condition> Jumps to a specified label when a general-purpose input or memory input is in the specified state. JMPB <label number>, <DI or MI number>, <input status> Defines the jump destination for a JMP or JMPF statement, etc.

L <label number> Runs another program. CALL <program number>, <number of times> Turns general-purpose output or memory output on and off.

DO <DO or MO number>, <output status> Waits until a general-purpose input or memory input is in the specified state. WAIT <DI or MI number>, <input status> Waits the specified amount of time before advancing to the next step. TIMR <time> Defines a point variable.

P <point number> Adds 1 to a point variable.

P+

P+ Subtracts 1 from a point variable.

P-

PTurns a servo on and off. SRVO <servo status> Temporarily stops program execution. STOP Performs return-to-origin. ORGN Runs a specified task.

TON

TON <task number>, <program number>, <start type> Stops a specified task. TOFF <task number> Jumps to a specified label when the axis positional relation meets the specified conditions. JMPP <label number>, <axis position condition> Defines a matrix.

MAT

MAT <number of rows>, <number of columns>, <pallet number> Specifies a matrix to move. MSEL <pallet number> Moves to a specified pallet work position on matrix. MOVM <pallet work position>, <maximum speed> Jumps to a specified label when counter array variable C equals to the specified value. JMPC <label number>, <counter value> Jumps to a specified label when counter variable D equals to the specified value. JMPD <label number>, <counter value> Specifies the array element of counter array variable C. CSEL <array element number> Defines counter array variable C.

C <counter value> Adds a specified value to counter array variable C.

C+

C+ [<addition value>] Subtracts a specified value from counter array variable C.

C-

C- [<subtraction value>] Defines counter variable D.

D <counter value> Adds a specified value to counter variable D.

D+

D+ [<addition value>] Subtracts a specified value from counter variable D.

D-

D- [<subtraction value>] Shifts the coordinate position by amount of specified point data. SHFT <point number>

8-2

Yamaha SRCP User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

General Contents

Chapter 1 OVERVIEW

1-1 Features of the SRCP Series Controller

1-2 Setting Up for Operation

1-3 External View and Part Names

1-3-1 SRCP controller

1-3-2 TPB

1-4 System Configuration

1-4-1 System configuration

1-5 Accessories and Options

1-5-1 Accessories

1-5-2 Peripheral options

Chapter 2 INSTALLATION AND CONNECTION

2-1 Installing the SRCP Controller

2-1-1 Installation method

2-1-2 Installation location

2-2 Connecting the Power Supply

2-2-1 Power supply

2-2-2 Connecting the power supply

2-2-3 Installing an external leakage breaker

2-2-4 Installing a circuit protector

2-2-5 Installing current control switches

2-2-6 Insulation resistance and voltage breakdown tests

2-3 Grounding

2-4 Connecting the SRCP to the Control Unit

2-5 Connecting to the Robot

2-5-1 Robot I/O connector and signal table

2-5-2 Motor connector and signal table

2-6 Connecting to the I/O. CN Connector

2-7 Connecting to the EXT. CN Connector

2-8 Connecting to the Regenerative Unit

Chapter 3 I/O INTERFACE

3-1 I/O Signals

3-1-1 I/O. CN connector signals

3-1-2 EXT. CN connector signals

3-2 Input Signal Description

3-2-1 Dedicated command input

3-2-2 General-purpose input (DI0 to DI7)

3-2-3 SERVICE mode input (SVCE)

3-2-4 Interlock (LOCK)

3-2-5 Emergency stop inputs 1, 2 (EMG1, EMG2)

3-3 Output Signal Description

3-3-1 Dedicated output

3-3-2 General-purpose output (DO0 to DO4)

3-3-3 Feedback pulse output (PA±, PB±, PZ±, PZM±)

3-4 I/O Circuits

3-4-1 I/O circuit specifications

3-4-2 I/O circuit and connection example

3-5 I/O Connection Diagram

3-5-1 Connection to PLC output unit

3-5-2 Connection to PLC input unit

3-6 I/O Control Timing Charts

3-6-1 When turning the power on

3-6-2 When executing a dedicated input command

3-6-3 When interlock signal is input

3-6-4 When emergency stop is input

3-6-5 When alarm is issued

3-6-6 When executing a point movement command

Chapter 4 BASIC OPERATION OF THE TPB

4-1 Connecting and Disconnecting the TPB

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

4-1-2 Disconnecting the TPB from the SRCP controller

4-2 Basic Key Operation

4-3 Reading the Screen

4-3-1 Program execution screen

4-3-2 Program edit screen

4-3-3 Point edit screen (teaching playback)

4-3-4 DIO monitor screen

4-4 Hierarchical Menu Structure

4-5 Restricting Key Operation by Access Level

4-5-1 Explanation of access level

4-5-2 Changing an access level

Chapter 5 PARAMETERS

5-1 Setting the Parameters

5-2 Parameter Description

Chapter 6 PROGRAMMING