Yamaha SRCP Manual de usuario

User’s ManualENGLISHEYAMAHA SINGLE-AXIS ROBOT CONTROLLERE84-Ver. 2.04SRCP

1-21OVERVIEW1-1 Features of the SRCP Series Controller1-1 Features of the SRCP Series ControllerThe SRCP series is a high-performance robot controller

8-28ROBOT LANGUAGE8-1 Robot Language Table8-1 Robot Language TableMOVAMOVIMOVFJMPJMPFJMPBLCALLDOWAITTIMRPP+P-SRVOSTOPORGNTONTOFFJMPPMATMSELMOVMJMPCJMP

8-38ROBOT LANGUAGE8-2 Robot Language Syntax Rules8-2 Robot Language Syntax Rules8-2-1 Command statement formatThe robot language command statement for

8-48ROBOT LANGUAGE8-2 Robot Language Syntax Rules8-2-2 VariablesVar i a b l e ar e used in a program to hold data. The following variables can be use

8-58ROBOT LANGUAGE8-3 Program Function8-3 Program Function8-3-1 Multi-task functionA multi-task function allows simultaneous executing two or more pro

8-68ROBOT LANGUAGE8-4 Robot Language Description8-4 Robot Language Description8-4-1 MOVAFunction: Moves to a point specified by a point number (Moves

8-78ROBOT LANGUAGE8-4 Robot Language Description8-4-3 MOVFFunction: Moves until a specified DI number input is received.Format: MOVF <point num

8-8ROBOT LANGUAGE8-4 Robot Language Description88-4-5 JMPFFunction: If the conditional jump input matches the setting value, program execu-tion jumps

8-98ROBOT LANGUAGE8-4 Robot Language Description8-4-6 JMPBFunction: Jumps to a specified label when a specified general-purpose input ormemory inp

8-10ROBOT LANGUAGE8-4 Robot Language Description88-4-8 CALLFunction: Calls and executes another program.Format: CALL <program number>, <n

8-118ROBOT LANGUAGE8-4 Robot Language Description8-4-10WAITFunction: Waits until a specified general-purpose input or memory input changesto a specifi

1-31OVERVIEW1-2 Setting Up for Operation1-2 Setting Up for OperationThe chart below illustrates the basic steps to follow from the time of purchase of

8-12ROBOT LANGUAGE8-4 Robot Language Description88-4-12PFunction: Sets a point variable P.Format: P <point number>Example: P 200Sets a p

8-138ROBOT LANGUAGE8-4 Robot Language Description8-4-15SRVOFunction: Turns the servo on and off.Format: SRVO <servo status>Example: SRVO

8-14ROBOT LANGUAGE8-4 Robot Language Description88-4-17ORGNFunction: Performs return-to-origin by using the stroke-end detection method.Format: ORGNEx

8-158ROBOT LANGUAGE8-4 Robot Language Description8-4-18TONFunction: Executes a specified task.Format: TON <task number>, <program number&

8-16ROBOT LANGUAGE8-4 Robot Language Description88-4-20JMPPFunction: Jumps to a specified label when the axis position relation meets the speci-fied c

8-178ROBOT LANGUAGE8-4 Robot Language Description8-4-21MATFunction: Defines the number of rows and columns of the matrix.Format: MAT <number of

8-18ROBOT LANGUAGE8-4 Robot Language Description88-4-22MSELFunction: Specifies a matrix where the robot moves with a MOVM statement.Format: MSEL &

8-198ROBOT LANGUAGE8-4 Robot Language Description8-4-23 MOVMFunction: Moves to a point on the specified matrix.Format: MOVM <pallet work positi

8-20ROBOT LANGUAGE8-4 Robot Language Description88-4-24JMPCFunction: Jumps to a specified label when the counter array variable C matches aspecified v

8-218ROBOT LANGUAGE8-4 Robot Language Description8-4-26CSELFunction: Specifies an array element of the counter array variable C to be used.Format: CSE

1-41OVERVIEW1-3 External View and Part Names1-3 External View and Part NamesThis section explains part names of the SRCP controller and TPB along with

8-22ROBOT LANGUAGE8-4 Robot Language Description88-4-28C+Function: Adds a specified value to the counter array variable C.Format: C+ [<addition

8-238ROBOT LANGUAGE8-4 Robot Language Description8-4-32D-Function: Subtracts a specified value from the counter variable D.Format: D- [<subtrac

8-248ROBOT LANGUAGE8-5 Sample Programs8-5 Sample Programs8-5-1 Moving between two pointsP1 P2Program Comment[NO0]001: L 0 ; Label definition002: MOVA

8-258ROBOT LANGUAGE8-5 Sample Programs8-5-3 Positioning 2 points and sending job commands to a PLC ateach positionP1P2Position at which job 1 is compl

8-268ROBOT LANGUAGE8-5 Sample Programs8-5-4 Robot stands by at P0, and moves to P1 and then to P2 topick and place a workpieceHorizontal directionVert

8-278ROBOT LANGUAGE8-5 Sample Programs8-5-5 Picking up 3 kinds of workpieces flowing on the frontconveyor and placing them on the next conveyors while

8-288ROBOT LANGUAGE8-5 Sample ProgramsProgram Comment[NO1] <<Main routine>>001: L 1 ; Label definition002: JMPB 2, 2, 1 ; Jumps to L2 when

8-298ROBOT LANGUAGE8-5 Sample Programs8-5-6 Switching the program from I/OThe SRCP series controller does not accept dedicated command inputs for prog

8-308ROBOT LANGUAGE8-5 Sample ProgramsProgram Comment[NO0]001: L 0 ; Label definition002: WAIT 7, 1; Waits for confirmation ON of the selected program

8-318ROBOT LANGUAGE8-5 Sample Programs8-5-7 Axis movement and I/O multi-taskThe robot moves between two points and performs multi-task I/O operation i

1-51OVERVIEW1-3 External View and Part NamesFig. 1-1 Exterior of the SRCP controllerSRCP-05 SRCP-10, 20SRCP-05A, 10A, 20A12389104567123810456711123891

8-328ROBOT LANGUAGE8-5 Sample Programs8-5-8 Turning ON general-purpose outputs during robotmovement after a certain time has elapsedPoint P0 Start po

8-338ROBOT LANGUAGE8-5 Sample Programs8-5-9 Turning ON a general-purpose output during robotmovement when it has passed a specified positionPoint P0

8-34MEMO

9-19OPERATING THE ROBOTChapter 9 OPERATING THE ROBOTThis chapter describes how to actually operate the robot. If the program has already been complete

9-29OPERATING THE ROBOT9-1 Performing Return-to-Origin9-1 Performing Return-to-OriginThe stroke-end detection is used as the origin (reference point)

9-39OPERATING THE ROBOT9-1 Performing Return-to-OrigincCAUTIONWhen the SERVICE mode function is enabled, the following safety control will function. (

9-49OPERATING THE ROBOT9-2 Using Step Operation9-2 Using Step OperationThe following procedure explains how to perform step operation. In the case of

9-59OPERATING THE ROBOT9-2 Using Step Operation7) The screen returns to step 5. Pressing RUN atthis point executes the first step.[OPRT-STEP] 50 0:1

9-69OPERATING THE ROBOT9-2 Using Step Operation14)The screen returns to step 5, and the process isrepeated from that point.[OPRT-STEP] 50 0:10001:MOV

9-79OPERATING THE ROBOT9-3 Using Automatic Operation9-3 Using Automatic OperationThe following procedure explains how to perform automatic operation.

1-61OVERVIEW1-3 External View and Part NamesFig. 1-2 Three-side view of the SRCP controllerCOMLNT1T2ACIN1(PWR)NPUVWPWR(G)ESCTPBROBI/OI/ORGENMOTORERR(R

9-89OPERATING THE ROBOT9-3 Using Automatic Operation8) This is the screen displayed while the programis being executed.[OPRT-AUTO]running ···[OPRT-AUT

9-99OPERATING THE ROBOT9-4 Switching the Execution Program9-4 Switching the Execution ProgramThe following procedure explains how to switch the progra

9-109OPERATING THE ROBOT9-5 Emergency Stop Function9-5 Emergency Stop FunctionThere are two ways to trigger emergency stop on the SRCP controller. One

9-119OPERATING THE ROBOT9-5 Emergency Stop Function3) After the emergency stop is released, a mes-sage appears asking whether to turn the servoon.To t

9-129OPERATING THE ROBOT9-6 Displaying the Memory I/O Status9-6 Displaying the Memory I/O StatusThe memory I/O status can be displayed on the screen.1

9-139OPERATING THE ROBOT9-7 Displaying the VariablesThe point data variable "P", counter array variable "C" and counter variable &

9-14MEMO

10-110OTHER OPERATIONSChapter 10 OTHER OPERATIONSThe TPB has many convenient functions in addition to those already covered. For example, memories can

10-210OTHER OPERATIONS10-1 Initialization10-1 InitializationInitializing the programs and points erases all the program data and point data currently

10-310OTHER OPERATIONS10-1 Initialization6) Finally, enter the robot payload.Enter the payload with the number keys andthen press .[SYS-INIT-PRM]robo

1-71OVERVIEW1-3 External View and Part Names1-3-2 TPB1. Liquid Crystal Display (LCD) ScreenThis display has four lines of twenty characters each and i

10-410OTHER OPERATIONS10-2 DIO Monitor Display10-2 DIO Monitor DisplayData indicating whether the I/O signals are on or off can be displayed on the sc

10-510OTHER OPERATIONS10-2 DIO Monitor Display10-2-2Display from the DIO key operation1) Hold down the DIO key.[OPRT-AUTO]running...[OPRT-AUTO]running

10-610OTHER OPERATIONS10-4 SERVICE mode function10-4 SERVICE mode functionThe SERVICE mode function is explained in this section.The robot operator or

10-710OTHER OPERATIONS10-4 SERVICE mode function10-4-1Safety settings for SERVICE modeSafety controls that work in "SERVICE mode state" are

10-810OTHER OPERATIONS10-4 SERVICE mode function Prohibiting the automatic operation and step operationRunning an automatic operation or step operati

10-910OTHER OPERATIONS10-4 SERVICE mode function10-4-2Enabling/disabling the SERVICE mode functionTo enable or disable the SERVICE mode function, foll

10-1010OTHER OPERATIONS10-4 SERVICE mode function7) When writing is complete, the screen returnsto step 6.[SYS-SAFE-SVCE-SET]SERVICE mode = 10:Invalid

10-1110OTHER OPERATIONS10-4 SERVICE mode function10-4-3Setting the SERVICE mode functions1) On the initial screen, press F3 (SYS).[MENU]select menu1ED

10-1210OTHER OPERATIONS10-4 SERVICE mode function7) When the setting has been changed, the memorywrite screen appears.To save the change permanently (

10-1310OTHER OPERATIONS10-5 System utilities10-5 System utilities10-5-1Viewing hidden parametersParameters hidden in the normal state can be viewed.Us

1-81OVERVIEW1-4 System Configuration1-4 System Configuration1-4-1 System configurationThe SRCP controller can be combined with various peripheral unit

10-1410OTHER OPERATIONS10-6 Using a Memory Card10-6 Using a Memory CardA memory card can be used with the TPB to back up the data in the SRCP controll

10-1510OTHER OPERATIONS10-6 Using a Memory Card7) If data already exists in the area specified instep 5, a confirmation message appears.To overwrite t

10-1610OTHER OPERATIONS10-6 Using a Memory Card10-6-2Loading data from a memory card1) Insert the memory card into the TPB.2) On the initial screen, p

10-1710OTHER OPERATIONS10-6 Using a Memory Card7) When the load area was selected in step 5, thedata load screen appears. Select the data to beloaded.

10-1810OTHER OPERATIONS10-6 Using a Memory Card10-6-3Formatting a memory card1) Insert the memory card into the TPB.2) On the initial screen, press F3

10-1910OTHER OPERATIONS10-6 Using a Memory Card10-6-4Viewing the ID number for memory card data1) Insert the memory card into the TPB.2) On the initia

10-2010OTHER OPERATIONS10-7 Duty (load factor) monitor10-7 Duty (load factor) monitorThe SRCP controller has a duty (load factor) monitor to allow you

10-2110OTHER OPERATIONS10-7 Duty (load factor) monitor[Method 2]1) Add the robot language command "DUTY 1" to the beginning of the interval

10-2210OTHER OPERATIONS10-7 Duty (load factor) monitor10-7-1 Measuring the duty (load factor)1) While moving the robot with a pulse traininput (Pulse

10-2310OTHER OPERATIONS10-8 Using the internal flash ROM10-8 Using the internal flash ROMWhen you set parameters using the TPB or POPCOM (options) or

1-91OVERVIEW1-5 Accessories and Options1-5-1 AccessoriesThe SRCP robot controller comes with the following accessories. After unpacking, check that al

10-2410OTHER OPERATIONS10-8 Using the internal flash ROM10-8-1 Saving the parameter data onto the flash ROMnNOTEThe internal flash ROM can be used whe

10-2510OTHER OPERATIONS10-8 Using the internal flash ROM8) A confirmation message appears.To save the parameter data, press F1 (yes).To cancel, press

10-2610OTHER OPERATIONS10-8 Using the internal flash ROM10-8-2 Manually loading the data from flash ROMnNOTEThe internal flash ROM can be used when th

10-2710OTHER OPERATIONS10-8 Using the internal flash ROM8) The screen returns to step 4 when loading iscomplete.2LOAD3INIT[SYS-B.UP-FROM]FROM : 04.03.

10-2810OTHER OPERATIONS10-8 Using the internal flash ROM10-8-3 Initializing the flash ROM datanNOTEThe internal flash ROM can be used when the SRCP co

10-2910OTHER OPERATIONS10-8 Using the internal flash ROM8) The screen returns to step 4 when initializa-tion is complete.After initializing the flash

10-30MEMO

11-111COMMUNICATION WITH PCChapter 11 COMMUNICATION WITH PCThe SRCP controller allows you to edit the program data and point data or control the robot

11-211COMMUNICATION WITH PC11-1 Communication Parameter Specifications11-1 Communication Parameter SpecificationsThe communication parameters on the P

11-311COMMUNICATION WITH PC11-2 Communication Cable Specifications11-2 Communication Cable SpecificationscCAUTIONPins 10, 12, 18 and 21 of the control

1-10MEMO

11-411COMMUNICATION WITH PC11-3 Communication Command Specifications11-3 Communication Command SpecificationsOn the SRCP controller, a command interfa

11-511COMMUNICATION WITH PC11-4 Communication Command List11-4 Communication Command ListNo.Operation codeOperand 1 Operand 2 Operand 3 Command detail

11-611COMMUNICATION WITH PC11-4 Communication Command ListNo.Operation codeOperand 1 Operand 2 Operand 3 Command details1.2.3.4.5.6.7.8.9.10.11.12.13.

11-711COMMUNICATION WITH PC11-4 Communication Command ListNo.Operation codeOperand 1 Operand 2 Operand 3 Command details1.2.3.4.5.6.7.8.9.INITSWISWITS

11-811COMMUNICATION WITH PC11-5 Communication Command Description11-5-1Robot movements(1)@ORG@ORGNReturns the robot to its origin position and outputs

11-911COMMUNICATION WITH PC(2)@RESETThis returns the program execution step to the first step of the program selected with the '@SWI'stateme

11-1011COMMUNICATION WITH PC11-5 Communication Command Description(6)@X+, (@X-)@X+ moves the robot to the + side and @X- to the - side based on the fo

11-111111-5 Communication Command DescriptionCOMMUNICATION WITH PC(9)@MOVA <point number>,<speed>Moves the robot to a position specified b

11-1211COMMUNICATION WITH PC11-5 Communication Command Description(11)@MOVF <point number>,<DI number>,<DI status>This command moves

11-131111-5 Communication Command DescriptionCOMMUNICATION WITH PC(15)@P <point number>Sets the point variable P.Point number : This can be any

2-12INSTALLATION AND CONNECTIONChapter 2 INSTALLATION AND CONNECTIONThis chapter contains precautions that should be observed when installing the cont

11-1411COMMUNICATION WITH PC11-5 Communication Command Description(18)@MOVM <pallet work position>,<speed>Moves the robot to a specified p

11-151111-5 Communication Command DescriptionCOMMUNICATION WITH PC(21)@CSEL <array element number>Specifies an array element for the counter arr

11-1611COMMUNICATION WITH PC11-5 Communication Command Description(26)@D+ [<addition value>]Adds a specified value to the counter variable D.Add

11-171111-5 Communication Command DescriptionCOMMUNICATION WITH PC11-5-2Data handling(1)@?POSReads the current position.Transmission example : @?POS c

11-1811COMMUNICATION WITH PC11-5 Communication Command Description(6)@?STP <program number>Reads the total number of steps in the specified prog

11-191111-5 Communication Command DescriptionCOMMUNICATION WITH PC(11) @?ALM <history number>[,<display count>]Displays a specified number

11-2011COMMUNICATION WITH PC11-5 Communication Command Description(13)@?EMGReads the emergency stop status.Transmission example : @?EMG c/r l/fRespons

11-211111-5 Communication Command DescriptionCOMMUNICATION WITH PC(17)@?PVAReads the point variable P. In multi-task operation, this command reads the

11-2211COMMUNICATION WITH PC11-5 Communication Command Description(20-1) @?PRM <parameter number>Reads the data from a specified parameter.Param

11-231111-5 Communication Command DescriptionCOMMUNICATION WITH PC(21-2) @?P <point number>,<point number>Reads multiple point data from t

2-22INSTALLATION AND CONNECTION2-1 Installing the SRCP Controller2-1 Installing the SRCP Controller2-1-1 Installation methodUsing the L-shaped bracket

11-2411COMMUNICATION WITH PC11-5 Communication Command Description(22-3) @READ PNTReads all point data.Transmission example : @READ PNT c/r l/fRespons

11-251111-5 Communication Command DescriptionCOMMUNICATION WITH PC(22-6) @READ DIOReads the on/off status of DIO. Refer to "4-3-4 DIO monitor scr

11-2611COMMUNICATION WITH PC11-5 Communication Command Description(23-2) @WRITE PNTWrites the point data. The controller will transmit READY when this

11-271111-5 Communication Command DescriptionCOMMUNICATION WITH PC(23-4) @WRITE ALLWrites all data (parameters, programs and points) at one time. The

11-2811COMMUNICATION WITH PC11-5 Communication Command Description(26)@?CSELReads the currently specified element number of the counter array variable

11-291111-5 Communication Command DescriptionCOMMUNICATION WITH PC11-5-3Utilities(1-1) @INIT PGMInitializes all program data.Transmission example : @I

11-3011COMMUNICATION WITH PC11-5 Communication Command Description(2)@SWI <program number>This command switches the execution program number. W

11-311111-5 Communication Command DescriptionCOMMUNICATION WITH PC(5)@SDEL <program number>,<step number>Deletes a specified step.Program

11-3211COMMUNICATION WITH PC11-5 Communication Command Description(8)@DEL <program number>Deletes a program.Program number : This is a number us

12-112MESSAGE TABLESChapter 12 MESSAGE TABLESThis section lists all of the messages that are displayed on the TPB or sent to the PC (personal computer

2-32INSTALLATION AND CONNECTION2-2 Connecting the Power Supply2-2 Connecting the Power Supply2-2-1 Power supplyNo. of phasesSingle-phaseType and ItemS

12-212MESSAGE TABLES12-1 Error Messages12-1 Error Messages12-1-1Error message specificationsThe error message transmission format is as follows.<Er

12-312MESSAGE TABLES12-1 Error Messages12-1-3Operation error messageError No.30Error No.31Error No.32Error No.33Error No.34Error No.35Error No.36Error

12-412MESSAGE TABLES12-1 Error Messages12-1-4Program error messageError No.40Error No.41Error No.42Error No.43Error No.44Error No.45MessageCauseAction

12-512MESSAGE TABLES12-1 Error Messages12-1-5System error messageError No.50Error No.51Error No.52Error No.53Error No.54Error No.56Error No.57Error No

12-612MESSAGE TABLES12-2 TPB Error Messages12-2 TPB Error MessagesMessageCauseActionMessageCauseActionMessageCauseActionMessageCauseActionMessageCause

12-712MESSAGE TABLES12-3 Stop Messages12-3 Stop Messages12-3-1Message specificationsThe stop message transmission format is as follows.<Message No.

12-812MESSAGE TABLES12-4 Displaying the Error HistoryA history of past errors can be displayed. Up to 100 errors can be stored in the controller.1) O

12-912MESSAGE TABLES12-4 Displaying the Error History5) History numbers, time that errors occurred(total elapsed time from controller start-up)and err

12-10MEMO

13-113TROUBLESHOOTINGChapter 13 TROUBLESHOOTINGThis chapter explains how to take corrective action when a problem or breakdown occurs, by categorizing

2-42INSTALLATION AND CONNECTION2-2 Connecting the Power SupplycCAUTIONThe SRCP series controller does not have a power switch. Be sure to provide a po

13-213TROUBLESHOOTING13-1 If A Trouble Occurs13-1 If A Trouble OccursIf trouble or breakdown occurs, contact YAMAHA or your YAMAHA dealer, providing u

13-313TROUBLESHOOTING13-2 Alarm and Countermeasures13-2 Alarm and CountermeasuresIf the READY signal is turned off except in cases of emergency stop,

13-413TROUBLESHOOTING13-2 Alarm and Countermeasures13-2-2Alarm message listActionLower the operation duty on the robotor reduce the acceleration param

13-513TROUBLESHOOTING13-2 Alarm and CountermeasuresActionCheck whether robot moving parts arelocked.Check the motor wire and positionsignal wire conne

13-613TROUBLESHOOTING13-2 Alarm and CountermeasuresActionLower the operation duty on the robot, or install a cooling fan.Check the power supply voltag

13-713TROUBLESHOOTING13-3 Troubleshooting for Specific Symptom13-3 Troubleshooting for Specific SymptomIf any problems develop while the controller is

13-813TROUBLESHOOTING13-3 Troubleshooting for Specific SymptomItems to Check• Make sure there is no loose parts where the robot is installed.• Check w

13-913TROUBLESHOOTING13-3 Troubleshooting for Specific Symptom13-3-2Relating to the I/OItems to Check• Check the wiring.• Check the operation with the

13-1013TROUBLESHOOTING13-3 Troubleshooting for Specific Symptom13-3-3OtherItems to Check• Check the signal input (by using a PLC monitor, etc.).• Chec

13-1113TROUBLESHOOTING13-4 Displaying the Alarm History13-4 Displaying the Alarm HistoryA history of past alarms can be displayed. Up to 100 alarms ca

2-52INSTALLATION AND CONNECTION2-2 Connecting the Power Supply2-2-5 Installing current control switchesWhen controlling the power on/off of the robot

13-1213TROUBLESHOOTING5) History numbers, time that alarms occurred(total elapsed time from controller start-up)and alarm descriptions are displayed.

14-114MAINTENANCE AND WARRANTYChapter 14 MAINTENANCE AND WARRANTYFor safety purposes, always turn the power off before starting robot maintenance, cle

14-214MAINTENANCE AND WARRANTY14-1 Warranty14-1 WarrantyThe YAMAHA robot and/or related product you have purchased are warranted against the defects o

14-314MAINTENANCE AND WARRANTY14-2 Replacing the System Backup Battery14-2 Replacing the System Backup BatteryIf an alarm is issued indicating that th

14-414MAINTENANCE AND WARRANTY14-3 Updating the System14-3 Updating the SystemYAMAHA may request, on occasion, that you update the system in your equi

15-115SPECIFICATIONSChapter 15 SPECIFICATIONS

15-215SPECIFICATIONS15-1 SRCP sereis15-1 SRCP sereis15-1-1Basic specificationsModelSpecification itemSRCP-10 SRCP-20SRCP-05Basicspecifi-cationsAxiscon

15-315SPECIFICATIONS15-1 SRCP sereisError detection itemsAmbient temperatureStorage temperatureAmbient humidityNoise immunityPeripheral optionsOvercur

15-415SPECIFICATIONS15-2 TPB15-2 TPB15-2-1Basic specificationsTPBBasic specificationsExternal dimensionsWeightPower consumptionPower supplyCable lengt

15-515SPECIFICATIONS15-3 Regenerative Unit (RGU-2)15-3 Regenerative Unit (RGU-2)15-3-1Basic specificationsRGU-2BasicspecificationsExternal dimensionsW

2-62INSTALLATION AND CONNECTION2-5 Connecting to the Robot2-5 Connecting to the RobotFirst make sure that the power to the SRCP controller is turned o

MEMO15-6

16-116APPENDIXChapter 16 APPENDIX

16-216APPENDIX16-1 How to Handle Options16-1 How to Handle Options16-1-1Memory cardA memory card (option) can be used with the TPB to back up the SRCP

16-316APPENDIX16-1 How to Handle Options Data size that can be savedData size that can be saved on one memory card is as follows:Memory cardcapacity8

16-416APPENDIX16-1-2POPCOM communication cableThis cable is used to operate the SRCP controller from POPCOM software which runs on a PC andallows easy

MEMO

Ver. 1.01Ver. 2.00Ver. 2.01Ver. 2.02Ver. 2.03Ver. 2.04English manual Ver. 1.01 is based on Japanese manual Ver. 1.01. English manual Ver. 2.00 is base

2-72INSTALLATION AND CONNECTION2-6 Connecting to the I/O. CN Connector2-6 Connecting to the I/O. CN ConnectorThe I/O. CN connector is used for connect

2-82INSTALLATION AND CONNECTION2-7 Connecting to the EXT. CN ConnectorConnect an emergency stop circuit and a 24V power supply for I/O control to the

2-92INSTALLATION AND CONNECTION2-8 Connecting to the Regenerative Unit2-8 Connecting to the Regenerative UnitSome types of robots must be connected to

2-10MEMO

3-13I/O INTERFACEChapter 3 I/O INTERFACEThe SRCP series has I/O interface connectors (EXT. CN and I/O. CN) as a standard feature. The EXT. CN is usedf

iGeneral ContentsChapter 1 OVERVIEW... 1-11-1

3-23I/O INTERFACE3-1 I/O Signals3-1 I/O SignalsThe SRCP controller has two I/O interface connectors (EXT. CN and I/O. CN) as a standard feature.The EX

3-33I/O INTERFACE3-2 Input Signal Description3-2 Input Signal DescriptionInput signals consist of 7 dedicated command inputs, 8 general-purpose inputs

3-43I/O INTERFACE3-2 Input Signal Description Absolute point movement command (ABS-PT)This command moves the robot to an absolute position specified

3-53I/O INTERFACE3-2 Input Signal Description Return-to-origin command (ORG-S)This command returns the robot to its origin position by using stroke-e

3-63I/O INTERFACE3-2 Input Signal Description3-2-2 General-purpose input (DI0 to DI7)These general-purpose inputs are available to users for handling

3-73I/O INTERFACE3-2 Input Signal Description3-2-3 SERVICE mode input (SVCE)When the SERVICE mode function is enabled, DI7 functions as the SERVICE mo

3-83I/O INTERFACE3-3 Output Signal Description3-3 Output Signal DescriptionThe output signals consist of 3 dedicated outputs (READY, BUSY and END), 5

3-93I/O INTERFACE3-3 Output Signal Description3-3-2 General-purpose output (DO0 to DO4)These general-purpose outputs are available to users for freely

3-103I/O INTERFACE3-4 I/O Circuits3-4 I/O CircuitsThis section provides the SRCP controller I/O circuit specifications and examples of how the I/Ocirc

3-113I/O INTERFACE3-4 I/O Circuits3-4-2 I/O circuit and connection exampleI/O circuit and connection exampleExternal DC24V power supplyPush-buttonNPN

iiChapter 4 BASIC OPERATION OF THE TPB ... 4-14-1 Connecting and Disconnecting t

3-123I/O INTERFACE3-5 I/O Connection Diagram3-5 I/O Connection Diagram3-5-1 Connection to PLC output unitConnection to the Mitsubishi© PLC AY51 output

3-133I/O INTERFACE3-5 I/O Connection Diagram3-5-2 Connection to PLC input unitConnection to the Mitsubishi© PLC AX41 input unitAX41 type input unit SR

3-143I/O INTERFACE3-6 I/O Control Timing Charts3-6 I/O Control Timing ChartsThe following shows typical timing charts for I/O control. Refer to these

3-153I/O INTERFACE3-6 I/O Control Timing Charts3-6-2 When executing a dedicated input command The BUSY signal turns on when a dedicated command is re

3-163I/O INTERFACE(2)When a command with a short execution time runs and ends normally:(Command execution has already ended and the END signal is on b

3-173I/O INTERFACE(3)When a command cannot be executed from the beginning:(Command execution is impossible from the beginning and the END signal does

3-183I/O INTERFACE(4)When command execution cannot be completed:(Command execution stops before completion and the END signal does not turn on, asin t

3-193I/O INTERFACE3-6-4 When emergency stop is inputREADYENDBUSYEMGEmergency stop5ms or less1ms or lessDedicatedcommand The READY signal turns off. T

3-203I/O INTERFACE3-6-6 When executing a point movement command When executing a point movement command (ABS-PT, INC-PT), the point data and speeddat

4-14BASIC OPERATION OF THE TPBChapter 4 BASIC OPERATION OF THE TPBThe TPB is a hand-held, pendant-type programming box that connects to the SRCP contr

iii8-4 Robot Language Description ...8-68-4-1 MOVA ...

4-24BASIC OPERATION OF THE TPB4-1 Connecting and Disconnecting the TPB4-1 Connecting and Disconnecting the TPB4-1-1 Connecting the TPB to the SRCP con

4-34BASIC OPERATION OF THE TPB4-1 Connecting and Disconnecting the TPB4-1-2 Disconnecting the TPB from the SRCP controllerTo disconnect the TPB from t

4-44BASIC OPERATION OF THE TPB4-2 Basic Key Operation4-2 Basic Key Operation1) Selectable menu items are displayed on the 4thline (bottom line) of the

4-54BASIC OPERATION OF THE TPB4-3 Reading the Screen4-3 Reading the ScreenThe following explains the basic screen displays and what they mean.4-3-1 Pr

4-64BASIC OPERATION OF THE TPB4-3-3 Point edit screen (teaching playback)[EDIT-PNT-TCH](1)100P255 = 123.45 [mm] [ 0.00]1CHG 2SPD 3S_SET4

4-74BASIC OPERATION OF THE TPB4-4 Hierarchical Menu StructurePOWERONMOD (Step Edit)INS (Step Insert)DEL (Step Delete)CHG (Program Change)MDI (Manual D

4-84BASIC OPERATION OF THE TPB4-5 Restricting Key Operation by Access Level4-5Restricting Key Operation by Access LevelThe TPB key operations can be l

4-94BASIC OPERATION OF THE TPB4-5 Restricting Key Operation by Access LevelMemory cardLevel0123DescriptionAll operations are permitted.Loading the par

4-104BASIC OPERATION OF THE TPB4-5 Restricting Key Operation by Access Level5) Select the item you want to change.To change the access level for editi

5-15PARAMETERSChapter 5 PARAMETERSThe SRCP controller uses a software servo system, so no adjustment of hardware components such as potentiometersor D

iv10-6 Using a Memory Card ...10-1410-6-1 Saving

5-25PARAMETERS5-1 Setting the Parameters5-1 Setting the Parameters1) On the initial screen, press F3 (SYS).[SYS-PRM-PRM1]PRM1 = 450 [mm](+)soft limi

5-35PARAMETERS5-2 Parameter Description5-2 Parameter DescriptionThe parameters are described in order below.cCAUTIONParameters not displayed on the TP

5-45PARAMETERS5-2 Parameter DescriptionPRM3: PayloadThis specifies the total weight of the workpiece and tool attached to the robot. In caseswhere thi

5-55PARAMETERS5-2 Parameter DescriptionPRM7: I/O point movement command speedThis parameter sets the movement speed to execute a point movement comman

5-65PARAMETERS5-2 Parameter DescriptionPRM11: No. of encoder pulses (4✕ mode)This parameter indicates the constant that is determined by the linear sc

5-75PARAMETERS5-2 Parameter DescriptionPRM18: Speed integration gainThis sets the speed control gain. Typically, PRM17 and PRM18 should be input at a

5-85PARAMETERS5-2 Parameter DescriptionPRM24: Teaching count data (TPB entry)This is entered in the TPB and cannot be used.Default value: 0PRM25: Not

5-95PARAMETERS5-2 Parameter DescriptionPRM32: Alarm number outputWhen an alarm is issued, this parameter selects whether the alarm number is to be out

5-105PARAMETERS5-2 Parameter DescriptionPRM34: System mode selectionThis parameter specifies the system operation mode. When you want to use the SRCPs

5-115PARAMETERS5-2 Parameter DescriptionBit 7: END output sequence setting at command execution completion(supported by Ver. 24.32 and later versions)

vChapter 15 SPECIFICATIONS ... 15-115-1 SRCP sereis ...

5-125PARAMETERS5-2 Parameter DescriptionPRM41: I/O point movement command speed 1This parameter sets the speed at which the robot moves when a point m

5-135PARAMETERS5-2 Parameter DescriptionPRM46: Servo status outputThis parameter selects whether to output the axis servo status as a general-purpose

5-145PARAMETERS5-2 Parameter DescriptionPRM51: Lead program numberThis parameter sets the lead program number.Default value: 0nNOTEThe lead program is

5-155PARAMETERS5-2 Parameter DescriptionZone output functionTo use the zone output function, the desired zone must be specified with point data. (SeeC

5-165PARAMETERS5-2 Parameter DescriptionPRM54: Magnetic pole detection levelDefault value: Depends on the robot.PRM55: Magnetic pole positionDefault v

6-16PROGRAMMINGChapter 6 PROGRAMMINGIn this chapter we will try programming some operations. First, you will learn how to enter a program using theTPB

6-26PROGRAMMING6-1 Basic Contents6-1 Basic Contents6-1-1 Robot language and point dataThe SRCP controller uses the YAMAHA robot language that is very

6-36PROGRAMMING6-2 Editing Programs6-2 Editing Programs"Program editing" refers to operations such as creating a program right after initial

6-46PROGRAMMING6-2 Editing Programs6-2-1 Creating programs after initialization1) On the initial screen, press F1 (EDIT).[MENU]select menu1EDIT2OPRT3S

6-56PROGRAMMING6-2 Editing Programs7) After selecting the robot language command,enter the operand data.When you press XZ+, the cursor moves to op-era

viMEMO

6-66PROGRAMMING6-2 Editing Programs6-2-2 Creating a new program1) On the initial screen, press F1 (EDIT).[MENU]select menu1EDIT2OPRT3SYS 4MON[EDIT]sel

6-76PROGRAMMING6-2 Editing Programs6-2-3 Adding a step1) On the initial screen, press F1 (EDIT).[MENU]select menu1EDIT2OPRT3SYS 4MON[EDIT-PGM]

6-86PROGRAMMING6-2 Editing Programs7) Select F1 to F3 or a robot language com-mand shown on the lower part of each numberkey.To change the robot langu

6-96PROGRAMMING6-2 Editing Programs6-2-4 Correcting a step1) Use the same procedure up to step 4 in "6-2-3Adding a step".2) Enter the number

6-106PROGRAMMING6-2 Editing Programs6-2-5 Inserting a step1) Use the same procedure up to step 4 in "6-2-3Adding a step".2) Enter the number

6-116PROGRAMMING6-2 Editing Programs6-2-6 Deleting a step1) Use the same procedure up to step 4 in "6-2-3Adding a step".2) Enter the number

6-126PROGRAMMING6-3 Program Utility6-3 Program Utility6-3-1 Copying a program1) On the initial screen, press F1 (EDIT).[MENU]select menu1EDIT2OPRT3SY

6-136PROGRAMMING6-3 Program Utility6) If program data is already registered with theselected program number, a confirmation mes-sage appears.To overwr

6-146PROGRAMMING6-3 Program Utility6-3-3 Viewing the program information1) Use the same procedure up to 2 in "6-3-1 Copy-ing a program".2) P

7-17EDITING POINT DATAChapter 7 EDITING POINT DATAThere are three methods to enter point data: manual data input (MDI), teaching playback, and direct

1-11OVERVIEWChapter 1 OVERVIEWThank you for purchasing the YAMAHA single-axis robot controller SRCP series (hereafter called "SRCP control-ler&qu

7-27EDITING POINT DATA7-1 Manual Data Input7-1 Manual Data Input1) On the initial screen, press F1 (EDIT).[EDIT]select menu1PGM 2PNT 3UTL[EDIT-PNT]sel

7-37EDITING POINT DATA7-2 Teaching Playback7-2 Teaching Playback1) On the initial screen, press F1 (EDIT).[EDIT-PNT-TCH](1) 50 Pn : n = _(point No) 0

7-47EDITING POINT DATA7-2 Teaching Playback6) Move the robot to the teaching position withthe XZ– or XZ+ keys. Each time the XZ– orXZ+ key is pressed,

7-57EDITING POINT DATA7-3 Direct Teaching7-3 Direct Teaching1) On the initial screen, press F1 (EDIT).[EDIT-PNT-DTCH]P0 = 0.00 [mm] [

7-67EDITING POINT DATA7-3 Direct Teaching7) Move the robot to the teaching position by hand.[EDIT-PNT-DTCH]P500 = 19.27 [mm] [ 0.00][ED

7-77EDITING POINT DATA7-4 Manual Control of General-Purpose Output7-4 Manual Control of General-Purpose OutputWhen performing teaching playback or dir

7-87EDITING POINT DATA7-5 Manual Release of Holding Brake7-5 Manual Release of Holding BrakeThe holding brake on the vertical type robot can be releas

7-97EDITING POINT DATA7-6 Deleting Point Data7-6 Deleting Point Data1) Use the same procedure up to step 2 in "7-1Manual Data Input".2) Pres

7-107EDITING POINT DATA7-7 Tracing Points (Moving to a registered data point)7-7 Tracing Points (Moving to a registered data point)The robot can be mo

8-18ROBOT LANGUAGEChapter 8 ROBOT LANGUAGEThis chapter explains the robot language. It describes what kind of commands are available and what they mea