Yamaha SRCP Manual de usuario Pagina 122
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8-24
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5 Sample Programs
8-5-1 Moving between two points
P1 P2
Program Comment
[NO0]
001: L 0 ; Label definition
002: MOVA 1, 100 ; Moves to P1
003: MOVA 2, 100 ; Moves to P2
004: TIMR 100 ; Delays for one second
005: JMP 0, 0 : Returns to L0
8-5-2 Moving at an equal pitch
P0
50mm 50mm 50mm 50mm
50mm
P0
P1
Start position
Movement distance: 50mm
Point
Program Comment
[NO0]
001: L 0 ; Label definition
002: MOVA 0, 100 ; Moves to P0
003: MOVI 1, 100 ; Moves five times at a 50mm pitch
004: MOVI 1, 100 ; Moves five times at a 50mm pitch
005: MOVI 1, 100 ; Moves five times at a 50mm pitch
006: MOVI 1, 100 ; Moves five times at a 50mm pitch
007: MOVI 1, 100 ; Moves five times at a 50mm pitch
008: JMP 0, 0 ; Returns to L0
- User’s Manual 1
- General Contents 3
- Chapter 1 OVERVIEW 9
- OVERVIEW 10
- 1-2 Setting Up for Operation 11
- 1-3-1 SRCP controller 12
- 1-3-2 TPB 15
- 1-4 System Configuration 16
- 1-5 Accessories and Options 17
- INSTALLATION AND CONNECTION 19
- 2-1-1 Installation method 20
- 2-1-2 Installation location 20
- 2-2-1 Power supply 21
- 22
- 2-3 Grounding 23
- 2-5 Connecting to the Robot 24
- Use the interconnection 27
- Chapter 3 I/O INTERFACE 29
- 3-1 I/O Signals 30
- 3-2 Input Signal Description 31
- I/O INTERFACE 32
- 3-2-4 Interlock (LOCK) 35
- 3-3 Output Signal Description 36
- 3-4 I/O Circuits 38
- 3-5 I/O Connection Diagram 40
- 3-6 I/O Control Timing Charts 42
- 3-6-5 When alarm is issued 47
- BASIC OPERATION OF THE TPB 49
- 1EDIT2OPRT3SYS 4MON 50
- 4-2 Basic Key Operation 52
- 4-3 Reading the Screen 53
- 4-3-4 DIO monitor screen 54
- Chapter 5 PARAMETERS 59
- 5-1 Setting the Parameters 60
- 5-2 Parameter Description 61
- PARAMETERS 62
- Chapter 6 PROGRAMMING 75
- 6-1 Basic Contents 76
- 6-2 Editing Programs 77
- PROGRAMMING 78
- 6-2-2 Creating a new program 80
- 6-2-3 Adding a step 81
- 6-2-4 Correcting a step 83
- 6-2-5 Inserting a step 84
- 6-2-6 Deleting a step 85
- 6-3 Program Utility 86
- 6-3-2 Deleting a program 87
- Chapter 7 EDITING POINT DATA 89
- 7-1 Manual Data Input 90
- 7-2 Teaching Playback 91
- EDITING POINT DATA 92
- 7-3 Direct Teaching 93
- 7-6 Deleting Point Data 97
- Chapter 8 ROBOT LANGUAGE 99
- 8-1 Robot Language Table 100
- ROBOT LANGUAGE 101
- 8-2-2 Variables 102
- 8-3 Program Function 103
- 8-4-1 MOVA 104
- 8-4-2 MOVI 104
- 8-4-4 JMP 105
- 8-4-3 MOVF 105
- 8-4-5 JMPF 106
- 8-4-6 JMPB 107
- 8-4-8 CALL 108
- 8-4-9 DO 108
- 8-4-11 TIMR 109
- 8-4-19 TOFF 113
- 8-4-23 MOVM 117
- 8-5 Sample Programs 122
- Chapter 9 OPERATING THE ROBOT 133
- OPERATING THE ROBOT 134
- 9-5 Emergency Stop Function 142
- 9-7 Displaying the Variables 145
- Chapter 10 OTHER OPERATIONS 147
- 10-1 Initialization 148
- 10-2 DIO Monitor Display 150
- OTHER OPERATIONS 151
- 10-4 SERVICE mode function 152
- [SYS-SAFE-SVCE-SET] 156
- SERVICE mode = 1 156
- 0:Invalid 1:Valid 156
- 10-5 System utilities 159
- 10-6 Using a Memory Card 160
- Formatting a memory card 164
- COMMUNICATION WITH PC 177
- 2. Data handling 182
- Robot movements 184
- Data handling 193
- Utilities 205
- Chapter 12 MESSAGE TABLES 209
- 12-1 Error Messages 210
- MESSAGE TABLES 211
- Operation error message 211
- Program error message 212
- System error message 213
- Multi-task error message 213
- 12-2 TPB Error Messages 214
- 12-3 Stop Messages 215
- Chapter 13 TROUBLESHOOTING 219
- 13-1 If A Trouble Occurs 220
- TROUBLESHOOTING 221
- Alarm specifications 221
- Alarm message list 222
- If this occurs 226
- Relating to the I/O 227
- MAINTENANCE AND WARRANTY 231
- 14-1 Warranty 232
- 14-3 Updating the System 234
- Chapter 15 SPECIFICATIONS 235
- 15-1 SRCP sereis 236
- SPECIFICATIONS 237
- Robot number list 237
- LED display 237
- 15-2 TPB 238
- Basic specifications 239
- Dimensions 239
- Chapter 16 APPENDIX 241
- 16-1 How to Handle Options 242
- APPENDIX 243
- POPCOM communication cable 244
- User's Manual 246
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