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Yamaha SRCD User Manual
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6-
1
6
PROGRAMMING
Chapter 6
PROGRAMMING
In this chapter we will try programming some operations. First, you will learn ho
w to enter a program using the
TPB programming box.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
103
105
Table of Contents
Table of Contents
4
Chapter 1 OVERVIEW
10
Features of the DRCX Series Controller
11
Setting up for Operation
12
External View and Part Names
13
DRCX Controller
13
Tpb
15
System Configuration
16
Accessories and Options
17
Accessories
17
Peripheral Options
17
Chapter 2 INSTALLATION and CONNECTION
18
Installing the DRCX Controller
19
Installation Method
19
Installation Location
19
Connecting the Power Supply
20
Power Supply
20
Connecting the Power Supply
21
Installing an External Leakage Breaker
21
Installing a Circuit Protector
22
Installing Current Control Switches
22
Insulation Resistance and Voltage Breakdown Tests
22
Grounding
23
Connecting the DRCX to the Control Unit
23
Connecting to the Robot
24
Robot I/O Connector and Signal Table
24
Motor Connector and Signal Table
24
Connecting to the I/O Connector
25
Connecting to the Regenerative Unit
26
Connecting the Absolute Battery
27
Chapter 3 I/O INTERFACE
28
I/O Signals
29
Input Signal Description
30
Dedicated Command Input
30
General-Purpose Input (DI0 to DI15)
33
SERVICE Mode Input (SVCE)
34
Interlock (LOCK)
34
Emergency Stop Inputs 1, 2 (EMG1, EMG2)
34
Output Signal Description
35
Dedicated Output
35
General-Purpose Output (DO0 to DO12)
36
I/O Circuits
36
I/O Circuit Specifications
36
I/O Circuit and Connection Example
37
I/O Connection Diagram
39
General Connections for Internal 24V Power Supply
39
Connection to PLC Output Unit Using External 24V Power Supply
40
Connection to PLC Input Unit Using External 24V Power Supply
41
I/O Control Timing Charts
42
When Turning the Power on
42
When Executing a Dedicated Input Command
43
When Interlock Signal Is Input
47
When Emergency Stop Is Input
48
When Alarm Is Issued
48
When Executing a Point Movement Command
49
I/O Assignment Change Function
50
Changing the I/O Assignment
50
I/O Signal Descripion
52
Timing Chart
56
Chapter 4 BASIC OPERATION of the TPB
66
Connecting and Disconnecting the TPB
67
Connecting the TPB to the DRCX Controller
67
Disconnecting the TPB from the DRCX Controller
68
Basic Key Operation
69
Reading the Screen
70
Program Execution Screen
70
Program Edit Screen
70
Point Edit Screen (Teaching Playback)
71
DIO Monitor Screen
71
Hierarchical Menu Structure
72
Restricting Key Operation by Access Level
73
Explanation of Access Level
73
Changing an Access Level
74
Chapter 5 PARAMETERS
76
Setting the Parameters
77
Parameter Description
78
Common Parameters
78
X-Axis Parameters
90
Y-Axis Parameters
97
Chapter 6 PROGRAMMING
104
Basic Contents
105
Robot Language and Point Data
105
Using the TPB to Enter the Robot Language
105
Program Specifications
105
Editing Programs
106
Creating Programs after Initialization
107
Creating a New Program
109
Adding a Step
110
Correcting a Step
112
Inserting a Step
113
Deleting a Step
114
Program Utility
115
Copying a Program
115
Deleting a Program
116
Viewing the Program Information
117
Chapter 7 EDITING POINT DATA
118
Manual Data Input
119
Teaching Playback
120
Direct Teaching
122
Manual Control of General-Purpose Output
124
Manual Release of Holding Brake
125
Deleting Point Data
126
Editing the Pallet Data
127
Tracing Points (Moving to a Registered Data Point)
128
Chapter 8 ROBOT LANGUAGE
130
Robot Language Table
131
Robot Language Syntax Rules
132
Command Statement Format
132
Variables
133
Program Function
134
Multi-Task Function
134
Limitless Movement Function
135
Robot Language Description
137
Mova
137
Movi
137
Movf
138
Jmp
138
Jmpf
139
Jmpb
140
Call
141
Wait
142
Timr
142
Srvo
144
Stop
144
Mat
145
Msel
146
Movm
147
Jmpc
148
Jmpd
148
Csel
149
Orgn
152
Acha
153
Achi
154
Drva
155
Drvi
156
Shft
157
Ton
158
Toff
158
Jmpp
159
Movl
160
Movc
161
Sample Programs
162
Moving between Two Points
162
Moving at an Equal Pitch
162
Picking up Workpieces Flowing on the Front Conveyor and Placing Them Sequentially on the Five Rear Conveyors
165
Switching the Program from I/O
167
Palletizing for Fixed Point Versus Pallet
169
Palletizing for Pallet Versus Pallet
170
Palletizing for Pallet Versus Pallet, Using a SHIFT Statement
171
Palletizing for Special Pallets
172
Changing the Placement Sequence for Palletizing
173
Specifying a Position on a Pallet from I/O
180
Picking up a Workpiece at P0 and Placing It at P1
181
Picking up Workpieces at P0 and Placing Them Sequentially at P1, P2, P3 and P4
181
Picking up Workpieces at P0 and Placing Them Sequentially on a 2×4 Pallet
182
Axis Movement and I/O Multi-Task
183
Multi-Robot Operation
184
Synchronization in Multi-Robot Operation
185
Turning on General-Purpose Outputs During Robot Movement after a Certain Time Has Elapsed
186
Turning on a General-Purpose Output During Robot Movement When It Has Passed a Specified Position
187
Sealing
188
Limitless Movement at same Pitch
189
Limitless Rotation
190
Picking up Workpieces Supplied from an Index Table and Placing Them on a Conveyor
191
Chapter 9 OPERATING the ROBOT
192
Performing Return-To-Origin
193
Return-To-Origin by the Search Method
193
Return-To-Origin by the Mark Method
195
Using Step Operation
197
Using Automatic Operation
200
Switching the Execution Program
202
Emergency Stop Function
203
Initiating an Emergency Stop
203
Recovering from an Emergency Stop
203
Displaying the Variables
205
Displaying the Memory I/O Status
206
Chapter 10 OTHER OPERATIONS
208
Initialization
209
DIO Monitor Display
212
Display from the Monitor Menu
212
Display from the DIO Key Operation
213
System Information Display
214
SERVICE Mode Function
215
Safety Settings for SERVICE Mode
216
Enabling/Disabling the SERVICE Mode Function
218
Setting the SERVICE Mode Functions
220
System Utilities
222
Viewing Hidden Parameters
222
Using a Memory Card
223
Saving Controller Data to a Memory Card
223
Loading Data from a Memory Card
225
Formatting a Memory Card
227
Viewing the ID Number for Memory Card Data
229
Duty (Load Factor) Monitor
230
Measuring the Duty (Load Factor)
232
Chapter 11 COMMUNICATION with PC
234
Communication Parameter Specifications
235
Communication Cable Specifications
236
Connecting to the Computer with a 25-Pin D-Sub Connector
236
Connecting to the Computer with a 9-Pin D-Sub Connector
236
Communication Command Specifications
237
Communication Command List
238
Communication Command Description
241
Robot Movements
241
Data Handling
254
Utilities
266
Chapter 12 MESSAGE TABLES
272
Error Messages
273
Error Message Specifications
273
Command Error Message
273
Operation Error Message
274
Program Error Message
275
System Error Message
276
Multi-Task Error Message
276
TPB Error Messages
277
Stop Messages
278
Message Specifications
278
Displaying the Error History
279
Chapter 13 TROUBLESHOOTING
282
If a Trouble Occurs
283
Alarm and Countermeasures
284
Alarm Specifications
284
Alarm Message List
285
Troubleshooting for Specific Symptom
288
Relating to the Robot Movement
288
Relating to the I/O
290
Other
291
Displaying the Alarm History
292
Chapter 14 MAINTENANCE and WARRANTY
294
Warranty
295
Warranty Description
295
Warranty Period
295
Exceptions to the Warranty
295
Replacing the System Backup Battery
296
Replacing the Absolute Battery
296
Updating the System
297
Chapter 15 SPECIFICATIONS
298
DRCX Sereis
299
Basic Specifications
299
Robot Number List
300
LED Display
301
Absolute Battery Unit
301
Tpb
302
Basic Specifications
302
Regenerative Unit (RGU-2)
303
Basic Specifications
303
Dimensions
303
Chapter 16 APPENDIX
304
Operation When Not Using Absolute Function
305
How to Handle Options
306
Memory Card
306
Handling the I/O Checker
308
POPCOM Communication Cable
309
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Yamaha SRCD Specifications
General
Brand
Yamaha
Model
SRCD
Category
Controller
Language
English
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