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Yamaha SRCP User Manual
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15-
5
15
SPECIFICA
TIONS
15-3 Regenerative Unit (RGU-2)
15-3
Regenerative Unit (RGU-2)
15-3-1
Basic specifications
RGU-2
Basic
specifications
External dimensions
Weight
Cable length
Regenerative voltage
Regenerative stop voltage
Ambient temperature
Storage temperature
Ambient humidity
Noise immunity
W40
×
H250
×
D157mm
1.1kg
300mm
Approx. 380V or more
Approx. 360V or less
0
:
to 40
:
-10
:
to 65
:
35 to 85% RH (no condensation)
Conforms to IEC61000-4-4 Level 2
Special
specifications
General
specifications
Model
Specification item
15-3-2
Dimensions
238
240
Table of Contents
Default Chapter
3
Table of Contents
3
Chapter 1 OVERVIEW
9
Features of the SRCP Series Controller
10
Setting up for Operation
11
External View and Part Names
12
SRCP Controller
12
Tpb
15
System Configuration
16
Accessories and Options
17
Accessories
17
Peripheral Options
17
Chapter 2 INSTALLATION and CONNECTION
19
Installing the SRCP Controller
20
Installation Method
20
Installation Location
20
Connecting the Power Supply
21
Power Supply
21
Installing an External Leakage Breaker
22
Installing a Circuit Protector
22
Installing Current Control Switches
23
Insulation Resistance and Voltage Breakdown Tests
23
Grounding
23
Connecting the SRCP 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. CN Connector
25
Connecting to the EXT. CN Connector
26
Connecting to the Regenerative Unit
27
Chapter 3 I/O INTERFACE
29
I/O Signals
30
I/O. CN Connector Signals
30
EXT. CN Connector Signals
30
Input Signal Description
31
Dedicated Command Input
31
General-Purpose Input (DI0 to DI7)
34
SERVICE Mode Input (SVCE)
35
Interlock (LOCK)
35
Emergency Stop Inputs 1, 2 (EMG1, EMG2)
35
Output Signal Description
36
Dedicated Output
36
General-Purpose Output (DO0 to DO4)
37
Feedback Pulse Output
37
I/O Circuits
38
I/O Circuit Specifications
38
I/O Circuit and Connection Example
39
I/O Connection Diagram
40
Connection to PLC Output Unit
40
Connection to PLC Input Unit
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
46
When Emergency Stop Is Input
47
When Alarm Is Issued
47
When Executing a Point Movement Command
48
Chapter 4 BASIC OPERATION of the TPB
49
Connecting and Disconnecting the TPB
50
Connecting the TPB to the SRCP Controller
50
Disconnecting the TPB from the SRCP Controller
51
Basic Key Operation
52
Reading the Screen
53
Program Execution Screen
53
Program Edit Screen
53
Point Edit Screen (Teaching Playback)
54
DIO Monitor Screen
54
Hierarchical Menu Structure
55
Restricting Key Operation by Access Level
56
Explanation of Access Level
56
Changing an Access Level
57
Chapter 5 PARAMETERS
59
Setting the Parameters
60
Parameter Description
61
Chapter 6 PROGRAMMING
75
Basic Contents
76
Robot Language and Point Data
76
Using the TPB to Enter the Robot Language
76
Program Specifications
76
Editing Programs
77
Creating Programs after Initialization
78
Creating a New Program
80
Adding a Step
81
Correcting a Step
83
Inserting a Step
84
Deleting a Step
85
Program Utility
86
Copying a Program
86
Deleting a Program
87
Viewing the Program Information
88
Chapter 7 EDITING POINT DATA
89
Manual Data Input
90
Teaching Playback
91
Direct Teaching
93
Manual Control of General-Purpose Output
95
Manual Release of Holding Brake
96
Deleting Point Data
97
Tracing Points (Moving to a Registered Data Point)
98
Chapter 8 ROBOT LANGUAGE
99
Robot Language Table
100
Robot Language Syntax Rules
101
Command Statement Format
101
Variables
102
Program Function
103
Multi-Task Function
103
Robot Language Description
104
Mova
104
Movi
104
Movf
105
Jmp
105
Jmpf
106
Jmpb
107
Call
108
Wait
109
Timr
109
Srvo
111
Stop
111
Orgn
112
Ton
113
Toff
113
Jmpp
114
Mat
115
Msel
116
Movm
117
Jmpc
118
Jmpd
118
Csel
119
Shft
121
Sample Programs
122
Moving between Two Points
122
Moving at an Equal Pitch
122
Positioning 2 Points and Sending Job Commands to a PLC at each Position
123
Robot Stands by at P0, and Moves to P1 and then to P2 to Pick and Place a Workpiece
124
Picking up 3 Kinds of Workpieces Flowing on the Front Conveyor and Placing Them on the Next Conveyors While Sorting
125
Switching the Program from I/O
127
Axis Movement and I/O Multi-Task
129
Turning on General-Purpose Outputs During Robot Movement after a Certain Time Has Elapsed
130
Turning on a General-Purpose Output During Robot Movement When It Has Passed a Specified Position
131
Chapter 9 OPERATING the ROBOT
133
Performing Return-To-Origin
134
Using Step Operation
136
Using Automatic Operation
139
Switching the Execution Program
141
Emergency Stop Function
142
Initiating an Emergency Stop
142
Recovering from an Emergency Stop
142
Displaying the Memory I/O Status
144
Displaying the Variables
145
Chapter 10 OTHER OPERATIONS
147
Initialization
148
DIO Monitor Display
150
Display from the Monitor Menu
150
Display from the DIO Key Operation
151
System Information Display
151
SERVICE Mode Function
152
Safety Settings for SERVICE Mode
153
Enabling/Disabling the SERVICE Mode Function
155
Setting the SERVICE Mode Functions
157
System Utilities
159
Viewing Hidden Parameters
159
Using a Memory Card
160
Saving Controller Data to a Memory Card
160
Loading Data from a Memory Card
162
Formatting a Memory Card
164
Viewing the ID Number for Memory Card Data
165
Duty (Load Factor) Monitor
166
Measuring the Duty (Load Factor)
168
Using the Internal Flash ROM
169
Saving the Parameter Data Onto the Flash ROM
170
Manually Loading the Data from Flash ROM
172
Initializing the Flash ROM Data
174
Chapter 11 COMMUNICATION with PC
177
Communication Parameter Specifications
178
Communication Cable Specifications
179
Connecting to the Computer with a 25-Pin D-Sub Connector
179
Connecting to the Computer with a 9-Pin D-Sub Connector
179
Communication Command Specifications
180
Communication Command List
181
Communication Command Description
184
Robot Movements
184
Data Handling
193
Utilities
205
Chapter 12 MESSAGE TABLES
209
Error Messages
210
Error Message Specifications
210
Command Error Message
210
Operation Error Message
211
Program Error Message
212
System Error Message
213
Multi-Task Error Message
213
TPB Error Messages
214
Stop Messages
215
Message Specifications
215
Displaying the Error History
216
Chapter 13 TROUBLESHOOTING
219
If a Trouble Occurs
220
Alarm and Countermeasures
221
Alarm Specifications
221
Alarm Message List
222
Troubleshooting for Specific Symptom
225
Relating to the Robot Movement
225
Relating to the I/O
227
Other
228
Displaying the Alarm History
229
Chapter 14 MAINTENANCE and WARRANTY
231
Warranty
232
Warranty Description
232
Warranty Period
232
Exceptions to the Warranty
232
Replacing the System Backup Battery
233
Updating the System
234
Chapter 15 SPECIFICATIONS
235
SRCP Sereis
236
Basic Specifications
236
Robot Number List
237
LED Display
237
Tpb
238
Basic Specifications
238
Regenerative Unit (RGU-2)
239
Basic Specifications
239
Dimensions
239
Chapter 16 APPENDIX
241
How to Handle Options
242
Memory Card
242
POPCOM Communication Cable
244
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Yamaha SRCP Specifications
General
Brand
Yamaha
Model
SRCP
Category
Controller
Language
English
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