Yamaha DRCX User Manual
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Yamaha DRCX User Manual

2-axis robot controller
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Summary of Contents for Yamaha DRCX

  • Page 1 (217) 352-9330 | Click HERE Find the Yamaha Robotics DRCX2005 at our website:...
  • Page 2 YAMAHA 2-AXIS ROBOT CONTROLLER DRCX User’s Manual ENGLISH E67-Ver. 5.04 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 4: Table Of Contents

    Installing current control switches ........................ 2-5 2-2-6 Insulation resistance and voltage breakdown tests ..................2-5 Grounding ..........................2-6 Connecting the DRCX to the Control Unit ................2-6 Connecting to the Robot ......................2-7 2-5-1 Robot I/O connector and signal table ......................2-7 2-5-2 Motor connector and signal table ........................
  • Page 5 Chapter 4 BASIC OPERATION OF THE TPB ................. 4-1 Connecting and Disconnecting the TPB ................. 4-2 4-1-1 Connecting the TPB to the DRCX controller ....................4-2 4-1-2 Disconnecting the TPB from the DRCX controller ..................4-3 Basic Key Operation ......................4-4 Reading the Screen ........................
  • Page 6 Robot Language Description ....................8-8 8-4-1 MOVA ................................8-8 8-4-2 MOVI ................................8-8 8-4-3 MOVF ................................8-9 8-4-4 JMP ................................8-9 8-4-5 JMPF ................................8-10 8-4-6 JMPB ................................8-11 8-4-7 L .................................. 8-11 8-4-8 CALL ................................8-12 8-4-9 DO ................................8-12 8-4-10 WAIT ................................
  • Page 7 Chapter 9 OPERATING THE ROBOT ..................9-1 Performing Return-to-Origin ....................9-2 9-1-1 Return-to-origin by the search method ......................9-2 9-1-2 Return-to-origin by the mark method ......................9-4 Using Step Operation ......................9-6 Using Automatic Operation ....................9-9 Switching the Execution Program ..................9-11 Emergency Stop Function .....................
  • Page 8 14-2 Replacing the System Backup Battery .................. 14-3 14-3 Replacing the Absolute Battery .................... 14-3 14-4 Updating the System ......................14-4 Chapter 15 SPECIFICATIONS ....................15-1 15-1 DRCX sereis ......................... 15-2 15-1-1 Basic specifications ............................. 15-2 15-1-2 Robot number list ............................15-3 15-1-3 LED display ..............................15-4 15-1-4 Absolute Battery Unit ..........................
  • Page 9 MEMO Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 10: Chapter 1 Overview

    This first chapter explains basic information you should know before using the DRCX 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.

  • Page 11: Features Of The Drcx Series Controller

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

  • Page 12: Setting Up For Operation

    1-2 Setting Up for Operation 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 proce- dures, and allow first time users to proceed one step at a time.

  • Page 13: External View And Part Names

    1-3 External View and Part Names External View and Part Names This section explains part names of the DRCX controller and TPB along with their functions. Note that the external view and specifications are subject to change without prior notice to the user.
  • Page 14 1-3 External View and Part Names Fig. 1-1 Exterior of the DRCX controller Fig. 1-2 Three-side view of the DRCX controller Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 15: Tpb

    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 DRCX controller. 5. DC Power Input Terminal Not used.

  • Page 16: System Configuration

    1-4 System Configuration System Configuration 1-4-1 System configuration The DRCX series dual-axis 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 TPB programming box IC memory card...

  • Page 17: Accessories And Options

    The following options are available for the DRCX controller: 1. TPB This is a hand-held programming box that connects to the DRCX controller for teaching point data, editing robot programs and operating the robot. The TPB allows interactive user opera- tion by simple menus so that even first-time users can easily operate the robot with the TPB.

  • Page 18: Chapter 2 Installation And Connection

    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. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 19: Installing The Drcx 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 DRCX controller.) 2-1-2 Installation location ■ 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.

  • Page 20: Connecting The Power Supply

    Connecting the Power Supply 2-2-1 Power supply Type and Item Power supply voltage No. of phases Frequency Max. power consumption AC100 to 115/200 to 230V ±10% DRCX-0505 Single-phase 50/60Hz 500VA or less AC100 to 115/200 to 230V ±10% DRCX-0510 Single-phase 50/60Hz 700VA or less AC100 to 115/200 to 230V ±10%...

  • Page 21: Connecting The Power Supply

    CAUTION The DRCX series controller does not have a power switch. Be sure to provide a power supply breaker (insula- tion) of the correct specifications that will turn the power on or off to the entire system including the robot controller.

  • Page 22: Installing A Circuit Protector

    An inrush current, which might be from several to nearly 20 times higher than the rated current, flows at the instant that the DRCX 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.

  • Page 23: Grounding

    The DRCX 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 DRCX controller. (Refer to "4-1-1 Connecting the TPB to the DRCX controller".) When using a PC, plug the RS-232C interface cable connector (25 pins) into the TPB connector of the DRCX controller.

  • Page 24: Connecting To The Robot

    2-5 Connecting to the Robot Connecting to the Robot First make sure that the power to the DRCX 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 DRCX controller.

  • Page 25: Connecting To The I/O Connector

    2-6 Connecting to the I/O Connector Connecting to the I/O Connector The I/O connector is used for connecting the DRCX controller to external equipment such as a PLC. When using external equipment for I/O control, connect the writing to the I/O connector supplied as an accessory and then plug it into the I/O connector on the DRCX controller.

  • Page 26: 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 DRCX controller to the regenerative unit. Fig. 2-2 Connection of the DRCX controller to a regenerative unit Use the interconnection cable to make connections.

  • Page 27: Connecting The Absolute Battery

    2-8 Connecting the Absolute Battery Connecting the Absolute Battery Two absolute batteries are supplied with the controller. These two batteries are identical and should be connected to the controller. Data backup is possible with only one battery, but the data backup time will be one-half.

  • Page 28: Chapter 3 I/O Interface

    This I/O interface can also directly connect to and control actuators such as valves and sensors. To construct a system utilizing the features of the DRCX series, you must understand the signals assigned to each terminal on the I/O connector and how they work. This chapter covers this fundamental information.

  • Page 29: I/O Signals

    3-1 I/O Signals I/O Signals The standard I/O connector of the DRCX controller has 48 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.

  • Page 30: Input Signal Description

    3-2-1 Dedicated command input The dedicated command input is used to control the DRCX controller from a PLC or other external equipment. To accept this input, the READY, BUSY and LOCK signals must be set as follows.
  • Page 31 3-2 Input Signal Description ■ Absolute point movement command (ABS-PT) This command moves the robot to an absolute position of a point number specified by DI0 to DI9 along an axis coordinate whose origin is defined as 0, at a speed selected by DI10 or DI11. (See "3-2-2 General-purpose input (DI0 to DI15)").
  • Page 32 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 DRCX controller from the memory card. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 33: General-Purpose Input (Di0 To Di15)

    3-2 Input Signal Description 3-2-2 General-purpose input (DI0 to DI15) 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 con- nected to a PLC output circuit.

  • Page 34: Service Mode Input (Svce)

    (SERVO). The servo will turn on to enable robot operation. The TPB or PC can also be used to reset emergency stop when the DRCX controller is connected to the TPB or PC.

  • Page 35: Output Signal Description

    BUSY signal cannot turn off even after the command execution is complete. As long as the BUSY signal is on, the DRCX controller will not accept other dedicated command inputs or commands from the TPB or PC. Avoid operating the TPB while the DRCX controller is being operated through the I/O interface.

  • Page 36: General-Purpose Output (Do0 To Do12)

    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 DRCX controller is turned on or the program is reset.

  • Page 37: I/O Circuit And Connection Example

    When using a 2-wire type proximity sensor as an input signal, the residual voltage during on/off might exceed the input range for the DRCX controller depending on the sensor type. Using such a sensor will cause erroneous operation. Always check that the sensor meets the input signal specifications.
  • Page 38 3-4 I/O Circuits When external 24V power supply is used. Photocoupler Push-button Input signal NPN transistor Incandescent lamp Output signal Solenoid valve Internal DC24V power supply +IN COM External DC24V Controller side power supply CAUTION To prevent possible accidents when using an external 24V power supply, do not use it simultaneously with the internal power supply.

  • Page 39: I/O Connection Diagram

    3-5 I/O Connection Diagram I/O Connection Diagram 3-5-1 General connections for internal 24V power supply General connections for internal 24V power supply Emergency stop switch EMG1 EMG2 DC24V A14,B14 +24V A13,B13 +IN COM A15,B15 LOCK ORG-S RESET AUTO-R STEP-R ABS-PT INC-PT SERVO DI 0...

  • Page 40: Connection To Plc Output Unit Using External 24V Power Supply

    3-5 I/O Connection Diagram 3-5-2 Connection to PLC output unit using external 24V power supply Connection to the Mitsubishi © PLC AY51 output unit AY51 type output unit DRCX series controller TB 1 DI 0 DI 1 DI 2 DI 3...

  • Page 41: Connection To Plc Input Unit Using External 24V Power Supply

    3-5 I/O Connection Diagram 3-5-3 Connection to PLC input unit using external 24V power supply Connection to the Mitsubishi © PLC AX41 input unit AX41 type input unit DRCX series controller TB 1 READY BUSY DO 0 Internal DO 1...

  • Page 42: I/O Control Timing Charts

    When an alarm is issued: Power supply READY ■ The DRCX 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 DRCX controller starts with the READY signal and also the servo turned on.

  • Page 43: When Executing A Dedicated Input Command

    3-6 I/O Control Timing Charts 3-6-2 When executing a dedicated input command ■ The BUSY output signal turns on when a dedicated command is received. Whether the re- ceived command has ended normally can be checked with the END output signal status at the point that the BUSY signal turns off.
  • Page 44 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.) •...
  • Page 45 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.
  • Page 46 3-6 I/O Control Timing Charts (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. •...

  • Page 47: When Interlock Signal Is Input

    3-6 I/O Control Timing Charts 3-6-3 When interlock signal is input Interlock LOCK Dedicated command BUSY 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. Artisan Technology Group - Quality Instrumentation ...

  • Page 48: When Emergency Stop Is Input

    3-6 I/O Control Timing Charts 3-6-4 When emergency stop is input Emergency stop Dedicated command BUSY 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.

  • Page 49: When Executing A Point Movement Command

    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. When specifying the robot axis, the axis selection data must be input.

  • Page 50: I/O Assignment Change Function

    The function assigned to each I/O signal can be changed with PRM26 (I/O assignment selection parameter) setting. Refer to the table on next page when you want to change the I/O assignment. After changing the I/O assignment, the DRCX controller must be restarted to enable the changes. NOTE The I/O assignment change function is available on controllers whose version is 18.57 or later.
  • Page 51 3-7 I/O Assignment Change Function I/O assignment list Type 0 Type 2 Type 3 (Conven- Type Type 1 (Point number output type) (Point teaching type) tional type) Point Point Teaching Teaching trace trace mode mode mode mode PRM26 − Setting xx20 * xx21 * xx30 *...

  • Page 52: I/O Signal Descripion

    3-7 I/O Assignment Change Function 3-7-2 I/O signal descripion The meaning of each signal is explained below. ■ Point number designation inputs 0 to 5 (PI0 to PI5) These inputs designate the point number of the target position where the robot moves with a point movement command (ABS-PT, INC-PT).
  • Page 53 3-7 I/O Assignment Change Function ■ Jog movement (- direction) command (JOG-) Moves the robot in jog mode along the - (minus) direction. The robot moves in jog mode along the - (minus) direction as long as this signal is on. The movement speed is 100mm/sec.
  • Page 54 3-7 I/O Assignment Change Function ■ Target position's point number outputs 0 to 5 (PO0 to PO5) These are the output signals for the point movement command (ABS-PT, INC-PT) target position point numbers, and for the point numbers corresponding to the point zone output and movement point zone output functions.
  • Page 55 3-7 I/O Assignment Change Function CAUTION When using PO as an output signal that indicates the target position's point number for point movement commands (ABS-PT, INC-PT): • If moving the robot to point 0 with at the first point movement command which is executed after turning the controller on, all the PO0 to PO5 signals still remain off (because P0 = 000000 ) even after the (binary)

  • Page 56: Timing Chart

    DRCX controller might misrecognize the data. (3) Turn on the JOG+ (or JOG-) input signal while the CHG signal is on. (4) The END signal turns off and the BUSY signal turns on, indicating that the DRCX received the jog movement command.
  • Page 57 If this input status is changed, the DRCX might misrecognize the data. (2) After 30ms or more has elapsed, turn on the PSET. (3) The END signal turns off and the BUSY signal turns on, indicating that the DRCX received the point data write command.
  • Page 58 DRCX controller might misrecognize the data. (2) Turn on the ABS-PT (or INC-PT). (3) The END signal turns off and the BUSY signal turns on, indicating that the DRCX received the point movement command. (4) Turn off the ABS-PT (or INC-PT).
  • Page 59 3-7 I/O Assignment Change Function CAUTION • If moving the robot to point 0 with a point movement command that is first executed after turning on the controller, all of PO0 to PO5 still remain off (because P0 = 000000 ) even after the robot has moved to (binary) point 0.
  • Page 60 DRCX controller might misrecognize the data. (2) Turn on the ABS-PT (or INC-PT). (3) The END signal turns off and the BUSY signal turns on, indicating that the DRCX received the point movement command. (4) When the BUSY signal turns on in step (3), the target position's point number is output from the specified point number (PO0 to PO5).
  • Page 61 3-7 I/O Assignment Change Function CAUTION • If moving the robot to point 0 by specifying it with a point movement command that is first executed after turning on the controller, all of PO0 to PO5 still remain off (because P0 = 000000 ) even after the robot (binary) has moved to point 0.
  • Page 62 3-7 I/O Assignment Change Function (3) Outputting the corresponding point number by the point zone output function Zone outputs (ZONE 0, ZONE 1) are also explained here. m-No. is output as binary value n-No. is output as binary value Target position's point number outputs 0 to 3* (PO0 to PO3) Point output...
  • Page 63 3-7 I/O Assignment Change Function NOTE • When using an optional unit such as a CC-Link, the corresponding point number for the point zone output function is output to both the corresponding parallel I/O (PO0 to PO5) and the serial I/O (PO200 to PO205). •...
  • Page 64 3-7 I/O Assignment Change Function (4) Outputting the corresponding point number by the movement point zone output function Zone outputs (ZONE 0) are also explained here. Target position's point number outputs 0 to 3* (PO0 to PO3) Point output Point output (point 6) (point 6) Zone output 0 (ZONE 0)
  • Page 65 3-7 I/O Assignment Change Function NOTE • The movement point zone output function is supported only in Ver. 18.64 and later versions. • When using an optional unit such as CC-Link, the corresponding point number for the movement point zone output function is output to the corresponding parallel I/O (PO0 to PO5) and the serial I/O (PO200 to PO205).

  • Page 66: Chapter 4 Basic Operation Of The Tpb

    Chapter 4 BASIC OPERATION OF THE TPB The TPB is a hand-held, pendant-type programming box that connects to the DRCX 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.

  • Page 67: Connecting And Disconnecting The Tpb

    4-1-1 Connecting the TPB to the DRCX controller CAUTION Do not modify the TPB cable or use any type of relay unit for connecting the TPB to the DRCX controller. Doing so might cause communication errors or malfunctions. ■ When the power supply to the controller is turned off...

  • Page 68: Disconnecting The Tpb From The Drcx Controller

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

  • Page 69: Basic Key Operation

    4-2 Basic Key Operation Basic Key Operation 1) Selectable menu items are displayed on the 4th line (bottom line) of the TPB screen. [MENU] Example A is the initial screen that allows you select menu to select the following modes. 1 EDIT 1EDIT2OPRT3SYS 4MON 2 OPRT...

  • Page 70: Reading The Screen

    4-3 Reading the Screen 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 [STEP] 100% 062:MOVA 200,100...

  • Page 71: Point Edit Screen (Teaching Playback)

    4-3 Reading the Screen 4-3-3 Point edit screen (teaching playback) [EDIT-PNT-TCH](1)100 P255 X=123.45 [mm] 0.00, 0.00] 1CHG 2DO 4next 1. Current mode 2. Speed selection number 3. Speed parameter (%) 4. Edit point number 5. Current position (left : X-axis, right : Y-axis) 4-3-4 DIO monitor screen DI 10000000 00000000 10000000...

  • Page 72: Hierarchical Menu Structure

    4-4 Hierarchical Menu Structure Hierarchical Menu Structure INFORMATION MOD (Step Edit) (System information) INS (Step Insert) DEL (Step Delete) CHG (Program Change) CHG (Point Change) (Program Edit) PLT (Pallet Number Change) MDI (Manual Data Input) CHG (Point Change) DO (General-purpose Output Control) Y (Y-axis)/X (X-axis) SPD (Speed Change) EDIT...

  • Page 73: Restricting Key Operation By Access Level

    4-5 Restricting Key Operation by Access Level 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.

  • Page 74: Changing An Access Level

    Level Description All operations are permitted. Loading the parameters and all data to the DRCX is prohibited. (Point data or program data can be loaded.) Loading any data to the DRCX is prohibited. (Data can be saved and the memory card formatted.) Use of memory card is prohibited.
  • Page 75 PGM invalid NOTE The password is identical to the DRCX controller's version number. For example, if the controller version is 18.11, enter 18.11 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.

  • Page 76: Chapter 5 Parameters

    The DRCX controller uses a software servo system, so no adjustment of hardware components such as potentiometers or DIP switches are required. Instead, the DRCX controller uses parameters that can be easily set or changed by the TPB or PC (personal computer).

  • Page 77: Setting The Parameters

    5-1 Setting the Parameters Setting the Parameters 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON [SYS] 2) Next, press (PRM). select menu 1PRM 2B.UP3INIT 3) When editing the common parameters, press [SYS-PRM] (COM). select menu 1COM 2X 4) The current PRM0 (number of conditional in- [SYS-PRM-COM] put points) setting appears on the screen.

  • Page 78: Parameter Description

    5-2 Parameter Description Parameter Description Three types of parameters are described below: common parameters, X-axis parameters and Y-axis parameters. 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.
  • Page 79 5-2 Parameter Description PRM1: 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.
  • Page 80 5-2 Parameter Description PRM3: Return-to-origin order This parameter determines the order of the axes when returning to origin. Input range: 0 to 2 0: X →Y Meaning: 1: Y →X 2: XY simultaneous Default: Depends on robot type. CAUTION When the stroke end detection method (PRM55=1, PRM95=1) is selected for the 2 axes as the origin detection method, do not set this parameter to 2 (XY simultaneous).
  • Page 81 5-2 Parameter Description PRM6: I/O point movement command speed 2 This parameter specifies the movement speed (%) at which the robot moves when a point movement command (ABS-PT, INC-PT) is executed. When "type 3" (point teaching type) is selected by the I/O assignment setting, this param- eter specifies the jog speed at which the robot moves at a jog movement command (JOG+, JOG-).
  • Page 82 5-2 Parameter Description PRM8: English/Japanese selection This parameter sets the language for the response messages displayed on the TPB or han- dled by RS-232C communications. Input range: 0 or 1 Meaning: 0: English 1: Japanese Default value: 0 PRM9: 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.
  • Page 83 5-2 Parameter Description PRM11: Not used Default value: 1 PRM12: Teaching movement data This parameter is used to move the robot with a communication command @X+, @XINC, @Y+ or @YINC. Input range: 1 to 100 (%) Default value: 100 PRM13: Teaching movement data 1 (for TPB) This parameter is used only by the TPB and is unavailable to users.
  • Page 84 This is a read-only parameter. PRM20: System mode selection This parameter specifies the system operation mode. When you want to use the DRCX controller in operating specifications that differ from normal mode, for example, to make it compatible with the conventional controllers, change this parameter as explained below.
  • Page 85 5-2 Parameter Description 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 emer- gency stop is released. In the SRCA compatible mode the READY signal turns on when the servo is turned on.
  • Page 86 5-2 Parameter Description PRM22: 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 PRM23: Lead program number (Available with Ver. 18.50 or later) 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.
  • Page 87 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 re- sult is output to the specified port. Point numbers and output port that can be used for each zone output are listed below.
  • Page 88 If set to 10, this is handled as a "0" (type 0). Moreover, if Type 2 (point signal output type) or Type 3 (point teaching type) is selected in DRCX versions prior to Ver. 18.64, with the point output selection specified as "3", this is processed as a "0" (Type 0) setting.
  • Page 89 5-2 Parameter Description I/O assignment list Type 0 Type 2 Type 3 (Conven- Type Type 1 (Point number output type) (Point teaching type) tional type) Point Point Teaching Teaching trace trace mode mode mode mode PRM26 − Setting xx20 * xx21 * xx30 * xx31 *...

  • Page 90: X-Axis Parameters

    * PRM50 can be specified only when the robot setting is for multiple FLIP-X. When specifying the payload of a dual axis robot, do not use this parameter but use PRM90. * This parameter is set to X-axis maximum payload when the DRCX controller is shipped from factory (in case of Multi-Flip specifications).
  • Page 91 5-2 Parameter Description PRM52: Return-to-origin direction This parameter sets the return-to-origin direction. Return-to-origin is usually performed toward the motor side when this parameter is set to 0, and toward the non-motor side when set to 1. However, this direction may be reversed depending on the robot variations (such as bent model and vertical type model).
  • Page 92 5-2 Parameter Description PRM55: Origin detection method This parameter is used to select the origin (reference point) detection method. There are two methods for detecting the origin: search method and mark method. The search method is further divided into the origin sensor method and stroke-end detection method.
  • Page 93 5-2 Parameter Description PRM58: Auxiliary axis stroke Default value: Depends on robot type. PRM59: No. of encoder pulses (4✕ mode) This parameter sets the number of signal pulses (resolver resolution) per one turn of the motor. Default value: 16384 (pulse/rev.) PRM60: Lead length This parameter sets the robot lead length (distance the robot moves while the motor makes one turn).
  • Page 94 5-2 Parameter Description PRM66: Speed integration gain This sets the speed control gain. Typically, PRM65 and PRM66 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.
  • Page 95 5-2 Parameter Description PRM73: Origin search data This specifies the performance data for detecting the origin position during return-to-ori- gin by the origin search method. Default value: Depends on robot type. PRM74: Open-circuit fault detection level This parameter sets the sensitivity for detecting an open-circuit fault. The upper limit of this parameter is 254.
  • Page 96 5-2 Parameter Description PRM81: Deceleration (Available with Ver. 18.25 or later) 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.

  • Page 97: Y-Axis Parameters

    5-2 Parameter Description 5-2-3 Y-axis parameters PRM88: (+) soft limit The + side robot movement range is set. Set a suitable value for safety purposes. Input range: -9999 to 9999 (mm) or -360 to 360 (°) Default value: Depends on robot type. CAUTION The soft limit will not work unless return-to-origin has been completed.
  • Page 98 5-2 Parameter Description PRM92: Return-to-origin direction This parameter sets the return-to-origin direction. Return-to-origin is usually performed toward the motor side when this parameter is set to 0, and toward the non-motor side when set to 1. However, this direction may be reversed depending on the robot variations (such as bent model and vertical type model).
  • Page 99 5-2 Parameter Description PRM95: Origin detection method This parameter is used to select the origin (reference point) detection method. There are two methods for detecting the origin: search method and mark method. The search method is further divided into the origin sensor method and stroke-end detection method.
  • Page 100 5-2 Parameter Description PRM98: Auxiliary axis stroke Default value: Depends on robot type. PRM99: No. of encoder pulses (4✕ mode) This parameter sets the number of signal pulses (resolver resolution) per one turn of the motor. Default value: 16384 (pulse/rev.) PRM100:Lead length This parameter sets the robot lead length (distance the robot moves while the motor makes one turn).
  • Page 101 5-2 Parameter Description PRM106:Speed integration gain This sets the speed control gain. Typically, PRM105 and PRM106 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.
  • Page 102 5-2 Parameter Description PRM113:Origin search data This specifies the performance data for detecting the origin position during return-to-ori- gin by the origin search method.. Default value: Depends on robot type. PRM114:Open-circuit fault detection level This parameter sets the sensitivity for detecting an open-circuit fault. The upper limit of this parameter is 254.
  • Page 103 5-2 Parameter Description PRM121:Deceleration (Available with Ver. 18.25 or later) 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.

  • Page 104: Chapter 6 Programming

    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. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 105: Basic Contents

    Basic Contents 6-1-1 Robot language and point data The DRCX 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.

  • Page 106: Editing Programs

    6-2 Editing Programs 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"...

  • Page 107: Creating Programs After Initialization

    6-2 Editing Programs 6-2-1 Creating programs after initialization 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PGM). [EDIT] select menu 1PGM 2PNT 3UTL 3) Since no program is registered after initializa- [EDIT] tion, an error message appears on the screen, indicating that no program exists.
  • Page 108 6-2 Editing Programs 7) After selecting the robot language command, enter the operand data. [EDIT-PGM] No 0 When you press , the cursor moves to op- 001:MOVA 0 ,100 erand 1, so enter the data with the number keys. (Do not press at this point.) (point No)0→999 While pressing...

  • Page 109: Creating A New Program

    6-2 Editing Programs 6-2-2 Creating a new program 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PGM). [EDIT] select menu 1PGM 2PNT 3UTL 3) The execution program number and step are [EDIT-PGM] No10 displayed on the screen.

  • Page 110: Adding A Step

    6-2 Editing Programs 6-2-3 Adding a step 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PGM). [EDIT] select menu 1PGM 2PNT 3UTL 3) The execution program number and step are [EDIT-PGM] No10 displayed on the screen. Press (CHG) here.
  • Page 111 6-2 Editing Programs 7) Select or a robot language com- [EDIT-PGM] No10 mand shown on the lower part of each number key. 051:_ To change the robot language menu display, press (next). To go back to the previous menu display, press the key.

  • Page 112: Correcting A Step

    6-2 Editing Programs 6-2-4 Correcting 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 cor- [EDIT-PGM] rect with the number keys and press No = 10 STEP No = _ (REG.steps) 50...

  • Page 113: Inserting A Step

    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] No = 10 STEP No = _...

  • Page 114: Deleting A Step

    6-2 Editing Programs 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 [EDIT-PGM] with the number keys and press No = 10 STEP No = _ (REG steps) 50 3) Press...

  • Page 115: Program Utility

    6-3 Program Utility Program Utility 6-3-1 Copying a program 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (UTL). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press (COPY). [EDIT-UTL] select menu 1COPY2DEL 3LIST 4) Enter the program number you want to copy [EDIT-UTL-COPY] from with the number keys, and then press Copy from No = _...

  • Page 116: Deleting A Program

    6-3 Program Utility 6) If program data is already registered with the [EDIT-UTL-COPY] selected program number, a confirmation mes- sage appears. Copy from No = 0 To overwrite the program, press (yes). No99 overwrite OK ? To cancel, press (no). 1yes 2no 7) When the program has been copied, the screen [EDIT-UTL]...

  • Page 117: Viewing The Program Information

    6-3 Program Utility 6-3-3 Viewing the program information 1) Use the same procedure up to 2 in "6-3-1 Copy- ing a program". 2) Press (LIST). [EDIT-UTL] select menu 1COPY2DEL 3LIST 3) The program numbers are displayed on the [EDIT-UTL-LIST] screen, along with the number of registered steps and the number of available remaining free 678 steps...

  • Page 118: Chapter 7 Editing Point Data

    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.

  • Page 119: Manual Data Input

    7-1 Manual Data Input Manual Data Input 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PNT). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press (MDI). [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL 4) The currently selected X-axis point data in the [EDIT-PNT-MDI] execution program is displayed on the screen.

  • Page 120: Teaching Playback

    7-2 Teaching Playback Teaching Playback 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PNT). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press (TCH). [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL 4) The currently selected point data in the execu- [EDIT-PNT-TCH](1) 50 tion program appears on the screen.
  • Page 121 7-2 Teaching Playback 6) Move the robot to the teaching position. Each [EDIT-PNT-TCH](1) 50 time the key is pressed, the robot – moves a certain amount in X-axis direction and X=0.00 [mm] then stops. 0.00, 0.00] Holding down the – key moves the robot continuously in the X-axis direction at a 1CHG 2DO...

  • Page 122: Direct Teaching

    7-3 Direct Teaching Direct Teaching 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PNT). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press (DTCH). [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL 4) Following the message, press the emergency [EDIT-PNT-DTCH] stop button on the TPB.
  • Page 123 7-3 Direct Teaching 7) Move the robot to the teaching position by hand. [EDIT-PNT-DTCH] To check the point data which is already regis- tered, press (X (Y)) and change the axis P500 X=19.27 [mm] for point data display. 0.00, 0.00] 1CHG 2DO 4next 8) Move the robot to the teaching position in this...

  • Page 124: Manual Control Of General-Purpose Output

    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 DRCX controller is designed to allow manual control of general-purpose outputs from the TPB.

  • Page 125: Manual Release Of Holding Brake

    7-5 Manual Release of Holding Brake 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".

  • Page 126: Deleting Point Data

    7-6 Deleting Point Data Deleting Point Data 1) Use the same procedure up to step 2 in "7-1 Manual Data Input". 2) Press (DEL). [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL 3) Enter the point number at the start to delete [EDIT-PNT-DEL] point data with the number keys and press DEL range P_...

  • Page 127: Editing The Pallet Data

    7-7 Editing the Pallet Data Editing the Pallet Data A matrix coordinates definition of a palletizing program is used for editing. When a pallet number of the matrix is input, points are switched automatically. This function is convenient for editing pallet data.

  • Page 128: Tracing Points (Moving To A Registered Data Point)

    7-8 Tracing Points (Moving to a registered data point) 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".
  • Page 129 MEMO Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 130: Chapter 8 Robot Language

    This chapter explains the robot language. It describes what kind of commands are available and what they mean. The DRCX 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.

  • Page 131: Robot Language Table

    8-1 Robot Language Table Robot Language Table Instruction Description and Format Moves to point data position. MOVA 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 MOVF <point number>, <DI number>, <DI status>...

  • Page 132: Robot Language Syntax Rules

    Robot Language Syntax Rules 8-2-1 Command statement format The robot language command statement format for the DRCX controller is as follows. When creat- ing a program using the TPB, each command statement can be automatically entered in this format, so you do not have to be aware of this format while creating the program.

  • Page 133: Variables

    8-2 Robot Language Syntax Rules 8-2-2 Variables Variable are used in a program to hold data. The following variables can be used with the DRCX controller. ■ Point variable P A point variable can contain a point number. It is used in movement commands such as MOVA and MOVI statements instead of specifying the point number directly.

  • Page 134: Program Function

    Strictly speaking, if the CPU is one unit, it executes two or more programs (tasks) while switching between them in an extremely short time almost as if they were being simultaneously executed. The DRCX controller uses this multi-task function to perform multiple tasks while switching the programs within a very short time (5ms maximum).

  • Page 135: Limitless Movement Function

    The limitless movement function allows multiple turns in the same direction along the robot axis. The DRCX controller incorporates the soft limit function that prohibits any robot motion which exceeds the soft limits specified by the parameters. This soft limit function is very useful for linear movement type robots such as FLIP-X series.
  • Page 136 8-3 Program Function ■ When the position data unit parameter is set to 3: When this parameter is set to 3, the current position is expressed in degrees (°) from 0 to 359.99 as a basic cycle. Therefore, even if the robot moves to the 360° point, that position sets to 0° (=360°) so that the robot can rotate continuously in the same direction.

  • Page 137: Robot Language Description

    8-4 Robot Language Description Robot Language Description 8-4-1 MOVA Function: Moves to a point specified by a point number (Moves to an absolute position relative to the origin point). Format: MOVA <point number>, <maximum speed> Example: MOVA 51, 80 Moves to P51 at speed 80. Explanation: This command moves the robot to a position on the absolute coordinates whose origin position is defined as 0.

  • Page 138: Movf

    8-4 Robot Language Description 8-4-3 MOVF Function: Moves until a specified DI number input is received. Format: MOVF <point number> <DI number> <DI status> Example: MOVF 1, 2, 1 The robot moves toward P1 and stops when DI2 turns on. Program ex- ecution then proceeds to the next step.

  • Page 139: Jmpf

    8-4 Robot Language Description 8-4-5 JMPF Function: If the conditional jump input matches the setting value, program execu- tion jumps to a specified label in a specified program. Format: JMPF <label number>, <program number>, <input condition value> Example: JMPF 12, 3, 5 If the conditional jump input is 5, program execution jumps to label 12 in program 3.

  • Page 140: Jmpb

    8-4 Robot Language Description 8-4-6 JMPB Function: Jumps to a specified label when a specified general-purpose input or memory input is ON or OFF. Format: JMPB <label number>, <DI or MI number>, <input status> Example: JMPB 12, 8, 1 Jumps to label 12 when DI8 input is ON. If DI8 is OFF, the program execution proceeds to the next step.

  • Page 141: Call

    8-4 Robot Language Description 8-4-8 CALL Function: Calls and executes another program. Format: CALL <program number>, <number of times> Example: CALL 5, 2 Calls program 5 and executes it twice. Program execution then proceeds to the next step. Explanation: When repeating the same operation a number of times, the CALL state- ment is used as needed to call and execute the subroutine defined as a separate program.

  • Page 142: Wait

    8-4 Robot Language Description 8-4-10 WAIT Function: Waits until a specified general-purpose input or memory input changes to a specified state. Format: WAIT <DI or MI number>, <input status> Example: WAIT 5, 1 Waits until DI5 turns on. Explanation: This command adjusts the timing according to the general-purpose in- put or memory input state.
  • Page 143 8-4 Robot Language Description 8-4-12 P Function: Sets a point variable P. Format: <point number> Example: Sets a point variable P to 200. Explanation: The point variable can contain a point number as a variable, which can be from 0 to 999. By using a movement command such as MOVA with a P+ or P- statement, the number of steps required to create a repeating program can be reduced.

  • Page 144: Srvo

    8-4 Robot Language Description 8-4-15 SRVO Function: Turns the servo of a specified axis on or off. Format: SRVO <servo status> [,<axis>] Example: SRVO 1, 1 Turns on the servo of X-axis. SRVO Turns off the servo of all axes. Explanation: This command is used to prevent an overload on the motor that may occur if the robot is locked mechanically after positioning is completed.

  • Page 145: Mat

    8-4 Robot Language Description 8-4-17 MAT Function: Defines the number of rows and columns of the matrix. Format: <number of rows>, <number of columns>, <pallet number> Example: 3, 6, 0 Defines a matrix of 3 × 6 on pallet number 0. Explanation: This command defines a matrix for palletizing movement.

  • Page 146: Msel

    8-4 Robot Language Description 8-4-18 MSEL Function: Specifies a matrix where the robot moves with a MOVM statement. Format: MSEL <pallet number> Example: MSEL Points where the robot moves with a MOVM statement are calculated based on matrix data of pallet number 0. Explanation: This command selects a matrix and is always used with a MOVM state- ment as a pair.

  • Page 147: Movm

    8-4 Robot Language Description 8-4-19 MOVM Function: Moves to a point on the specified matrix. Format: MOVM <pallet work position>, <maximum speed> Example: MOVM 23, 100 Moves to the point at row 3, column 7 at speed 100 when a matrix of 5 × 8 is defined by the MAT statement.

  • Page 148: Jmpc

    8-4 Robot Language Description 8-4-20 JMPC Function: Jumps to a specified label when the counter array variable C matches a specified value. Format: JMPC <label number>, <counter value> Example: JMPC 5, 100 Jumps to label 5 when the counter array variable C is 100. Program execution proceeds to the next step except when the counter array vari- able C is 100.

  • Page 149: Csel

    8-4 Robot Language Description 8-4-22 CSEL Function: Specifies an array element of the counter array variable C to be used. Format: CSEL <array element number> Example: CSEL The counter array variable of element number 1 is used in the subse- quent steps.
  • Page 150 8-4 Robot Language Description 8-4-24 C+ Function: Adds a specified value to the counter array variable C. Format: [<addition value>] Example: Adds 100 to the counter array variable C. (C←C+100) Adds 1 to the counter array variable C. (C←C+1) Explanation: This command adds a specified value to the counter array variable C specified with the CSEL statement.
  • Page 151 8-4 Robot Language Description 8-4-27 D+ Function: Adds a specified value to the counter variable D. Format: [<addition value>] Example: Adds 100 to the counter variable D. (D←D+100) Adds 1 to the counter variable D. (D←D+1) Explanation: This command adds a specified value to the counter variable D. The addition value can be set to any value from 1 to 65535.

  • Page 152: Orgn

    8-4 Robot Language Description 8-4-29 ORGN Function: Performs return-to-origin when the search method is selected as the ori- gin detection method, or checks whether return-to-origin has been per- formed when the mark method is selected. Format: ORGN [<axis>] Example: ORGN Returns only the X-axis to its origin position.

  • Page 153: Acha

    8-4 Robot Language Description 8-4-30 ACHA Function: Defines an arch motion by setting a position (absolute position with respect to the origin). Format: ACHA <axis>, <position> Example: ACHA 2, 10 Defines an arch motion in which the robot temporarily moves to a point Y=10.00 before reaching the target position.

  • Page 154: Achi

    8-4 Robot Language Description 8-4-31 ACHI Function: Defines an arch motion by setting an incremental distance (relative position with respect to the current position). Format: ACHI <axis>, <distance> Example: ACHI 2, –100 Defines an arch motion in which the robot temporarily moves a distance equal to Y=-100.00 before reaching the target position.

  • Page 155: Drva

    8-4 Robot Language Description 8-4-32 DRVA Function: Moves a specified axis to a specified point data position (absolute position relative to the origin). Format: DRVA <axis>, <point number>, <maximum speed> Example: DRVA 1, 51, 80 Moves the X-axis to P51 at speed 80. Explanation: This command moves the specified axis to a position on absolute coordinates whose origin is set to 0.

  • Page 156: Drvi

    8-4 Robot Language Description 8-4-33 DRVI Function: Moves a specified axis a distance equal to specified point data from the current position. Format: DRVI <axis>, <point number>, <maximum speed> Example: DRVI 2, 10, 80 Moves the Y-axis a distance equal to point data P10 from the current position at speed 80.

  • Page 157: Shft

    8-4 Robot Language Description 8-4-34 SHFT Function: Shifts the position data. Format: SHFT <point number> Example: SHFT Shifts the coordinates on which the subsequent movement commands are executed, by a data amount defined by point 10. Explanation: This command shifts position data in the subsequent movement com- mands to be executed, by coordinates equal to the specified point data.

  • Page 158: Ton

    8-4 Robot Language Description 8-4-35 TON Function: Executes a specified task. Format: <task number>, <program number>, <start type> Example: 1,2,0 Newly executes program 2 as task 1. Explanation: This command starts multiple tasks and can be used to control the I/O signals in parallel with the axis movement and perform different process- ing for each axis.

  • Page 159: Jmpp

    8-4 Robot Language Description 8-4-37 JMPP Function: Jumps to a specified label when the axis position relation meets the speci- fied conditions. Format: JMPP <label number>, <axis position condition> Example: JMPP 3,21 Jumps to label 3 if the X-axis coordinate is smaller than the point speci- fied with the point variable P but the Y-axis coordinate is larger than it.

  • Page 160: Movl

    8-4 Robot Language Description 8-4-38 MOVL Function: Moves to the position specified by a point number (absolute position with respect to the origin) in a linear interpolation motion. Format: MOVL <point number>,<maximum speed> Example: MOVL 500,100 Moves to P500 at speed 100. Explanation: This command moves the robot on absolute coordinates with the origin set to 0, while controlling the locus of linear interpolation.

  • Page 161: Movc

    8-4 Robot Language Description 8-4-39 MOVC Function: Performs a circular interpolation motion passing through the position specified by a point number. Format: MOVC <point number>,<maximum speed>,<locus type> Example: MOVC 10,100,0 Moves along a circular segment locus determined by the three points of the current position, P10 and P11.

  • Page 162: Sample Programs

    8-5 Sample Programs Sample Programs 8-5-1 Moving between two points Program Comment [NO0] ; Label definition 001: L ; Moves to P1 002: MOVA ; Moves to P2 003: MOVA ; Delays for one second 004: TIMR : Returns to L0 005: JMP 8-5-2 Moving at an equal pitch 50mm...
  • Page 163 8-5 Sample Programs 8-5-3 Positioning 2 points and sending job commands to a PLC at each position Job 1 Job 2 Point Position at which job 1 is complete Position at which job 2 is complete General-purpose input Job 1 completion 1: Complete 0: Not complete Job 2 completion 1: Complete 0: Not complete General-purpose output Job 1 command 1: Output...
  • Page 164 8-5 Sample Programs 8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece Y-axis X-axis Upper end limit switch (DI0) AC servo Air cylinder (DO0) Lower end limit switch (DI1) Air chuck (DO1) Workpiece detection...

  • Page 165: Picking Up Workpieces Flowing On The Front Conveyor And Placing Them Sequentially On The Five Rear Conveyors

    8-5-5 Picking up workpieces flowing on the front conveyor and placing them sequentially on the five rear conveyors Front conveyor Workpiece [TOP VIEW] Rear conveyors YAMAHA 2-axis robot (Y-axis) Upper end limit AC servo Air cylinder switch (DI0) (DO0) Lower end limit...
  • Page 166 8-5 Sample Programs Program Comment [NO1] <<Main routine>> ; Label definition 001: L ; Initializes the point variable 002: P ; Executes a subroutine five times repeatedly 003: CALL ; Returns to L1 004: JMP [NO2] <<Picking up and placing a workpiece>> ;...

  • Page 167: Switching The Program From I/O

    (DI8 and DO0 in this case) one at a time and perform the handshake. This is for synchronizing the DRCX controller program with an external device such as a PLC. If this part is omitted, the wrong program might be selected during program selection with the JMPF statement.
  • Page 168 8-5 Sample Programs Program Comment [NO0] ; Label definition 001: L ; Waits for confirmation ON of the selected program 002: WAIT Handshaking ; Program selection start turns on 003: DO ; Waits for confirmation OFF of the selected program 004: WAIT ;...

  • Page 169: Palletizing For Fixed Point Versus Pallet

    8-5 Sample Programs 8-5-7 Palletizing for fixed point versus pallet With this sample program, the robot picks up a workpiece supplied at P0 and places it sequentially on a 4×5 pallet. Point D (=P254) Point C (=P253) Pick-and-place sequence P0 → point A → ··· → P0 → point B →...

  • Page 170: Palletizing For Pallet Versus Pallet

    8-5 Sample Programs 8-5-8 Palletizing for pallet versus pallet With this sample program, the robot picks up a workpiece from a pallet, places it in the processing position P0, and then picks up and places the processed workpiece on a transport pallet. Point B (=P248) Point D (=P250) Point c (=P253)

  • Page 171: Palletizing For Pallet Versus Pallet, Using A Shift Statement

    8-5 Sample Programs 8-5-9 Palletizing for pallet versus pallet, using a SHIFT statement With this sample program, the robot moves workpieces between two pallets with an equal pitch. ■ Teaching each point of P0, P1 and P251 to P254 should be completed beforehand in PNT (point) mode.

  • Page 172: Palletizing For Special Pallets

    8-5 Sample Programs 8-5-10 Palletizing for special pallets With this sample program, the robot picks up a workpiece supplied at P0 and place it sequentially on a 4×5 pallet. However, the robot does not place a workpiece in the position at row 2 (from bottom), column 3.

  • Page 173: Changing The Placement Sequence For Palletizing

    8-5 Sample Programs 8-5-11 Changing the placement sequence for palletizing With this sample program, the robot picks up a workpiece supplied at P0 and place it sequentially on a 4×5 pallet with the placement sequence shown below. Point D (=P254) Point C (=P253) Place points Pick point...
  • Page 174 8-5 Sample Programs 8-5-12 Picking up workpieces from a 1×3 pallet conveyed by the conveyor and placing them on a 5×4 transfer pallet Point C (=P249) Point D (=P250) Point b (=P252) General-purpose input Point a (=P251) Supply pallet 1:Set 0:NO Transfer pallet 1:Set 0:NO Point A (=P247)
  • Page 175 8-5 Sample Programs Program Comment [NO0] <<Main routine>> ; Defines 1×3 matrix (for supply pallet) 001: MAT ; Defines 5×4 matrix (for transfer pallet) 002: MAT ; Sets counter variable C to 1 003: C ; Sets counter variable D to 1 004: D ;...
  • Page 176 8-5 Sample Programs 8-5-13 Picking up 3 kinds of workpieces conveyed by the conveyor and placing them on the 3×3, 3×4, 4×4 transfer pallets while sorting Point χ Point δ Point C Point D Point c Point d (=P245) (=P246) (=P253) (=P254) (=P249)
  • Page 177 8-5 Sample Programs [NO1] <<Transfer routine for workpiece A>> ; Waits until workpiece A pallet is set 001: WAIT ; Selects matrix 0 002: MSEL ; Selects counter array variable C[0] 003: CSEL ; Moves to workpiece A pallet 004: MOVM ;...
  • Page 178 8-5 Sample Programs 8-5-14 Picking up workpieces from a 6×4 pallet and placing them on two smaller 3×4 pallets. Point D(=P254) Point C (=P253) Point χ Point δ Point c Point d (=P249) (=P250) (=P245) (=P246) Point α Point β Point b Point a (=P248)
  • Page 179 8-5 Sample Programs Program Comment [NO0] ; Defines 6×4 matrix (for supply pallet) 001: MAT ; Defines 3×4 matrix (for small pallet 1) 002: MAT ; Defines 3×4 matrix (for small pallet 2) 003: MAT ; Sets counter variable C to 1 004: C ;...

  • Page 180: Specifying A Position On A Pallet From I/O

    8-5 Sample Programs 8-5-15 Specifying a position on a pallet from I/O With this sample program the robot moves to a position on a 1×26 pallet. The position is specified from I/O. (This program can be applied to more than 256 conditional jumps which are not possible with the JMPF statement.) ■...

  • Page 181: Picking Up A Workpiece At P0 And Placing It At P1

    8-5 Sample Programs 8-5-16 Picking up a workpiece at P0 and placing it at P1 50mm Program Comment [NO0] ; Moves to P0 001:MOVA ; PICK routine call 002:CALL ; Specifies arch motion to move back Y-axis by -50mm 003:ACHI ;...

  • Page 182: Picking Up Workpieces At P0 And Placing Them Sequentially On A 2×4 Pallet

    8-5 Sample Programs 8-5-18 Picking up workpieces at P0 and placing them sequentially on a 2×4 pallet Y=10mm Point C (=P253) Point D (=P254) Point B (=P252) Point A (=P251) ■ Teaching each point of P0 and P251 to P254 should be completed beforehand in PNT (point) mode.

  • Page 183: Axis Movement And I/O Multi-Task

    8-5 Sample Programs 8-5-19 Axis movement and I/O multi-task The robot moves between two points and performs multi-task I/O operation in asynchronous mode. General-purpose input/output Job status detection DO0 Job instruction output Program Comment [NO0] 0 ; Starts program NO1 as task 1 001: TON ;...

  • Page 184: Multi-Robot Operation

    8-5 Sample Programs 8-5-20 Multi-robot operation Two single-axis robots are used to perform multi-task operation in asynchronous mode. X-axis Y-axis ■ Teaching each point of P0 to P2 and P10 to P15 should be completed beforehand in PNT (point) mode. (Y-axis data at P0 to P2 and X-axis data at P10 to P15 can be any value since they are not used.) Program Comment...

  • Page 185: Synchronization In Multi-Robot Operation

    8-5 Sample Programs 8-5-21 Synchronization in multi-robot operation This sample program uses two single-axis robots for multi-task operation. One robot repeatedly moves between two points while the other robot moves at a certain pitch. In this case, each robot simultaneously starts to move from the start positions P0 and P10. X-axis Y-axis Memory input/output...

  • Page 186: Turning On General-Purpose Outputs During Robot Movement After A Certain Time Has Elapsed

    8-5 Sample Programs 8-5-22 Turning ON general-purpose outputs during robot movement after a certain time has elapsed 3 sec. 3 sec. 3 sec. DO0=1 DO1=1 DO2=1 Point Start position Target position Program Comment [NO0] ; Label definition 001: L ; Moves to P0 at speed 100 002: MOVA ;...

  • Page 187: Turning On A General-Purpose Output During Robot Movement When It Has Passed A Specified Position

    8-5 Sample Programs 8-5-23 Turning ON a general-purpose output during robot movement when it has passed a specified position DO0=1 DO0=0 Point Start position Target position Position at DO0=1 Position at DO0=0 ■ When P1 is nearer to the plus side than P0 on both axes: Program Comment [NO0]...

  • Page 188: Sealing

    8-5 Sample Programs 8-5-24 Sealing C area D area B area A area General-purpose output Application 1: Start 0: Stop Program Comment [NO0] ; Moves to start position 001: MOVA ; Starts program NO1 as task 1 002: TON ; Starts moving to P1 003: MOVL ;...

  • Page 189: Limitless Movement At Same Pitch

    8-5 Sample Programs 8-5-25 Limitless movement at same pitch The X-axis can be moved continuously in the same direction at the same pitch (e.g. 150mm) for cycle conveyor applications. 150mm ■ Make the following settings in advance to enable the limitless movement function. •...

  • Page 190: Limitless Rotation

    8-5 Sample Programs 8-5-26 Limitless rotation The Y-axis can be moved continuously in the same direction for index table applications. ■ Make the following setting in advance to enable the limitless movement function. • Set the Y-axis position data unit parameter to 3. ■...

  • Page 191: Picking Up Workpieces Supplied From An Index Table And Placing Them On A Conveyor

    8-5-27 Picking up workpieces supplied from an index table and placing them on a conveyor YAMAHA FROP robot (X-axis) [TOP VIEW] Workpiece Conveyor YAMAHA FLIP robot (Y-axis) [SIDE VIEW] Point (0,0) Workpiece pick point on table AC servo Workpiece place point on conveyor...

  • Page 192: Chapter 9 Operating The Robot

    Chapter 9 OPERATING THE ROBOT This chapter describes how to actually operate the robot. If the program has already been completed, you will be able to operate the robot by the time you finish reading this chapter. There are two types of robot operation: step and automatic. In step operation, the program is executed one step at a time, with a step being carried out each time the RUN key on the TPB is pressed.

  • Page 193: Performing Return-To-Origin

    9-1 Performing Return-to-Origin Performing Return-to-Origin There are two methods for detecting the origin position (reference point): search method and mark method. The search method is further divided into the origin sensor method and stroke-end detection method. In the mark method, you can move the robot to a desired position (mark position) and set it as the particular coordinate position to determine a reference point.
  • Page 194 9-1 Performing Return-to-Origin 5) This screen is displayed during return-to-ori- [OPRT-ORG-SEARCH] gin. Pressing during the operation brings STOP the robot to a halt and displays a message. Then, searching ··· pressing the key returns to the screen of step 2. 6) When return-to-origin is completed normally, [OPRT-ORG-SEARCH] the machine reference appears on the lower...

  • Page 195: Return-To-Origin By The Mark Method

    9-1 Performing Return-to-Origin 9-1-2 Return-to-origin by the mark method When the mark method is selected as the origin detection method (PRM55 and PRM95 are set to 2), perform return-to-origin with the procedure below. 1) Press (OPRT) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON...
  • Page 196 9-1 Performing Return-to-Origin 7) Move the robot by hand to the mark position, and then press [ORG-MARK-DTCH] (At this point, check that the machine reference move at mark point is in a range from 25 to 75%. Otherwise, the origin point cannot be set correctly.) ref.

  • Page 197: Using Step Operation

    9-2 Using Step Operation Using Step Operation The following procedure explains how to perform step operation. In the case of a multi-task program, only the task currently selected is executed in step operation. 1) On the initial screen, press (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON...
  • Page 198 9-2 Using Step Operation 8) This screen is displayed while the program is [OPRT-STEP] being executed. running ··· 9) Pressing during execution brings the robot STOP [OPRT-STEP] 50 0:10 to a halt and displays a message on the screen. To return to step 7, press the key.
  • Page 199 9-2 Using Step Operation CAUTION When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".) • Step operation cannot be performed in "SERVICE mode state" when automatic operation and step operation are prohibited. •...

  • Page 200: Using Automatic Operation

    9-3 Using Automatic Operation Using Automatic Operation The following procedure explains how to perform automatic operation. All the tasks started in a multi-task program are executed by automatic operation. 1) On the initial screen, press (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (AUTO).
  • Page 201 9-3 Using Automatic Operation 8) This is the screen displayed while the program [OPRT-AUTO] is being executed. running ··· 9) Pressing during execution brings the robot STOP [OPRT-AUTO] to a halt and displays the message "stop key". Press the key to display the step where execution was interrupted.

  • Page 202: Switching The Execution Program

    9-4 Switching the Execution Program Switching the Execution Program The following procedure explains how to switch the program in automatic operation. Use the same procedure in step operation. The program selected by this procedure will be the lead program to which the execution sequence always returns after program reset.

  • Page 203: Emergency Stop Function

    Emergency Stop Function There are two ways to trigger emergency stop on the DRCX controller. One way is by using the push- button on the TPB. The other is to use the I/O emergency stop input. In either case for safety reasons, a contact B (normally closed) input is used (when the contact is opened, emergency stop is triggered).
  • Page 204 9-5 Emergency Stop Function 3) After the emergency stop is released, a mes- sage appears asking whether to turn the servo [OPRT-STEP] 100 0: 7 To turn the servo on, press (yes). servo on ready ? To leave the servo off , press (no).

  • Page 205: Displaying The Variables

    9-6 Displaying the Variables Displaying the Variables The values of point data variable "P", counter array variable "C" and counter variable "D" can be displayed on the TPB screen. 1) On the initial screen, press (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press (STEP) or (AUTO).

  • Page 206: Displaying The Memory I/O Status

    9-7 Displaying the Memory I/O Status Displaying the Memory I/O Status The memory I/O status can be displayed on the screen. 1) On the initial screen, press (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press (STEP) or (AUTO). [OPRT] The STEP or AUTO mode screen appears. The select menu following steps are explained using the STEP mode screen.
  • Page 207 MEMO Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 208: Chapter 10 Other Operations

    Chapter 10 OTHER OPERATIONS The TPB has many convenient functions in addition to those already covered. For example, memories can be initialized, and options such as memory cards can be used. This chapter will describe these additional functions Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 209: Initialization

    10-1 Initialization 10-1 Initialization Initializing the programs and points erases all the program data and point data currently stored in the controller. Initializing the parameters resets the parameters to their initial values. 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press...
  • Page 210 10-1 Initialization 6) Enter the X-axis stroke with the number keys [SYS-INIT-PRM-XY] and then press the key. robot type : 110 X stroke : 450_ [mm] 7) Enter the Y-axis stroke with the number keys [SYS-INIT-PRM-XY] and then press the key.
  • Page 211 10-1 Initialization 13)A confirmation message appears after select- [SYS-INIT-PRM-FLIP] ing the lead length. X robot type: 20 Press (yes) when the setting is correct. To select another lead length, press (no). X lead : 20.0 [mm] 1yes 2no 14)Next, enter the X-axis stroke length. [SYS-INIT-PRM-FLIP] Use the number keys to enter the stroke length X robot type: 20...

  • Page 212: Dio Monitor Display

    10-2 DIO Monitor Display 10-2 DIO Monitor Display Data indicating whether the I/O signals are on or off can be displayed on the screen. The operation procedure is explained below. 10-2-1 Display from the monitor menu 1) On the initial screen, press (MON).

  • Page 213: Display From The Dio Key Operation

    10-2 DIO Monitor Display 10-2-2 Display from the DIO key operation 1) Hold down the key. [OPRT-AUTO] running... 2) The ON/OFF status of I/O signals is displayed DI 10000000 00000000 as long as the key is held down. For information about what the display shows, 10000000 refer to "4-3-4 DIO monitor screen".

  • Page 214: System Information Display

    10-3 System Information Display 10-3 System Information Display 1) On the initial screen, press the key. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) The controller version number, TPB version [INFORMATION] number, and robot type are displayed. The screen returns to the initial screen after approxi- controller V18.

  • Page 215: Service Mode Function

    A safety function called "SERVICE mode function" places limits on controller operation when in "SERVICE mode state". When the SERVICE mode function is enabled, the DRCX controller constantly monitors status to check whether "SERVICE mode state" occurs. In "SERVICE mode state", the SERVICE mode func- tion does the following: •...

  • Page 216: Safety Settings For Service Mode

    10-4 SERVICE mode function 10-4-1 Safety settings for SERVICE mode Safety controls that work in "SERVICE mode state" are explained in detail below. ■ Limiting command input from any device other than TPB When the operator is working within the robot safety enclosure using the TPB, permitting any command input from devices (such as via I/O) other than the TPB is very hazardous to the TPB operator.
  • Page 217 10-4 SERVICE mode function ■ Prohibiting the automatic operation and step operation Running an automatic operation or step operation while an operator is working within the robot safety enclosure is very dangerous to that operator. (For example, when the operator is in the safety enclosure, a hazardous situation may occur if someone runs a robot program without letting the operator know about it.) To avoid this kind of hazard, automatic operation and step operation are basically prohibited in "SERVICE mode state".

  • Page 218: Enabling/Disabling The Service Mode Function

    10-4 SERVICE mode function 10-4-2 Enabling/disabling the SERVICE mode function To enable or disable the SERVICE mode function, follow these steps. 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press (next) to change the menu display [SYS] and then press (SAFE).
  • Page 219 0:Invalid 1:Valid NOTE The password is identical to the DRCX controller's version number. For example, if the controller version is 18.11, enter 18.11 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.

  • Page 220: Setting The Service Mode Functions

    10-4 SERVICE mode function 10-4-3 Setting the SERVICE mode functions 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press (next) to change the menu display [SYS] and then press (SAFE). select menu 1SAFE2OPT 3UTL 4next 3) The password request screen appears.
  • Page 221 PB/DI valid NOTE The password is identical to the DRCX controller's version number. For example, if the controller version is 18.11, enter 18.11 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.

  • Page 222: System Utilities

    (HDPR) and then (no), select menu or the DRCX controller is turned off, or until the TPB is disconnected. 1HDPR NOTE The hidden parameter display is also permitted by turning on the power to the controller while holding down the key on the TPB, or by connecting the TPB to the controller while holding down the key.

  • Page 223: Using A Memory Card

    10-6 Using a Memory Card A memory card can be used with the TPB to back up the data in the DRCX controller. Refer to "16-2-1 Memory card" for the procedure for handling a memory card and for the number of data that can be stored.
  • Page 224 10-6 Using a Memory Card 7) The saved status of data on the memory card [SYS-B.UP-ID] can be checked by pressing (ID) in step 6. To check the saved status in AREA 3 onward, AREA 0 : 00.06.01 press to scroll the screen. To return STEP STEP DOWN...

  • Page 225: Loading Data From A Memory Card

    10-6 Using a Memory Card 10-6-2 Loading data from a memory card 1) Insert the memory card into the TPB. 2) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 3) Next, press (B.UP). [SYS] select menu 1PRM 2B.UP3INIT 4) Press (LOAD).
  • Page 226 (no) loads the data after initial- izing the data in the DRCX controller. When (ALL) was selected in step 7, all data in the DRCX controller will be initialized and then loaded. 9) A confirmation message appears asking [SYS-B.UP-LOAD]AREA3 whether to load the data.

  • Page 227: Formatting A Memory Card

    To format the memory card, press (yes). format OK ? To cancel, press (no). 1yes 2no 6) Select the format type. [SYS-B.UP-SAVE] To perform the DRCX standard formatting, press (normal). select format type To perform the DRC/DRCA compatible for- matting, the press (compati). 1normal 2compati 7) This screen is displayed while the memory card [SYS-B.UP]...
  • Page 228 10-6 Using a Memory Card 8) When formatting is complete, the screen returns [SYS-B.UP] to step 4. select menu 1SAVE2LOAD3FMT 4ID CAUTION Never eject the memory card during formatting. Do not leave the memory card inserted into the TPB when not in use. This shortens the backup battery life. Artisan Technology Group - Quality Instrumentation ...

  • Page 229: Viewing The Id Number For Memory Card Data

    10-6 Using a Memory Card 10-6-4 Viewing the ID number for memory card data 1) Insert the memory card into the TPB. 2) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 3) Next, press (B.UP). [SYS] select menu 1PRM 2B.UP3INIT 4) Press (ID).

  • Page 230: Duty (Load Factor) Monitor

    10-7 Duty (load factor) monitor 10-7 Duty (load factor) monitor The DRCX controller has a duty (load factor) monitor to allow you to operate the robot under the most optimal conditions. The duty monitor checks the robot's motor load factor and displays it in percent (%) versus the motor rating.
  • Page 231 10-7 Duty (load factor) monitor [Method 2] 1) Add the robot language command "DUTY 1" to the beginning of the interval in a program in which you want to measure the duty and also add the robot language command "DUTY 0"...

  • Page 232: Measuring The Duty (Load Factor)

    10-7 Duty (load factor) monitor 10-7-1 Measuring the duty (load factor) NOTE The duty monitor function can be used when the controller version is 18.50 or later and the TPB version is 12.60 or later. 1) Press (MON) on the TPB initial screen [MENU] while moving the robot with a point move- ment command (ABS-PT, INC-PT) or a...
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  • Page 234: Chapter 11 Communication With Pc

    Chapter 11 COMMUNICATION WITH PC The DRCX controller allows you to edit the program data and point data or control the robot operation using a PC (personal computer) by RS-232C communication instead of using the TPB. This chapter describes how to set the communication parameters required to communicate between the PC and the DRCX controller, and also explains the communication command specifications.

  • Page 235: Communication Parameter Specifications

    11-1 Communication Parameter Specifications 11-1 Communication Parameter Specifications The communication parameters on the PC should be set as follows. For the setting procedure, refer to the computer operation manual. ■ Baud rate 9600 bps ■ Data bit length 8 bits ■...

  • Page 236: Communication Cable Specifications

    11-2 Communication Cable Specifications 11-2 Communication Cable Specifications CAUTION Pins 10, 12, 18 and 21 of the controller's connector are specifically used for TPB connection. To avoid possible accidents do not connect other inputs to these pins. When using optional POPCOM software, make connections while referring to the POPCOM operation manual since it shows the different connection specifications.

  • Page 237: Communication Command Specifications

    Items in [ ] (brackets) can be omitted. ■ The character codes used in the DRCX series, are the JIS8 unit system codes (ASCII codes with katakana characters added). Input characters can be upper case or lower case. ■ One or more space must be inserted between the operation code and the operand.

  • Page 238: Communication Command List

    11-4 Communication Command List 11-4 Communication Command List 1. Robot movement Operation code Operand 1 Operand 2 Operand 3 Command details [axis] Returns all axes or specified axis to origin ORGN RESET Resets program Starts automatic operation SRUN Starts step operation SRVO [axis] Turns off the servo of all axes or a...
  • Page 239 11-4 Communication Command List 2. Data handling Operation code Operand 1 Operand 2 Operand 3 Command details ?POS [axis] Reads current position of all axes or a specified axis ?XPOS Reads current position of X-axis ?YPOS Reads current position of Y-axis Reads current program number ?SNO Reads current step number...
  • Page 240 11-4 Communication Command List 3. Utility Operation code Operand 1 Operand 2 Operand 3 Command details INIT Initializes program data Initializes point data dual-axis robot Initializes dual-axis robot parameters type CPRM Initializes common parameters XPRM single-axis robot Initializes X-axis robot parameters type YPRM single-axis robot...

  • Page 241: Communication Command Description

    11-5 Communication Command Description 11-5 Communication Command Description 11-5-1 Robot movements (1)@ORG [axis] @ORGN [axis] This command performs return-to-origin on all axes or a specified axis, or checks whether return- to-origin is complete. When the search method is selected as the origin detection method, this command performs return- to-origin and outputs the machine reference value after completing the return-to-origin.
  • Page 242 11-5 Communication Command Description (2)@RESET This returns the program execution step to the first step of the program selected with the '@SWI' statement, and turns all general-purpose outputs (DO0 to DO12) and memory output off. The "current position in the program" used as a reference for the relative movement command (MOVI) is initialized to the current position of the robot, and the point variable P is also cleared to 0.
  • Page 243 11-5 Communication Command Description (5)@SRVO <servo status> [,<axis>] Controls the servo on/off operation of all axes or a specified axis. Servo status : Specify 1 to turn the servo on or 0 to turn it off. Axis : "0" for all axes, "1" for the X-axis, and "2" for the Y-axis. If this setting is omitted, all axes are selected.
  • Page 244 11-5 Communication Command Description (10)@MOVD <X-axis position (mm)> , <Y-axis position (mm)> , <speed> Moves the robot to a specified coordinate position. X(Y)-axis position : Directly specify the target position to move the robot to. If the robot uses a rotary axis, the coordinate position is expressed in deg.
  • Page 245 11-5 Communication Command Description (12)@MOVI <point number>,<speed> Moves the robot a distance specified by a point number from the current position, at a specified speed. Point number : This is a number assigned to each point (position data) and can be from 0 to 999 (a total of 1,000 points).
  • Page 246 11-5 Communication Command Description (14)@MOVM <pallet work position>,<speed> Moves the robot to a specified pallet work position at a specified speed. Pallet work position : The pallet work position is a number used to identify each point on a matrix, and can be from 1 to 65025 (=255 × 255). The counter array variable C or counter variable D can also be used.
  • Page 247 11-5 Communication Command Description (16)@DRVA <axis>, <point number>, <speed> Moves a specified axis to a position (absolute position with respect to the origin) specified by a point number. Axis : Specify the axis to be moved. "1" for the X-axis and "2" for the Y-axis.
  • Page 248 11-5 Communication Command Description (18)@ACHA <axis>, <position> Defines an arch motion by setting a position. Axis : Specify the axis that performs an arch motion. "1" for the X-axis and "2" for the Y-axis. Position : This is the position (absolute position with respect to the origin) the arch motion axis moves to.
  • Page 249 11-5 Communication Command Description (21)@WAIT <general-purpose input or memory input number>,<input status> Waits until a specified general-purpose input or memory input is switched to a specified status. Input number : Specify one of the general-purpose inputs from 0 to 15 (16 points) or one of the memory inputs from 100 to 147 (48 points).
  • Page 250 CAUTION The contents of the point variable P are held even when the DRCX is turned off. However, when the program is reset or when the program reset is applied for example by switching the execution program, the point variable P will be initialized to 0.
  • Page 251 11-5 Communication Command Description (30)@C+ [<addition value>] Adds a specified value to the counter array variable C. Addition value : This can be any value from 1 to 65535. If this value is omitted, then 1 is added to the counter array variable. Transmission example : @C+ c/r l/f ........
  • Page 252 11-5 Communication Command Description (35)@SHFT <point number> Shifts the position data by an amount equal to the distance defined by a specified point number. The shifted data is valid until the SHFT statement is executed again or until the program is reset. Point number : This is a number used to identify each point (position data) and can be from 0 to 999 (a total of 1,000 points).
  • Page 253 11-5 Communication Command Description (37)@MOVC <point number>, <speed>, <locus type> Performs a circular interpolation motion passing through the position specified by a point number. For example, when the circular segment is selected as the locus type and the point number is specified as n, the robot moves from the current position along a circular segment locus with the end point of point n+1, passing through point n.

  • Page 254: Data Handling

    11-5 Communication Command Description 11-5-2 Data handling (1)@?POS [<axis>] Reads the current position of all axes or a specified axis. Axis : "0" for all axes, "1" for the X-axis, and "2" for the Y-axis. If this setting is omitted, X-axis is selected. Transmission example : @?POS 0 c/r l/f Response example...
  • Page 255 11-5 Communication Command Description (5)@?SNO Reads the current step number. The @RUN and @SRUN commands are executed from the step read here. In multi-task operation, this command reads the program information on the task cur- rently selected. Transmission example : @?SNO c/r l/f Response example : 170 c/r l/f OK c/r l/f...
  • Page 256 OK c/r l/f setting, the robot number of each axis is displayed. (12)@?CLOCK Reads the total operation time of the DRCX controller. Transmission example : @?CLOCK c/r l/f Response example : 00101,05:11:12 c/r l/f ....Indicates that the total opera-...
  • Page 257 11-5 Communication Command Description (14)@?EMG Reads the emergency stop status. Transmission example : @?EMG c/r l/f Response example 1 : 0 c/r l/f .......... Emergency stop is off. OK c/r l/f Response example 2 : 1 c/r l/f .......... Emergency stop is on. OK c/r l/f (15)@?SRVO [<axis>] Reads the servo state of all axes or a specified axis.
  • Page 258 11-5 Communication Command Description (18)@?YGRDP Reads the Y-axis grid position (machine reference when return-to-origin is completed). Transmission example : @?YGRDP c/r 1/f Response example : 52% c/r 1/f OK c/r l/f CAUTION The response value will be meaningless if return-to-origin is not completed. Always transmit the command after return-to-origin has been completed.
  • Page 259 CAUTION The contents of the point variable P are held even when the DRCX is turned off. However, when the program is reset or when the program reset is applied for example by switching the execution program, the point variable P will be initialized to 0.
  • Page 260 11-5 Communication Command Description (27)@?DI <general-purpose input or memory input number> Reads the status of a general-purpose input or memory input. Input number : Specify one of the general-purpose inputs 0 to 15 (16 points) or one of the memory inputs 100 to 147 (48 points). Transmission example : @?DI 1 c/r l/f Response example 1...
  • Page 261 11-5 Communication Command Description (30-1) @?P <point number> Reads the data of a specified point. Point number : This is a number used to identify each point data and can be from 0 to 999. Transmission example : @?P 254 c/r l/f ......Reads the data of point 254. Response example 1 : -0.05,0.01 c/r l/f OK c/r l/f...
  • Page 262 11-5 Communication Command Description (31-2) @READ PGM Reads all of the program data. Transmission example : @READ PGM c/r l/f Response example : NO0 c/r l/f MOVA 0,100 c/r l/f JMPF 0,31,13 c/r l/f NO31 c/r l/f STOP c/r l/f ^Z (=1AH) OK c/r l/f (31-3) @READ PNT...
  • Page 263 11-5 Communication Command Description (31-5) @READ ALL Reads all data (parameters, programs, points) at one time. Each data group (parameters, pro- grams, points) is separated by an empty line (a carriage return only). Transmission example : @READ ALL c/r l/f Response example : PRM0=4 c/r l/f PRM1=1 c/r l/f...
  • Page 264 PRM49=10 c/r l/f ^Z(=1AH) OK c/r l/f CAUTION Loading unsuitable robot data to the DRCX can inhibit the robot controller performance, possibly resulting in failures, malfunctions, and errors. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 265 (The previous data remains as long as its program number or point number differs from the program number or point number to be written.) • Loading unsuitable robot data to the DRCX can inhibit the robot controller performance, possibly resulting in failures, malfunctions, and errors.

  • Page 266: Utilities

    11-5 Communication Command Description 11-5-3 Utilities (1-1) @INIT PGM Initializes all program data. Transmission example : @INIT PGM c/r l/f Response example : OK c/r l/f (1-2) @INIT PNT Initializes all point data. Transmission example : @INIT PNT c/r l/f Response example : OK c/r l/f (1-3) @INIT PRM <dual-axis robot type>...
  • Page 267 After initialization, change the lead length parameter (PRM100) to match the robot lead length. (1-7) @INIT CLOCK Initializes the timer to 0, which is used to measure the total operation time of the DRCX control- ler. The alarm history and error history are also initialized at this point.
  • Page 268 If the step following the last step is specified, a new step will be added. If the first step of a program that does not exist is specified, a new program will be created. The DRCX controller will transmit READY when this command is received. Confirm that READY is re- ceived and then transmit the insertion data.
  • Page 269 (6)@SMOD <program number>,<step number> Modifies data in a specified step. The DRCX controller will transmit READY when this com- mand is received. Confirm that READY is received and then transmit the modification data. Program number : This is a number used to identify each program and can be from 0 to 99.
  • Page 270 11-5 Communication Command Description (8)@DEL <program number> Deletes a program. Program number : This is a number used to identify each program and can be from 0 to 99. Transmission example : @DEL 10 c/r l/f ......Deletes program No. 10. Response example 1 : OK c/r l/f Response example 2...
  • Page 271 MEMO Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 272: Chapter 12 Message Tables

    Chapter 12 MESSAGE TABLES This section lists all of the messages that are displayed on the TPB or sent to the PC (personal computer) to inform the operator of an error in operation or a current status. For a list of the alarm messages displayed if any trouble occurs, refer to "13-2 Alarm and Countermeasures".

  • Page 273: Error Messages

    12-1 Error Messages 12-1 Error Messages 12-1-1 Error message specifications The error message transmission format is as follows. <Error No.> : <Error message> c/r l/f The length of the <error message> character string is 17 characters. (Spaces are added until the message contains 17 characters.) Thus, the character string length containing the c/r l/f will be 22 characters.

  • Page 274: Operation Error Message

    12-1 Error Messages 12-1-3 Operation error message Message soft limit over Error No. Cause Executing the command will move the robot to a position that exceeds the soft limit set by parameter. Action Review the point data or soft limit parameter. Message running Error No.

  • Page 275: Program Error Message

    12-1 Error Messages 12-1-4 Program error message Message stack overflow q Seven or more successive CALL statements were used within a CALL statement. w In the program called as a subroutine by a CALL statement, a jump was made to Error No.

  • Page 276: System Error Message

    Action Correct the setting for the PRM0 parameter. Message PRM8 data error Error No. Cause This error will not occur in the DRCX controller. Action Message robot type error Error No. Cause Unsuitable parameter data was transmitted to the controller.

  • Page 277: Tpb Error Messages

    SIO error 1. Parity error in data received from controller. Cause 2. TPB was connected when dedicated command input was on. 1. Contact YAMAHA for consultation. Action 2. Turn all dedicated command inputs off before connecting the TPB. Message bad format Cause The memory card is not formatted.

  • Page 278: Stop Messages

    12-3 Stop Messages 12-3 Stop Messages 12-3-1 Message specifications The stop message transmission format is as follows. <Message No.> : <Stop message> c/r l/f The length of the <stop message> character string is 17 characters. (Spaces are added until the mes- sage contains 17 characters.) Thus, the character string length containing the c/r l/f will be 22 charac- ters.

  • Page 279: Displaying The Error History

    12-4 Displaying the Error History 12-4 Displaying the Error History A history of past errors can be displayed. Up to 100 errors can be stored in the controller. This function is available when the controller version is 18.50 or later and the TPB version is 12.18 or later.
  • Page 280 12-4 Displaying the Error History 5) History numbers, time that errors occurred 00:00101,05:11:12,CM (total elapsed time from controller start-up) and error descriptions are displayed. One 01:00096,18:10:02,PI screen displays the past 4 errors in the order from the most recent error. 02:00080,10:07:33,CM Pressing the keys displays the...
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  • Page 282: Chapter 13 Troubleshooting

    Chapter 13 TROUBLESHOOTING This chapter explains how to take corrective action when a problem or breakdown occurs, by categorizing it into one of two cases depending on whether or not an alarm is output from the controller. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 283: If A Trouble Occurs

    13-1 If A Trouble Occurs 13-1 If A Trouble Occurs If trouble or breakdown occurs, contact YAMAHA or your YAMAHA dealer, providing us with the following information in as much detail as possible. Item Description (example) ・Controller model name : DRCX + Regenerative unit What you were using ・Robot model name...

  • Page 284: Alarm And Countermeasures

    13-2 Alarm and Countermeasures 13-2 Alarm and Countermeasures If the READY signal is turned off except in cases of emergency stop, then an alarm has probably been issued. The status LED on the front panel of the controller lights up in red. 13-2-1 Alarm specifications ■...

  • Page 285: Alarm Message List

    If the resistance between motor terminals U and V or V and W is less than 1 kilo-ohms, the output transistor is defective, so replace the DRCX controller. * The resistance between U and W is about 24Ω, but this is a normal value.
  • Page 286 13-2 Alarm and Countermeasures Possible Cause Alarm No. Alarm Message Meaning Action P.E. COUNTER Overflow in Mechanical lock Check whether robot moving parts are OVER position deviation locked. counter Motor wire is broken or connected Check the motor wire and resolver wrong.
  • Page 287 External noise or other factors Check the environment for noise. FAULT 3 have disrupted software program. CPU failure or malfunction If the error occurs frequently, then the CPU is defective. Replace the DRCX controller. Not used Not used VERSION Wrong The PB used does not match the Replace the PB.

  • Page 288: Troubleshooting For Specific Symptom

    If the voltage is correct, even after flashes. replace the DRCX controller. power is turned Emergency stop • If the READY signal of the I/O • Check whether the emergency stop is activated.
  • Page 289 13-3 Troubleshooting for Specific Symptom Symptom Possible Cause Items to Check Action Abnormal noise Coupling is not • Check the coupling bolts. • Tighten if loose. or vibration securely tightened. occurs. A screw on the • Check the screws used to secure the •...

  • Page 290: Relating To The I/O

    • Change the program. signal cannot program. be controlled even with the Output transistor • Measure the voltage at the PLC input • Replace the DRCX controller if the manual is defective. terminal. output transistor is defective. instruction of ON: 0.5V or less...

  • Page 291: Other

    13-3 Troubleshooting for Specific Symptom 13-3-3 Other Symptom Possible Cause Items to Check Action An error A dedicated I/O • Check the signal input (by using a PLC • Always turn off dedicated command occurs when command input is monitor, etc.) input signals when connecting the TPB the TPB is to the controller.

  • Page 292: Displaying The Alarm History

    13-4 Displaying the Alarm History 13-4 Displaying the Alarm History A history of past alarms can be displayed. Up to 100 alarms can be stored in the controller. This function is available with TPB version 12.18 or later. 1) On the initial screen, press (SYS).
  • Page 293 13-4 Displaying the Alarm History 5) History numbers, time that alarms occurred 00:00101,05:11:12,X0 (total elapsed time from controller start-up) and alarm descriptions are displayed. One 01:00096,18:10:02,X0 screen displays the past 4 alarms in the order 02:00080,10:07:33,X0 from the most recent alarm. Pressing the keys displays the –...

  • Page 294: Chapter 14 Maintenance And Warranty

    Chapter 14 MAINTENANCE AND WARRANTY For safety purposes, always turn the power off before starting robot maintenance, cleaning or repairs, etc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 295: Warranty

    14-1 Warranty 14-1 Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. 14-1-1 Warranty description If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and/or related product within the warranty period, then YAMAHA will repair or replace those parts free of charge (hereafter called "warranty repair").

  • Page 296: Replacing The System Backup Battery

    14-2 Replacing the System Backup Battery 14-2 Replacing the System Backup Battery If an alarm is issued indicating that the system backup battery voltage is low, replace the battery using the procedure listed below. (1) First, make a backup copy of all necessary data using a memory card or POPCOM software, because that data in the controller might be lost or destroyed during battery replacement.

  • Page 297: Updating The System

    14-4 Updating the System 14-4 Updating the System YAMAHA may request, on occasion, that you update the system in your equipment. The following steps describe how to update the system. Before updating the system, you must set up a system that allows communications between the controller and a PC (personal computer).

  • Page 298: Chapter 15 Specifications

    Chapter 15 SPECIFICATIONS Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 299: Drcx Sereis

    35 to 85%RH (no condensation) Noise immunity Conforms to IEC61000-4-4 Level 2 *1) A regenerative unit (RGU-2) is required when operating robot models specified by YAMAHA or a robot handling a load with large inertia. *2) Only for Cartesian robot.

  • Page 300: Robot Number List

    15-1 DRCX sereis 15-1-2 Robot number list Each robot model has an identification number as listed in the table below. After you initialize the parameters, enter the correct robot number that matches the robot model actually connected to the controller.

  • Page 301: Led Display

    15-1 DRCX sereis 15-1-3 LED display The table below shows the specifications of the operation status LED on the front panel of the con- troller. LED display Robot or controller operation status Not lit The power is off or fuse is blown.

  • Page 302: Tpb

    15-2 TPB 15-2 TPB 15-2-1 Basic specifications Model Specification item W107 × H235 × D47mm External dimensions Weight 590g Basic Power consumption 5 V, 200 mA max. specifications Power supply DC12V (supplied form the controller) Cable length Standard 3.5m Serial interface RS-232C, one channel, for communications with controller Liquid crystal, 20 characters ×...

  • Page 303: Regenerative Unit (Rgu-2)

    15-3 Regenerative Unit (RGU-2) 15-3 Regenerative Unit (RGU-2) 15-3-1 Basic specifications Model RGU-2 Specification item W40 × H250 × D157mm External dimensions Basic Weight 1.1kg specifications Cable length 300mm Regenerative voltage Approx. 380V or more Special specifications Regenerative stop voltage Approx.

  • Page 304: Chapter 16 Appendix

    Chapter 16 APPENDIX Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 305: Operation When Not Using Absolute Function

    16-1 Operation When Not Using Absolute Function 16-1 Operation When Not Using Absolute Function An absolute backup function is standard on the DRCX controllers. This means return-to-origin is unnecessary each time the controller is turned on. In some cases, however, the absolute function is not needed because the customer is accustomed to always performing return-to-origin when the power is turned on.

  • Page 306: How To Handle Options

    16-2 How to Handle Options 16-2-1 Memory card A memory card (option) can be used with the TPB to back up the DRCX controller data. ■ Using the memory card 1. Insert the memory card into the TPB as shown in Fig. 16-1.
  • Page 307 Up to 4 units of DRCX Up to 160 units of DRCX * DRCX data can be shared with DRC and DRCA by making the save format compatible with each other. Please note, however, that there are the following limitations.

  • Page 308: Handling The I/O Checker

    16-2 How to Handle Options 16-2-2 Handling the I/O Checker This device connects to the I/O connector of the DRCX controller and is used for pseudo-input (emulation) by means of switches and for input/output monitoring by LED display. ■ Connecting the I/O checker 1.

  • Page 309: Popcom Communication Cable

    16-2 How to Handle Options 16-2-3 POPCOM communication cable This cable is used to operate the DRCX controller from POPCOM software which runs on a PC and allows easy and efficient robot programming and operation. This POPCOM cable is different from typical communication cables, so do not use it for other pur- pose.
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  • Page 311 All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.

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