Yamaha ERCX Series User Manual page 4

3-7 I/O Assignment Change Function ........................................................................................ 3-23
3-7-1
3-7-2
3-7-3
Chapter 4 BASIC OPERATION OF THE TPB ......................................................................... 4-1
4-1 Connecting and Disconnecting the TPB ................................................................................. 4-2
4-1-1
4-1-2
4-1-3
4-2 Basic Key Operation .............................................................................................................. 4-4
4-3 Reading the Screen ................................................................................................................ 4-5
4-3-1
4-3-2
4-3-3
4-3-4
4-4 Hierarchical Menu Structure .................................................................................................. 4-7
4-5 Restricting Key Operation by Access Level ............................................................................. 4-8
4-5-1
4-5-2
Chapter 5 PARAMETERS ....................................................................................................... 5-1
5-1 Setting the Parameters ........................................................................................................... 5-2
5-2 Parameter Description ........................................................................................................... 5-3
Chapter 6 PROGRAMMING ................................................................................................. 6-1
6-1 Basic Contents ....................................................................................................................... 6-2
6-1-1
6-1-2
6-1-3
6-2 Editing Programs .................................................................................................................... 6-3
6-2-1
6-2-2
6-2-3
6-2-4
6-2-5
6-2-6
6-3 Program Utility .................................................................................................................... 6-12
6-3-1
6-3-2
6-3-3
Chapter 7 EDITING POINT DATA ........................................................................................ 7-1
7-1 Manual Data Input ................................................................................................................. 7-2
7-2 Teaching Playback .................................................................................................................. 7-3
7-3 Direct Teaching ...................................................................................................................... 7-5
7-4 Manual Control of General-Purpose Output .......................................................................... 7-7
7-5 Manual Release of Holding Brake .......................................................................................... 7-8
7-6 Deleting Point Data ............................................................................................................... 7-9
7-7 Tracing Points (Moving to a registered data point) ............................................................... 7-10
Chapter 8 ROBOT LANGUAGE ............................................................................................ 8-1
8-1 Robot Language Table ............................................................................................................ 8-2
8-2 Robot Language Syntax Rules ................................................................................................ 8-3
8-2-1
8-2-2
8-3 Program Function .................................................................................................................. 8-5
8-3-1
8-3-2
ii
Changing the I/O assignment ...................................................................................................................... 3-23
I/O signal descripion ................................................................................................................................... 3-25
Timing chart ................................................................................................................................................ 3-28
Connecting the TPB to the ERCX controller ................................................................................................... 4-2
Disconnecting the TPB from the ERCX controller .......................................................................................... 4-3
Different points from SRCX and DRCX controllers ........................................................................................ 4-3
Program execution screen ............................................................................................................................. 4-5
Program edit screen ....................................................................................................................................... 4-5
Point edit screen (teaching playback) ............................................................................................................ 4-6
DIO monitor screen ...................................................................................................................................... 4-6
Explanation of access level ............................................................................................................................ 4-8
Changing an access level ............................................................................................................................... 4-9
Robot language and point data ...................................................................................................................... 6-2
Using the TPB to enter the robot language .................................................................................................... 6-2
Program specifications .................................................................................................................................. 6-2
Creating programs after initialization ............................................................................................................ 6-4
Creating a new program ................................................................................................................................ 6-6
Adding a step ................................................................................................................................................. 6-7
Correcting a step ........................................................................................................................................... 6-9
Inserting a step ............................................................................................................................................ 6-10
Deleting a step ............................................................................................................................................ 6-11
Copying a program ...................................................................................................................................... 6-12
Deleting a program ...................................................................................................................................... 6-13
Viewing the program information ................................................................................................................ 6-14
Command statement format .......................................................................................................................... 8-3
Variables ........................................................................................................................................................ 8-4
Multi-task function ........................................................................................................................................ 8-5
Limitless movement function ......................................................................................................................... 8-6