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Page 1 Yamaha Motor Company SRCX-05 Single-Axis Robot Controller Limited Availability Used and in Excellent Condition Buy Today! https://www.artisantg.com/87689-1 A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
Page 2 YAMAHA SINGLE-AXIS ROBOT CONTROLLER SRCX User’s Manual ENGLISH E66-Ver. 5.05 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
General Contents Chapter 1 OVERVIEW ......................1-1 Features of the SRCX Series Controller .................. 1-2 Setting Up for Operation ....................... 1-3 External View and Part Names ....................1-4 1-3-1 SRCX controller ............................. 1-4 1-3-2 TPB ................................1-6 System Configuration ......................1-7 1-4-1 System configuration .............................
Page 5 I/O Assignment Change Function ..................3-24 3-7-1 Changing the I/O assignment ........................3-24 3-7-2 I/O signal descripion ........................... 3-26 3-7-3 Timing chart ..............................3-29 Chapter 4 BASIC OPERATION OF THE TPB ................. 4-1 Connecting and Disconnecting the TPB ................. 4-2 4-1-1 Connecting the TPB to the SRCX controller ....................
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 10 OTHER OPERATIONS ..................10-1 10-1 Initialization ........................10-2 10-2 DIO Monitor Display ......................10-4 10-2-1 Display from the monitor menu ........................10-4 10-2-2 Display from the DIO key operation ......................10-5 10-3 System Information Display ....................10-5 10-4 SERVICE mode function ....................... 10-6 10-4-1 Safety settings for SERVICE mode ........................
Page 8 Chapter 14 MAINTENANCE AND WARRANTY ..............14-1 14-1 Warranty ..........................14-2 14-1-1 Warranty description ........................... 14-2 14-1-2 Warranty Period ............................14-2 14-1-3 Exceptions to the Warranty ......................... 14-2 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 ....................
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Page 10: Chapter 1 Overview
Chapter 1 OVERVIEW Thank you for purchasing the YAMAHA single-axis robot controller SRCX series (hereafter called "SRCX con- troller" or simply "SRCX" or "this controller"). This manual describes SRCX controller features and operating procedures. When used with a YAMAHA single-axis FLIP-X series robot, the SRCX controller performs positioning and pick- and-place tasks of various mechanical parts and devices.
Page 11: Features Of The Srcx Series Controller
1-1 Features of the SRCX Series Controller Features of the SRCX Series Controller The SRCX series is a high-performance robot controller using a 32-bit RISC chip CPU. When used with a YAMAHA single-axis FLIP-X series robot, the SRCX controller performs posi- tioning tasks of various mechanical parts and devices.
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 SRCX controller and TPB along with their functions. Note that the external view and specifications are subject to change without prior notice to the user. 1-3-1 SRCX controller 1.
Page 14 1-3 External View and Part Names Fig. 1-1 Exterior of the SRCX controller Fig. 1-2 Three-side view of the SRCX controller Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 15: Tpb
1-3 External View and Part Names 1-3-2 TPB 1. Liquid Crystal Display (LCD) Screen This display has four lines of twenty characters each and is used as a program console. 2. Memory Card Slot An IC memory card can be inserted here. Be careful not to insert the card upside-down. 3.
Page 16: System Configuration
1-4 System Configuration System Configuration 1-4-1 System configuration The SRCX 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 IC memory card TPB programming box SRCX Controller Gripper, limit switches, etc.
Page 17: Accessories And Options
1-5 Accessories and Options Accessories and Options 1-5-1 Accessories The SRCX controller comes with the following accessories. After unpacking, check that all items are included. 1. I/O connector Connector : FCN-361P048-AU made by Fujitsu 1 piece Connector cover : FCN-360C048-E made by Fujitsu 1 piece 2.
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 Srcx Controller
2-1 Installing the SRCX Controller Installing the SRCX 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 SRCX controller.) 2-1-2 Installation location ■...
Page 20: Connecting The Power Supply
CAUTION The SRCX series controller does not have a power switch. Be sure to provide a power supply breaker (insulation) of the correct specifications that will turn the power on or off to the entire system including the robot controller.
Page 21: Installing An External Leakage Breaker
2-2 Connecting the Power Supply 2-2-3 Installing an external leakage breaker Since the robot controller drives the motors by PWM control, leakage current flows at high frequen- cies. This might cause the external leakage breaker to malfunction. When installing an external leakage current breaker, it is important to choose the optimum sensitivity current rating (IΔn).
Page 22: Insulation Resistance And Voltage Breakdown Tests
0V, these tests may mistakenly detect excess leakage current or damage the internal circuitry. If these tests are required, please consult your YAMAHA sales office or representative. Grounding The SRCX controller must be grounded to prevent danger to personnel from electrical shocks in case of electrical leakage and prevent equipment malfunctions due to electrical noise.
Page 23: Connecting To The Robot
2-5 Connecting to the Robot Connecting to the Robot First make sure that the power to the SRCX 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 SRCX controller. Fully insert the robot I/O cable until it clicks in position.
Page 24: 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 SRCX controller to external equipment such as a PLC. When using external equipment for I/O control, connect the wiring to the I/O connector supplied as an accessory and then plug it into the I/O connector on the SRCX controller.
Page 25: Connecting To The Regenerative Unit
2-7 Connecting to the Regenerative Unit 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 SRCX controller to the regenerative unit. Fig. 2-2 Connection of the SRCX controller to a regenerative unit Use the interconnection cable to make connections.
Page 26: Connecting The Absolute Battery
2-8 Connecting the Absolute Battery Connecting the Absolute Battery Connect the absolute battery to the controller as shown below. Use a cable tie and binding strap (supplied) to secure the battery to the side of the controller or at the proper position in the system. A "B1 type"...
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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 SRCX series, you must understand the signals assigned to each terminal on the I/O connector and how they work. This chapter 3 covers this fundamental information.
Page 29: I/O Signals
3-1 I/O Signals I/O Signals The standard I/O connector of the SRCX 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 Input Signal Description Input Signal Description Input signals consist of 7 dedicated command inputs, 16 general-purpose inputs, interlock signals and an emergency stop input. * DI15 functions as the SERVICE mode input when the SERVICE mode function is enabled. In this case, 15 general-purpose inputs are available.
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 3-2 Input Signal Description ■ Return-to-origin command (ORG-S) This command returns the robot to its origin position when the search method is selected as the origin detection method. When the mark method is selected, this command checks the return-to- origin status. NOTE Once return-to-origin is performed after the robot cable and absolute battery are connected, there is no need to repeat it even when the controller is turned off.
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)
3-2 Input Signal Description 3-2-3 SERVICE mode input (SVCE) When the SERVICE mode function is enabled, DI15 functions as the SERVICE mode input (SVCE). The SERVICE mode input is used to notify the SRCX controller whether the current state is a "SERV- ICE mode state".
Page 35: Output Signal Description
3-3 Output Signal Description Output Signal Description The output signals consist of 3 dedicated outputs (READY, BUSY and END) and 13 general-purpose outputs. In this section, terms "ON" and "OFF" mean the output transistors are "on and off". 3-3-1 Dedicated output The dedicated outputs are used for exchanging signals between the SRCX controller and an external device such as a PLC.
Page 36: General-Purpose Output (Do0 To Do12)
3-4 I/O Circuits 3-3-2 General-purpose output (DO0 to DO12) These general-purpose outputs are available to users for freely controlling on/off operation in a pro- gram. These outputs are used in combination with the controller's internal 24V power supply and an exter- nal 24V power supply, to drive loads such as solenoid valves and LED lamps.
Page 37: I/O Circuit And Connection Example
3-4 I/O Circuits 3-4-2 I/O circuit and connection example When internal 24V power supply is used. Photocoupler Push-button Input signal NPN transistor Incandescent lamp Output signal Solenoid valve Internal DC24V power supply +IN COM +24V Controller side CAUTION Do not short the output terminal to the DC24V terminal. This may cause equipment breakdown. When using an inductive load (such as a solenoid valve) as the output load, connect a high-speed diode as a surge killer in parallel and near to the load to reduce noise.
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 SRCX 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 SRCX series controller TB 1 READY BUSY DO 0 Internal DO 1...
Page 42: I/O Control Timing Charts
3-6 I/O Control Timing Charts I/O Control Timing Charts The following shows typical timing charts for I/O control. Refer to these diagrams when creating a sequence program. 3-6-1 When turning the power on (1)When using internal 24V power supply When emergency stop is triggered: Power supply 300ms or more READY...
Page 43 3-6 I/O Control Timing Charts (2)When using external 24V power supply by connecting it to I/O connector When emergency stop is triggered: DC24V power supply AC power supply 300ms or more READY When emergency stop is canceled: DC24V power supply AC power supply 500ms or more READY...
Page 44: When Executing A Dedicated Input Command
3-6 I/O Control Timing Charts 3-6-2 When executing a dedicated input command ■ The BUSY signal turns on when a dedicated command is received. Whether the received com- mand has ended normally can be checked with the END signal status at the point that the BUSY signal turns off.
Page 45 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 46 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 47 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 48: 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 49: 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 50: 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. The point data and speed data can be specified with DI0 to DI11. Refer to "3-2-2 General- purpose input (DI0 to DI15)".
Page 51: I/O Assignment Change Function
3-7 I/O Assignment Change Function I/O Assignment Change Function 3-7-1 Changing the I/O assignment The function assigned to each I/O signal can be changed with PRM59 (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 SRCX controller must be restarted to enable the changes.
Page 52 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 PRM59 Setting − xx20 * xx21 * xx30 *...
Page 53: 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 54 3-7 I/O Assignment Change Function ■ Point data write command (PSET) Writes the current position data in the specified point number. To use this command, the point number for writing the current position data must first be specified using a PI (point number designation input) input. The PSET is enabled only when return-to-origin has been completed.
Page 55 3-7 I/O Assignment Change Function Output example PO No. Point No. 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 robot (binary)
Page 56: Timing Chart
3-7 I/O Assignment Change Function 3-7-3 Timing chart This section shows timing charts for the operations that are added by changing the I/O assignment. ■ Jog movement (JOG+, JOG-) Mode switch input (CHG) Jog movement command (JOG+ / JOG-) BUSY READY Robot movement Robot movement...
Page 57 3-7 I/O Assignment Change Function ■ Point data write (PSET) Mode switch input (CHG) Point data write command (PSET) Point number designation inputs 0 to 5* Data retention (PI0 to PI5) BUSY READY Point data write Point data writing 30ms or more 30ms or less 1ms or less 30ms or less * Point numbers that can be used depend on the I/O assignment type.
Page 58 3-7 I/O Assignment Change Function ■ Target position's point number output (PO) (1) Outputting the point number at the timing that movement is normally completed Point movement command Command q Command w (ABS-PT, INC-PT) Target position's point number Point number output q Point number output w outputs 0 to 5* (PO0 to PO5)
Page 59 3-7 I/O Assignment Change Function (2) Outputting the point number at the timing that a movement command is received Point movement command Command q Command w (ABS-PT, INC-PT) Target position's point number Point number output q Point number output w outputs 0 to 5* (PO0 to PO5) BUSY...
Page 60 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 61 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 62 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 6) Zone output 0 (ZONE 0) *Positive logic P900...
Page 63 3-7 I/O Assignment Change Function NOTE • The movement point zone output function is supported only in Ver. 13.64 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 64: 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 SRCX controller to edit or run pro- grams 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 65: Connecting And Disconnecting The Tpb
4-1 Connecting and Disconnecting the TPB Connecting and Disconnecting the TPB 4-1-1 Connecting the TPB to the SRCX controller CAUTION Do not modify the TPB cable or use any type of relay unit for connecting the TPB to the SRCX controller. Doing so might cause communication errors or malfunctions.
Page 66: Disconnecting The Tpb From The Srcx Controller
4-1 Connecting and Disconnecting the TPB 4-1-2 Disconnecting the TPB from the SRCX 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. Failing to hold down the ESC switch will trigger emergency stop in the controller and turn off the servo.
Page 67: 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 68: 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 69: Point Edit Screen (Teaching Playback)
4-3 Reading the Screen 4-3-3 Point edit screen (teaching playback) [EDIT-PNT-TCH](1)100 P255 = 123.45 [mm] 0.00] 1CHG 2SPD 3S_SET 4next 1. Current mode 2. Speed selection number 3. Speed parameter (%) 4. Edit point number 5. Current position 4-3-4 DIO monitor screen DI 10000000 00000000 10000000 DO 00000000 10100000...
Page 70: Hierarchical Menu Structure
4-4 Hierarchical Menu Structure Hierarchical Menu Structure MOD (Step Edit) INFORMATION INS (Step Insert) (System information) DEL (Step Delete) CHG (Program Change) (Program Edit) MDI (Manual Data Input) CHG (Point Change) CHG (Point Change) SPD (Speed Change) S_SET (Speed Set) EDIT (Point Edit) (Teaching Playback)
Page 71: 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 72: Changing An Access Level
4-5 Restricting Key Operation by Access Level Memory card Level Description All operations are permitted. Loading the parameters and all data to the SRCX is prohibited. (Point data or program data can be loaded.) Loading any data to the SRCX is prohibited. (Data can be saved and the memory card formatted.) Use of memory card is prohibited.
Page 73 4-5 Restricting Key Operation by Access Level 5) Select the item you want to change. [SYS-SAFE-ACLV] To change the access level for editing, press select menu (EDIT). To change the access level for operation, press (OPRT). 1EDIT2OPRT3SYS 4CARD To change the access level for system-related data, press (SYS).
Page 74: Chapter 5 Parameters
Chapter 5 PARAMETERS The SRCX controller uses a software servo system, so no adjustment of hardware components such as potentiometers or DIP switches are required. Instead, the SRCX controller uses parameters that can be easily set or changed by the TPB or PC (personal computer).
Page 75: Setting The Parameters
5-1 Setting the Parameters Setting the Parameters 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PRM). [SYS] select menu 1PRM 2B.UP3INIT 3) The current PRM0 (robot type number) setting [SYS-PRM] appears on the screen. Use the STEP STEP DOWN...
Page 76: Parameter Description
5-2 Parameter Description Parameter Description The parameters are described in order below. 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 77 5-2 Parameter Description PRM3: Payload This specifies the total weight of the workpiece and tool attached to the robot. In cases where this weight varies, enter the maximum payload. Based on this parameter, the controller determines the optimum acceleration speed for the robot, so ensure that the correct payload is set.
Page 78 5-2 Parameter Description PRM7: I/O point movement command speed This parameter is used when using the SRCA compatible mode. It is not used in normal operation mode. Input range: 0 to 100 (%) Default value: 30 PRM8: No. of conditional input points This parameter specifies the number of effective points for the third data conditional input for executing the JMPF statement of the robot language.
Page 79 5-2 Parameter Description PRM11: 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.) PRM12: Lead length This parameter sets the robot lead length (distance the robot moves while the motor makes one turn).
Page 80 5-2 Parameter Description PRM17: Speed proportional gain This sets the speed control gain. Typically, PRM17 and PRM18 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 81 5-2 Parameter Description PRM22: 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 PRM23: Payload-dependent acceleration coefficient The value calculated from PRM0, PRM12 and PRM3 is set automatically for this param- eter.
Page 82 5-2 Parameter Description PRM30: Maximum program speed The speed data defined by the MOVA, MOVI and MOVM statements in a program is multiplied by this parameter value to determine the maximum speed at which the robot actually moves. This is used to lower the speed of the overall program. When the TPB is used, any speed changes in the AUTO and STEP modes will also change this parameter value.
Page 83 5-2 Parameter Description PRM33: Operation at return-to-origin complete Selects the operation to be executed simultaneously with completion of return-to-origin. A signal can be output as a general-purpose output indicating that return-to-origin has been completed or to reset the program. Input range: 0 to 3 Meaning: 0: Nothing is executed...
Page 84 5-2 Parameter Description Bit 0: General-purpose input definition for using an I/O point movement command This selects a general-purpose input used for an I/O point movement command (ABS-PT, INC-PT). In normal mode, use DI0 to DI9 to specify the point number and DI10 to DI11 to select the speed.
Page 85 5-2 Parameter Description PRM35: Origin shift This parameter specifies a shift to the origin position after return-to-origin is complete. When return-to-origin is complete, the origin position is usually “0” (specified value when the mark method is used). If for some reason the origin position needs to be shifted by a particular amount, then change this parameter.
Page 86 5-2 Parameter Description PRM41: I/O point movement command speed 1 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 87 5-2 Parameter Description PRM43: I/O point movement command speed 3 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 88 5-2 Parameter Description PRM48: 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. When set to 0 or 2, an error (return-to-origin incomplete) is issued if return-to-origin has not been performed and automatic operation and step operation are not accepted.
Page 89 5-2 Parameter Description PRM53: Zone output selection (Available with Ver. 13.50 or later) This parameter is used to select the output destination and output logic when the zone output function is enabled. The zone output is used to control the signal output when the robot's current position is within the specified range.
Page 90 5-2 Parameter Description Example q PRM53=1 (Zone 0 output enabled, positive logic output) P900=100.00 P901=200.00 100.00 200.00 Current position Example w PRM53=68 (Zone 2 output enabled, negative logic output) P904=100.00 P905=200.00 100.00 200.00 Current position PRM54: Not used (Available with Ver. 13.50 or later) Default value: 0 PRM55: Not used (Available with Ver.
Page 91 5-2 Parameter Description PRM59: I/O assignment selection (Available with Ver. 13.57 or later) This parameter selects the function to be assigned to each I/O signal. This parameter setting allows changing the function assigned to each I/O signal. This makes it possible to output the destination point number and perform jog movement. After changing the I/O assignment, the SRCX controller must be restarted to enable the changes.
Page 92 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 PRM59 Setting − xx20 * xx21 * xx30 * xx31 *...
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Page 94: 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 95: Basic Contents
Basic Contents 6-1-1 Robot language and point data The SRCX 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 96 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 97: Editing Programs
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 98 6-2 Editing Programs 7) After selecting the robot language command, [EDIT-PGM] No 0 enter the operand data. 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 99: 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 100: 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 101 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 102: 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 103: 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 104: 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 105: 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 from with the number keys, and then press [EDIT-UTL-COPY] Copy from No = _...
Page 106: 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 107: 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 108: 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 109: 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 point data in the execu- [EDIT-PNT-MDI] tion program appears on the screen.
Page 110: 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 111 7-2 Teaching Playback 6) Move the robot to the teaching position with [EDIT-PNT-TCH](1) 50 – keys. Each time the – key is pressed, the robot moves a certain P500 = 19.27 [mm] amount in the direction indicated by the key 0.00] and then stops.
Page 112: 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 113 7-3 Direct Teaching 7) Move the robot to the teaching position by hand. [EDIT-PNT-DTCH] P500 = 19.27 [mm] 0.00] 1CHG 2DO 3BRK 8) Press to input the current position as point [EDIT-PNT-DTCH] data. P500 = 167.24 [mm] Use the same procedure to input all other nec- essary point data, and then press the key.
Page 114: Manual Control Of General-Purpose Output
7-4 Manual Control of General-Purpose Output Manual Control of General-Purpose Output When performing teaching playback or direct teaching with systems that use a general-purpose output through the I/O interface to operate a gripper or other tools, you may want to check the position of workpiece by actually moving it.
Page 115: 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 116: 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 117: Tracing Points (Moving To A Registered Data Point)
7-7 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 118: Chapter 8 Robot Language
This chapter explains the robot language. It describes what kind of commands are available and what they mean. The SRCX 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 119: Robot Language Table
8-1 Robot Language Table Robot Language Table Instruction Description and Format Applicable version 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 120: Robot Language Syntax Rules
8-2 Robot Language Syntax Rules Robot Language Syntax Rules 8-2-1 Command statement format The robot language command statement format for the SRCX controller is as follows. When creating 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 121: 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 SRCX 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 122: Program Function
8-3 Program Function Program Function 8-3-1 Multi-task function A multi-task function allows simultaneous executing two or more programs (tasks). The SRCX con- troller can execute a maximum of 4 programs at the same time. Since the multi-task function simultaneously executes two or more programs, the following process- ing can be performed.
Page 123: Limitless Movement Function
8-3 Program Function 8-3-2 Limitless movement function The limitless movement function allows multiple turns in the same direction along the robot axis. The SRCX 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 124 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 125: 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 126: 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 127: 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 128: 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 129: 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 130: 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 131 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 132: Srvo
8-4 Robot Language Description 8-4-15 SRVO Function: Turns the servo on and off. Format: SRVO <servo status> Example: SRVO This turns the servo on. SRVO This turns the servo off. 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 133: Orgn
8-4 Robot Language Description 8-4-17 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 Example: ORGN 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.
Page 134: Ton
8-4 Robot Language Description 8-4-18 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 135: Jmpp
8-4 Robot Language Description 8-4-20 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 Jumps to label 3 if the X-axis position is smaller than the point specified with the point variable P.
Page 136: Mat
You do not have to enter any data in p253 and p254 (when pallet number is 0). • The matrix definition contents are shared with each task. • Because only a single-axis robot is controlled with the SRCX series, the actual movement is linear even if a 2-dimensional matrix is de- fined.
Page 137: Msel
8-4 Robot Language Description 8-4-22 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 138: Movm
• The MOVM statement performs calculation on the assumption that the robot operates on the Cartesian coordinate system. • Because only a single-axis robot is controlled with the SRCX series, the actual movement is linear even if a 2-dimensional matrix is de- fined.
Page 139: Jmpc
8-4 Robot Language Description 8-4-24 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 140: Csel
8-4 Robot Language Description 8-4-26 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 141 8-4 Robot Language Description 8-4-28 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 142 8-4 Robot Language Description 8-4-31 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 143: Shft
8-4 Robot Language Description 8-4-33 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 144: 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 145: Positioning 2 Points And Sending Job Commands To A Plc At Each Position
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 146: Robot Stands By At P0, And Moves To P1 And Then To P2 To Pick And Place A Workpiece
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 X-axis Upper end limit switch (DI0) AC servo Air cylinder Lower end limit (DO0) switch (DI1) Air chuck (DO1) Workpiece detection sensor (DI2)
Page 147: Picking Up 3 Kinds Of Workpieces Flowing On The Front Conveyor And Placing Them On The Next Conveyors While Sorting
8-5-5 Picking up 3 kinds of workpieces flowing on the front conveyor and placing them on the next conveyors while sorting [TOP VIEW] Front conveyor Workpiece Next conveyors YAMAHA single-axis robot [SIDE VIEW] Upper end limit AC servo switch (DI0) Air cylinder (DO0)
Page 148 8-5 Sample Programs Program Comment [NO1] <<Main routine>> ; Label definition 001: L ; Jumps to L2 when workpiece A is detected 002: JMPB ; Jumps to L3 when workpiece B is detected 003: JMPB ; Jumps to L4 when workpiece C is detected 004: JMPB ;...
Page 149: Switching The Program From I/O
8-5 Sample Programs 8-5-6 Switching the program from I/O The SRCX series controller does not accept dedicated command inputs for program switching. To switch the program through the I/O, use the program selection signal as a conditional jump input as explained below.
Page 150 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 151: Axis Movement And I/O Multi-Task
8-5 Sample Programs 8-5-7 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 Job owner's output Program Comment [NO0] ; Starts program NO1 as task 1 001: TON ;...
Page 152 8-5 Sample Programs 8-5-8 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 153: Turning On A General-Purpose Output During Robot Movement When It Has Passed A Specified Position
8-5 Sample Programs 8-5-9 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: Program Comment [NO0]...
Page 154: Limitless Movement At Same Pitch
8-5 Sample Programs 8-5-10 Limitless movement at same pitch The robot moves continuously in the same direction at the same pitch (e.g. 150mm) for cycle con- veyor applications. 150mm ■ Make the following settings in advance to enable the limitless movement function. •...
Page 155: Limitless Rotation
8-5 Sample Programs 8-5-11 Limitless rotation The robot moves continuously in the same direction for index table applications. ■ Make the following setting in advance to enable the limitless movement function. • Set the position data unit parameter (PRM21) to 3. ■...
Page 156: 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 157: 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 158 9-1 Performing Return-to-Origin CAUTION When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".) • Return-to-origin movement speed is limited to 10mm/s or less (10deg/s for rotary robots) in “SERVICE mode state” when the robot movement speed limit is enabled. •...
Page 159: 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 (PRM13=2), perform return-to- origin with the procedure below. 1) Press (OPRT) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (ORG).
Page 160 9-1 Performing Return-to-Origin 7) When you press after moving the robot to the mark position by the teaching playback [ORG-MARK-TCH] method or direct teaching method, the screen changes to allow entering the coordinate val- input mark position ues for the mark position. While checking the robot stays at the mark po- sition, use the number keys to enter the coordi- ][mm]...
Page 161: 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 162 9-2 Using Step Operation 7) The screen returns to step 5. Pressing [OPRT-STEP] 50 0:10 this point executes the first step. 001:MOVA 999,50 0.00] 1SPD 2RSET3CHG 4next 8) This screen is displayed while the program is [OPRT-STEP] being executed. running ... 9) Pressing during execution brings the ro- STOP...
Page 163 9-2 Using Step Operation 14)The screen returns to step 5, and the process is [OPRT-STEP] 50 0:10 repeated from that point. 001:MOVA 999,50 250.00] 1SPD 2RSET3CHG 4next CAUTION When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".) •...
Page 164: 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 165 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 ro- STOP [OPRT-AUTO] bot to a halt and displays the message "stop key". Press the key to display the step where execution was interrupted.
Page 166: 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 167: Emergency Stop Function
9-5 Emergency Stop Function Emergency Stop Function There are two ways to trigger emergency stop on the SRCX 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 168 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 169: Displaying The Memory I/O Status
9-6 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 170: Displaying The Variables
9-7 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. This monitor function can be used when the SRCX controller version is 13.23 or later and the TPB version is 12.18 or later.
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Page 172: 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 173: 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 174 10-1 Initialization 6) A confirmation message appears after select- [SYS-INIT-PRM] ing the lead length. robot type : 20 Make sure the lead length is correct and press (yes). lead :20.0 [mm] To select another lead length, press (no). 1yes 2no 7) Next, enter the robot stroke length.
Page 175: 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 176: 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 177: Service Mode Function
10-4 SERVICE mode function 10-4 SERVICE mode function The SERVICE mode function is explained in this section. The robot operator or others sometimes need to enter the hazardous area in the robot safety enclosure and move the robot to perform maintenance or adjustment while using the TPB. This situation is referred to as "SERVICE mode state"...
Page 178: 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 179 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 180: 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 181 10-4 SERVICE mode function 7) When writing is complete, the screen returns [SYS-SAFE-SVCE-SET] to step 6. SERVICE mode = 1 0:Invalid 1:Valid NOTE The password is identical to the SRCX controller's version number. For example, if the controller version is 13.14, enter 13.14 as the password.
Page 182: 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 183 10-4 SERVICE mode function 7) When the setting has been changed, the memory [SYS-SAFE-SVCE-DEV] write screen appears. To save the change permanently (retain the data = 1 change even after the controller power is turned PB/DI valid off), press (SAVE). To save the change temporarily (retain the 1SAVE2CHG 3CANCEL change until the power is turned off), press...
Page 184: System Utilities
10-5 System utilities 10-5 System utilities 10-5-1 Viewing hidden parameters Parameters hidden in the normal state can be viewed. Use extra caution to avoid accidentally changing the parameters when these hidden parameters are displayed. 1) On the initial screen, press (SYS).
Page 185: Using A Memory Card
10-6 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 SRCX 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 186 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 : 00.04.01 press to scroll the screen. To return STEP STEP DOWN...
Page 187: 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 188 10-6 Using a Memory Card 7) When the load area was selected in step 5, the [SYS-B.UP-LOAD]AREA3 data load screen appears. Select the data to be loaded. Select menu To load the program data, press (PGM). To load the point data, press (PNT).
Page 189: Formatting A Memory Card
10-6 Using a Memory Card 10-6-3 Formatting 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 (FMT).
Page 190: 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 191: Duty (Load Factor) Monitor
10-7 Duty (load factor) monitor 10-7 Duty (load factor) monitor The SRCX 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 192 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 193: 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 13.50 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...
Page 194: Chapter 11 Communication With Pc
Chapter 11 COMMUNICATION WITH PC The SRCX 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 SRCX controller, and also explains the communication command specifications.
Page 195: 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 196: 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 197: Communication Command Specifications
Items in [ ] (brackets) can be omitted. ■ The character codes used in the SRCX 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 198: 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 Returns to origin ORGN RESET Resets program Starts automatic operation SRUN Starts step operation SRVO Turns servo off Turns servo on X+/X- Performs jog movement (inching) along X-axis XINC/...
Page 199 11-4 Communication Command List 2. Data handling Operation code Operand 1 Operand 2 Operand 3 Command details ?POS Reads current position Reads current program number ?SNO Reads current step number ?TNO Reads current task number ?PNO Reads current point number ?STP program number Reads total number of steps in specified...
Page 200 11-4 Communication Command List 3. Utility Operation code Operand 1 Operand 2 Operand 3 Command details INIT Initializes program data Initializes point data robot number Initializes robot parameters CLOCK Initializes timer that measures total operation time Initializes alarm history Initializes error history program number Switches program number to be run SWITSK...
Page 201: Communication Command Description
11-5 Communication Command Description 11-5 Communication Command Description 11-5-1 Robot movements (1)@ORG @ORGN This commands performs return-to-origin when the search method is selected as the origin detec- tion method and outputs the machine reference value when return-to-origin is completed nor- mally.
Page 202 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 203 11-5 Communication Command Description (5)@SRVO <servo status> Turns the servo on or off. Servo status : Specify 1 to turn the servo on or 0 to turn it off. Transmission example : @SRVO 0 c/r l/f ......Turns the servo off. Response example : OK c/r l/f (6)@X+, (@X-)
Page 204 11-5 Communication Command Description (9)@MOVA <point number>,<speed> Moves the robot to a position specified by a point number 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). Data for the point numbers can be edited with the @WRITE PNT statement.
Page 205 11-5 Communication Command Description (11)@MOVF <point number>,<DI number>,<DI status> This command moves the robot toward a position specified by a point number until a specified DI input condition is met. When the DI condition is met, the robot stops and the command termi- nates.
Page 206 11-5 Communication Command Description (15)@P <point number> Sets the point variable P. Point number : This can be any value from 0 to 999. Transmission example : @P 100 c/r l/f ....... Set the point variable P to 100. Response example : OK c/r l/f CAUTION The contents of the point variable P are held even when the SRCX is turned off.
Page 207 11-5 Communication Command Description (18)@MOVM <pallet work position>,<speed> Moves the robot to a specified pallet work position at a specified speed. This command is available with controller version 13.23 or later. 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 ×...
Page 208 11-5 Communication Command Description (21)@CSEL <array element number> Specifies an array element for the counter array variable C to be used. This command is available with controller version 13.23 or later. Array element number : This is a number used to designate an array element for the counter array variable C, and can be from 0 to 31.
Page 209 11-5 Communication Command Description (26)@D+ [<addition value>] Adds a specified value to the counter variable D. This command is available with controller version 13.23 or later. Addition value : This can be any value from 1 to 65535. If this value is omitted, then 1 is added to the counter variable.
Page 210: Data Handling
11-5 Communication Command Description 11-5-2 Data handling (1)@?POS Reads the current position. Transmission example : @?POS c/r l/f Response example : 321.05 c/r l/f OK c/r l/f (2)@?NO Reads the current program number. In multi-task operation, this command reads the program information on the task currently selected.
Page 211 11-5 Communication Command Description (6)@?STP <program number> Reads the total number of steps in the specified program. Program number : This is a number used to identify each program and can be 0 to 99 (a total of 100). Transmission example : @?STP 10 c/r l/f ......
Page 212 11-5 Communication Command Description (11) @?ALM <history number>[,<display count>] Displays a specified number of past alarms, starting from a specified history number. A maximum of 100 past alarms can be displayed. This alarm history shows the time (total elapsed time from controller start-up) that each alarm occurred and a description of the alarm.
Page 213 11-5 Communication Command Description (14)@?ORG Reads whether or not return-to-origin has been completed. Transmission example : @?ORG c/r l/f Response example 1 : 0 c/r l/f .......... Return-to-origin not com- OK c/r l/f pleted. Response example 2 : 1 c/r l/f .......... Return-to-origin completed. OK c/r l/f (15)@?MODE Reads the robot status.
Page 214 11-5 Communication Command Description (18)@?DO <general-purpose output or memory output number> Reads the status of a general-purpose output or memory output. Output number : Specify one of the general-purpose outputs 0 to 12 (13 points) or one of the memory outputs 100 to 131 (32 points). Transmission example : @?DO 2 c/r l/f Response example 1...
Page 215 11-5 Communication Command Description (20-1) @?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 c/r l/f OK c/r l/f...
Page 216 11-5 Communication Command Description (21-2) @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 (21-3) @READ PNT...
Page 217 11-5 Communication Command Description (21-5) @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=20 c/r l/f PRM1=350 c/r l/f...
Page 218 11-5 Communication Command Description (21-8) @READ INF Reads the status of the registered programs. The registered program numbers and number of steps are displayed. Transmission example : @READ INF c/r l/f Response example : NO0- 43 steps c/r l/f NO1- 52 steps c/r l/f NO31- 21 steps c/r l/f ^Z (=1AH) OK c/r l/f...
Page 219 11-5 Communication Command Description (22-3) @WRITE PRM Writes the parameter data. The controller will transmit READY when this command is received. Confirm that READY is received and then transmit the parameter data. Always transmit ^Z (=1AH) at the end of the data. Transmission example : Send Receive...
Page 220 11-5 Communication Command Description (23)@?ERR <history number>[,<display count>] Displays a specified number of past errors, starting from a specified history number. A maximum of 100 past errors can be displayed. This error history shows the time (total elapsed time from controller start-up) that each error occurred and a description of the error.
Page 221 11-5 Communication Command Description (26)@?CSEL Reads the currently specified element number of the counter array variable C. In multi-task opera- tion, this command reads the program information on the task currently selected. This command is available with controller version 13.23 or later. Transmission example : @?CSEL c/r l/f Response example...
Page 222: 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 <robot number>...
Page 223 11-5 Communication Command Description (2)@SWI <program number> This command switches the execution program number. When a program is reset, program execu- tion will always return to the first step of the program selected here. The program is reset when the @SWI command is executed.
Page 224 11-5 Communication Command Description (5)@SDEL <program number>,<step number> Deletes a specified step. Program number : This is a number used to identify each program and can be from 0 to 99. Step number : This is a number used to identify each step and can be from 1 to 255.
Page 225 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 226: 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 227: 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 228: 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 229: 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 230: System Error Message
12-1 Error Messages 12-1-5 System error message Message system error Error No. An unexpected error occurred. Cause Action Contact YAMAHA and describe the problem. Message illegal opecode Error No. Cause There is an error in a registered program. Action Check the program.
Page 231: 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 232: 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 233: 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 13.50 or later and the TPB version is 12.18 or later.
Page 234 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 236: 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 237: 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 : SRCX + Regenerative unit What you were using ・Robot model name...
Page 238: 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 239: Alarm Message List
13-2 Alarm and Countermeasures 13-2-2 Alarm message list Alarm No. Alarm Message Meaning Possible Cause Action OVER LOAD Excessive load Improper operation Lower the operation duty on the robot on motor or reduce the acceleration parameter, or correct the payload parameter. If the motor armature resistance is too Motor failure low or the motor movement is...
Page 240 13-2 Alarm and Countermeasures Alarm No. Alarm Message Meaning Possible Cause 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 241 13-2 Alarm and Countermeasures Alarm No. Alarm Message Meaning Possible Cause Action ABNORMAL Excessive voltage Rise in regenerative absorption Lower the operation duty on the resistor temperature (above VOLTAGE (higher than robot, or install a cooling fan. 420V) generated 120°C). No regenerative unit is connected.
Page 242: Troubleshooting For Specific Symptom
13-3 Troubleshooting for Specific Symptom 13-3 Troubleshooting for Specific Symptom If any problems develop while the controller is being used, check the items below for the appropriate way to handle them. If the problem cannot be corrected using the steps listed below, please contact our sales office or sales representative right away.
Page 243 13-3 Troubleshooting for Specific Symptom Symptom Possible Cause Items to Check Action Coupling is not Abnormal noise • Check the coupling bolts. • Tighten if loose. or vibration securely tightened. occurs. A screw on the • Check the screws used to secure the •...
Page 244: Relating To The I/O
13-3 Troubleshooting for Specific Symptom Symptom Possible Cause Items to Check Action Robot starts Motor and/or • Check the motor wire and resolver • Correct the connections. moving at high resolver are signal wire connections. speed when the miswired. power is turned Parameter error •...
Page 245: 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 246: 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 247 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 248: 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 249: 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 250: 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 251: 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 252: Chapter 15 Specifications
Chapter 15 SPECIFICATIONS Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 253: Srcx Sereis
35 to 85%RH (no condensation) Noise immunity Conforms to IEC61000-4-4 Level 2 The regenerative unit (RGU-2) is required to operate a load with large inertia or a robot model specified by YAMAHA. CAUTION Specifications and external appearance are subject to change without prior notice.
Page 254: Robot Number List
15-1 SRCX 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. Single-axis robot B14H F14H Standard...
Page 255: 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 256: 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.
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Page 258: Chapter 16 Appendix
Chapter 16 APPENDIX Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 259: 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 SRCX 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 260: How To Handle Options
16-2 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 SRCX controller data. ■ Using the memory card 1. Insert the memory card into the TPB as shown in Fig. 16-1. 2.
Page 261 16-2 How to Handle Options ■ Data size that can be saved Data size that can be saved on one memory card is as follows: Memory card Save format capacity Ver. 1.52 or later Ver. 2.04 to 2.18 Ver. 12.12 or later Standard Cannot be used.
Page 262: 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 SRCX controller and is used for pseudo-input (emu- lation) by means of switches and for input/output monitoring by LED display. ■ Connecting the I/O checker 1.
Page 263: Popcom Communication Cable
16-2 How to Handle Options 16-2-3 POPCOM communication cable This cable is used to operate the SRCX 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 265 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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Srcx-05 Srcx-10 Srcx-20

Yamaha SRCX Series User Manual

Chapter 1 OVERVIEW

Chapter 2 INSTALLATION and CONNECTION

Chapter 3 I/O INTERFACE

Chapter 4 BASIC OPERATION of the TPB

Chapter 5 PARAMETERS

Chapter 6 PROGRAMMING

Chapter 7 EDITING POINT DATA

Chapter 8 ROBOT LANGUAGE

Chapter 9 OPERATING the ROBOT

Chapter 10 OTHER OPERATIONS

Chapter 11 COMMUNICATION with PC

Chapter 12 MESSAGE TABLES

Chapter 13 TROUBLESHOOTING

Chapter 14 MAINTENANCE and WARRANTY

Chapter 15 SPECIFICATIONS

Chapter 16 APPENDIX

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