YAMAHA NETWORK BOARD
E
User's Manual
ENGLISH
YAMAHA MOTOR CO., LTD.
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
E88-Ver. 2.01
URL http://www.yamaha-motor.jp/robot/index.html

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  • Page 1

    YAMAHA NETWORK BOARD User’s Manual ENGLISH YAMAHA MOTOR CO., LTD. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan E88-Ver. 2.01 URL http://www.yamaha-motor.jp/robot/index.html...

  • Page 3

    INTRODUCTION Thank you for purchasing the PROFIBUS unit for the YAMAHA single-axis/dual-axis robot controllers SRCP/SRCD/ERCX/SRCX/DRCX series. This is an optional unit to allow connecting YAMAHA single-axis/dual-axis robot controllers SRCP/SRCD/ERCX/SRCX/DRCX series (hereafter called "controller") to the PROFIBUS widely used as a fieldbus.

  • Page 4

    MEMO...

  • Page 5: Table Of Contents

    Contents Cautions To Ensure Safety ............1 1-1 Basic safety points ................2 1-2 System design safety points .............. 2 1-3 Installation and wiring safety points ........... 3 1-4 Start-up and maintenance safety points..........4 1-5 Precautions when disposing of the unit ..........4 1-6 Warranty .....................

  • Page 6: Table Of Contents

    2-10-2 JMPF .................... 56 2-10-3 JMPB .................... 57 2-10-4 DO ....................57 2-10-5 WAIT .................... 58 2-11 Emulated Serialization on parallel DIO ..........59 2-12 Remote command ................61 2-12-1 Remote command specifications ..........61 2-12-2 Remote command & status value list ........... 62 2-12-3 Remote command details (robot operation) .........

  • Page 7: Cautions To Ensure Safety

    1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 CHAPTER 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0...

  • Page 8: Basic Safety Points, System Design Safety Points

    CHAPTER1 Cautions To Ensure Safety Basic safety points Besides reading this instruction manual and the controller user’s manual, also be sure to handle the equipment correctly while paying sufficient attention to safety. Points regarding safety in this instruction manual only list items involving this product. Please refer to the controller instruction manual for information regarding safety when using this unit with the controller.

  • Page 9: Installation And Wiring Safety Points

    CHAPTER1 Cautions To Ensure Safety Installation and wiring safety points CAUTION Always cut off all power to the controller and the overall system before attempting installation or wiring jobs. This will prevent possible electrical shocks. After the controller has been on for a while, some points in the controller may be extremely hot or remain at high voltages.

  • Page 10: Start-up And Maintenance Safety Points, Precautions When Disposing Of The Unit, Warranty

    CHAPTER1 Cautions To Ensure Safety Start-up and maintenance safety points CAUTION Never attempt to disassemble the robot or controller. When a robot or controller component must be repaired or replaced, contact us for details on how to perform the servicing. CAUTION Always cut off all power to the controller and the overall system before attempting maintenance or servicing.

  • Page 11: Profibus Unit

    1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 CHAPTER 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0...

  • Page 12: Profibus Unit Features

    CHAPTER2 PROFIBUS Unit PROFIBUS unit features PROFIBUS is a fieldbus standard jointly developed by Siemens, Bosch, ABB, etc. in Germany in the 1980s. The PROFIBUS specifications were established in 1989 and the organization called "PNO" (PROFIBUS Nutzerorganisation) was founded in Germany to start activities to spread the PROFIBUS.

  • Page 13: Profibus System Concept

    CHAPTER2 PROFIBUS Unit PROFIBUS system concept In order to understand how the controller and sequencer (PLC) operate on the PROFIBUS system, let’s first take a look at how the system communicates. Each unit connected in the PROFIBUS system is classified by function into a master station and a slave station.

  • Page 14: Brofibus Cable Connections

    CHAPTER2 PROFIBUS Unit BROFIBUS cable connections PROFIBUS cable connections require a 9-pin D-sub connector with pin assignments as shown in the table below. Pin No. Signal Meaning — — — — RxD/TxD-P Signal in line A — — RxD/TxD-N Signal in line B —...

  • Page 15: Parallel I/o Connector

    CHAPTER2 PROFIBUS Unit Parallel I/O connector The I/O connector must be wired into the controller so install as shown below even if not using the controller’s parallel I/O. ■ When the ERCX/SRCX/DRCX series controllers are used: 1. Short Pin No. A-24 (EMG 1) and B-24 (EMG 2). 2.

  • Page 16

    CHAPTER2 PROFIBUS Unit ■ When the SRCP/SRCD series is used: 1. Short Pin No. 1 (EMG 1) and Pin No. 2 (EMG 2) of the EXT.CN connector. 2. Short Pin No. B-4 (LOCK) of the I/O.CN connector and Pin No. 4 (24G) of the EXT.CN connector.

  • Page 17: Controller (slave Station) System Setting, Validating The Profibus Unit

    CHAPTER2 PROFIBUS Unit Controller (slave station) system setting The station address must be set so that the controller can be correctly identified as a slave station on the PROFIBUS system. Communication speed is automatically recognized. The PROFIBUS unit station address is set from the HPB. This setting is enabled after the controller is restarted.

  • Page 18: Setting The Station Address

    CHAPTER2 PROFIBUS Unit 2-5-2 Setting the station address The station address can be set from 0 to 126. Press (SYS) on the initial screen. [MENU] select menu Press (next) to switch to the func- 1EDIT2OPRT3SYS 4MON tion display and then press (OPT).

  • Page 19: Checking The Communication Speed

    CHAPTER2 PROFIBUS Unit 2-5-3 Checking the communication speed Communication speed is automatically recognized as any of 9.6K, 19.2K, 93.75K, 187.5K, 500K, 1.5M, 3M, 6M and 12M in units of bps. Press (SYS) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON Press (next) to switch to the func- [SYS]...

  • Page 20: Sequencer (master Station) Settings, Exchanging Data With The Controller

    CHAPTER2 PROFIBUS Unit Sequencer (master station) settings The master station sequencer (or PLC) in the PROFIBUS system can make line tests on the slave station. Use this function to check whether or not the controller is identified as a slave station on the PROFIBUS system before starting any actual work. Refer to the instruction manual for the master station sequencer (PLC) for detailed information.

  • Page 21: I/o Information, Profile (i/o Signal Table)

    CHAPTER2 PROFIBUS Unit I/O information On/off (I/O) information handled by the PROFIBUS unit consists of 16 dedicated in- puts, 32 general-purpose I/O inputs, 16 dedicated outputs and 32 general-purpose out- puts. Dedicated inputs are sub-grouped by assigned function into 13 dedicated command in- puts, interlock, service mode and emergency stop inputs.

  • Page 22

    • The zone output is supported by the following controller versions: ERCX, SRCX : Ver. 13.50 or later DRCX : Ver. 18.50 or later SRCP, SRCD : Ver. 24.00 or later SRCP30 : Ver. 24.30H or later Remote Register (Word I/O) OUTPUT (Slave→Master) INPUT (Master→Slave)

  • Page 23: Dedicated Command Inputs

    CHAPTER2 PROFIBUS Unit ■ Bit input/output ■ Word input/output 1. 2 Bit address (from 0 to 7) 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 Byte address (from 0) Q8.7 Q8.0 Q9.7 Q9.0 Address identifier 2-7-2...

  • Page 24

    CHAPTER2 PROFIBUS Unit ■ Point movement command with absolute (ABS-PT) When origin point coordinates are set at 0, this command moves the robot to a posi- tion specified in data by point No. (See “2-7-3 General-purpose inputs”) specified by SI200 through SI209, and at a speed specified by SI210 and SI211. On dual-axis controllers, the axis to be moved can be specified with SI213, SI214 by making PRM10 varid.

  • Page 25

    CHAPTER2 PROFIBUS Unit ■ Origin return command (ORG-S) This command performs origin return when the search method was selected as the origin detection method, or checks the origin return status if the mark method was selected. On dual-axis controllers, you can specify the axis for origin return with SI213, SI214 by making PRM10 varid.

  • Page 26

    It can also be switched even when program data is loaded from the memory card. *1: DO0 to DO4 when the SRCP/SRCD series controllers are used. *2: DO5 when the DRCX series controllers are used. *3: DO3 when the SRCP/SRCD series controllers are used.

  • Page 27: General-purpose Inputs (si200 - Si231)

    CHAPTER2 PROFIBUS Unit 2-7-3 General-purpose inputs (SI200 - SI231) General-purpose inputs are inputs freely available to the user for handling as data in the program. As a special usage method, SI200 - SI209 can specify point numbers, and SI210 - SI211 can specify movement speed during running of ABS-PT or INC-PT point movement commands.

  • Page 28: Interlock (lock), Emergency Stop Input (emg)

    OFF. For automatic operation and others, it is neces- sary to surely keep both interlock inputs ON. (On the SRCP/SRCD series, the paral- lel I/O interlock can be disabled by the parameter setting. For more details, refer to "2-4 Parallel I/O connector".)

  • Page 29: Service Mode (svce)

    Accordingly, it will be switched to the service mode status if either of two service mode inputs is merely turned OFF. To escape from the service mode status, it is necessary to turn ON both service mode inputs. * DI7 when the SRCP/SRCD series controllers are used.

  • Page 30: Dedicated Outputs

    CHAPTER2 PROFIBUS Unit 2-7-7 Dedicated outputs Dedicated outputs inform the sequencer (PLC) of controller status. ■ "Preparation completed" output (READY) The dedicated output is ON while the controller system is operating normally. How- ever the output turns OFF under any of the following conditions and the motor be- comes "free".

  • Page 31: General-purpose Outputs (so200 - So231)

    The zone output is supported by the following controller versions: ERCX, SRCX : Ver. 13.50 or later DRCX : Ver. 18.50 or later SRCP, SRCD : Ver. 24.00 or later SRCP30 : Ver. 24.30H or later 2-7-8 General-purpose outputs (SO200 - SO231) These are outputs available to the user and can be freely turned on and off within the program.

  • Page 32: Timing Chart, Right After Controller Power Turns On

    CHAPTER2 PROFIBUS Unit Timing chart Timing charts are included so please refer to them when creating a sequencer (PLC) program. 2-8-1 Right after controller power turns on Normal startup Power supply 10s or less When alarm has occurred Power supply ■...

  • Page 33: Dedicated Input Command Execution

    CHAPTER2 PROFIBUS Unit 2-8-2 Dedicated input command execution ■ The BUSY output turns ON when a dedicated command input is received. Whether or not the received command ended normally is checked by the END output at the point when the BUSY output turns OFF. In other words, the END output that is ON at this time, shows the command ended normally.

  • Page 34

    System mode selection parameter (single-axis controllers: PRM34, dual-axis con- trollers: PRM20) is supported by the following controller versions: ERCX, SRCX : Ver. 13.74 or later DRCX : Ver. 18.74 or later SRCP, SRCD : Ver. 24.32 or later SRCP30 : Ver. 24.32H or later...

  • Page 35

    CHAPTER2 PROFIBUS Unit Dedicated command Even after dedicated command execution completion execution completion, the END signal does not turn on until the dedicated command input turns off. Dedicated command BUSY 30ms or less 1ms or less 1ms or less 1ms or less (3) When running a command was impossible from the start (In the following cases, END will not turn ON, when running of command was impossible from the start.)

  • Page 36

    CHAPTER2 PROFIBUS Unit (4) When an on-going command becomes impossible to run (In the following cases, END will not turn ON, when running of an on-going com- mand becomes impossible.) • When an interlock or emergency stop was triggered during running of a dedicated command.

  • Page 37: When Interlock Signal Is Input

    CHAPTER2 PROFIBUS Unit 2-8-3 When interlock signal is input Interlock LOCK Dedicated command BUSY Differs according to execution command ■ The BUSY output turns OFF when an interlock signal is input during running of a dedicated command. The READY output and the END output remain unchanged.

  • Page 38: When Emergency Stop Signal Is Input

    CHAPTER2 PROFIBUS Unit 2-8-4 When emergency stop signal is input Emergency stop Dedicated command BUSY READY 5ms or less 1ms or less ■ The READY output turns OFF. The BUSY output turns OFF during running of a dedicated command. The END output is unchanged. ■...

  • Page 39: When An Alarm Is Issued

    CHAPTER2 PROFIBUS Unit 2-8-5 When an alarm is issued Alarm occurs Dedicated command BUSY READY 5ms or less 1ms or less ■ The READY, BUSY and END outputs all turn off. ■ To troubleshoot an alarm that occurred on the controller, refer to “Alarm and Coun- termeasures”...

  • Page 40: When Point Movement Commands Are Run

    CHAPTER2 PROFIBUS Unit 2-8-6 When point movement commands are run ■ When executing a point movement command (ABS-PT, INC-PT), the point data and speed data must be input before inputting the dedicated command. When specifying the moving axis, the axis selection data must be input. The point data and speed data inputs are designated with SI200 to SI211.

  • Page 41: I/o Assignment Change Function, Changing The I/o Assignment

    M E M O The I/O assignment change function is supported by the following controller ver- sions: ERCX, SRCX : Ver. 13.57 or later DRCX : 18.57 or later SRCP, SRCD : Ver. 24.17 or later SRCP30 : Ver. 24.30H or later...

  • Page 42: I/o Assignment List

    CHAPTER2 PROFIBUS Unit 2-9-2 I/O assignment list The table below shows the function assigned to each input/output (I/O) signal by setting the I/O assignment selection parameter. For details on the I/O assignment selection parameter, refer to "2-9-3 I/O assignment selection parameter description". For details on each I/O signal, refer to "2-9-4 I/O sig- nal description".

  • Page 43

    CHAPTER2 PROFIBUS Unit Im.0 SRV-O SRV-O SRV-O SRV-O SRV-O Im.1 (ZONE0) (ZONE0) (ZONE0) (ZONE0) (ZONE0) Im.2 (ZONE1) (ZONE1) (ZONE1) (ZONE1) (ZONE1) Im.3 (ZONE2) (ZONE2) (ZONE2) (ZONE2) (ZONE2) Im.4 (ZONE3) (ZONE3) (ZONE3) (ZONE3) (ZONE3) Im.5 Im.6 ORG-O ORG-O ORG-O ORG-O ORG-O Im.7 Im+1.0 Im+1.1...

  • Page 44: I/o Assignment Selection Parameter Description

    M E M O The movement point zone output is supported by the following controller versions: ERCX, SRCX : Ver. 13.64 or later DRCX : Ver. 18.64 or later SRCP, SRCD : Ver. 24.21 or later SRCP30 : Ver. 24.30H or later...

  • Page 45

    ERCX, SRCX : Ver. 13.64 or later DRCX : Ver. 18.64 or later SRCP, SRCD : Ver. 24.21 or later SRCP30 : Ver. 24.30H or later • In controller versions prior to the above versions, the "OUT valid position"...

  • Page 46: I/o Signal Descripion

    CHAPTER2 PROFIBUS Unit 2-9-4 I/O signal descripion The meaning of each signal is explained below. For the meaning of signals not described here, refer to "2-7-2 Dedicated command input" and the following sections. ■ Point number designation inputs 200 to 205 (PI200 to PI205) These inputs designate the point number of the target position where the robot moves with a point movement command (ABS-PT, INC-PT).

  • Page 47

    CHAPTER2 PROFIBUS Unit Axis selection example JOG+, JOG- SI214 SI213 Selected axis X-axis X-axis Y-axis X-axis CAUTION • If the CHG (mode switch input) signal is switched during jog movement, the robot comes to an error stop. • When selecting the axis of a dual-axis controller, the status of SI213 and SI214 must first be determined.

  • Page 48

    CHAPTER2 PROFIBUS Unit ■ 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 49

    The movement point zone output function is supported by the following controller versions. ERCX, SRCX : Ver. 13.64 or later DRCX : Ver. 18.64 or later SRCP, SRCD : Ver. 24.21 or later SRCP30 : Ver. 24.30H or later Output example PO No. PO205...

  • Page 50

    • 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). In the SRCP/SRCD series, however, the point number is only output to the serial I/O.

  • Page 51

    CHAPTER2 PROFIBUS Unit 2-9-5 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) Data retention Axis designation data * SI213, SI214 JOG+/JOG (JOG movement command) BUSY READY Robot movement...

  • Page 52

    CHAPTER2 PROFIBUS Unit ■ Point data write (PSET) ( Mode switch input) PSET ( Point data write command) PI200 to 205 * Data retention (Point number designation inputs 200 to 205) BUSY READY Point data write Point data writing 30ms or more 30ms or less 1ms or less 30ms or less * The number of point number outputs that can be used depends on the I/O assignment type.

  • Page 53

    CHAPTER2 PROFIBUS Unit ■ Target position's point number output (PO) (1) Outputting the point number at the timing that movement is normally completed Data retention q Data retention w Axis designation data *1 SI213, SI214 Command q Command w ABS-PT/INC-PT (Point movement command) PO200 to 205 *2 Point number output q...

  • Page 54

    CHAPTER2 PROFIBUS Unit ↓ [Point movement command execution w] Execute the next point movement command. Point movement ends. (10) The END signal turns on. The previous target position's point number being output from the specified point number (PO200 to PO205) is cleared and the current target position's point number is then output.

  • Page 55

    CHAPTER2 PROFIBUS Unit (2) Outputting the point number at the timing that a movement command is received Data retention q Data retention w Axis designation data *1 SI213, SI214 Command q Command w ABS-PT/INC-PT (Point movement command) PO200 to 205 *2 Point number output q Point number output w (Target position's point number...

  • Page 56

    CHAPTER2 PROFIBUS Unit [Point movement command execution w] Execute the next point movement command. When the controller received the point movement command and the BUSY signal turned on, the previous target position's point number being output from the specified point number (PO200 to PO205) is cleared and the current target position's point number is then output.

  • Page 57

    CHAPTER2 PROFIBUS Unit (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 PO200 to 203 (Target position's point number outputs 200 to 203) Point output...

  • Page 58

    • When using an option unit, 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). In the SRCP/SRCD series, however, the point number is only output to the serial I/O.

  • Page 59

    CHAPTER2 PROFIBUS Unit (4) Outputting the corresponding point number by the movement point zone output function Zone outputs (ZONE 0) are also explained here. PO200 to 203 * (Target position's point number outputs 200 to 203) Point output Point output (point 6) (point 6) ZONE0 (Zone output 0)

  • Page 60

    • When using an option unit, the corresponding point number for the movement point zone output function is output to both the corresponding parallel I/O (PO0 to PO5) and the serial I/O (PO200 to PO205). In the SRCP/SRCD series, however, the point number is only output to the serial I/O.

  • Page 61: Robot Language, Movf

    Here, “1” means ON, and “0” means OFF. Other: • The speed during execution of the MOVF statement can be set with the MOVF speed parameter. This has no effect on speed in OPRT mode. * 0 to 7 (8 points) for the SRCP/SRCD series controllers...

  • Page 62: Jmpf

    CHAPTER2 PROFIBUS Unit 2-10-2 JMPF Function: Jumps to the specified label of the specified program when the jump con- dition input matches the value that was set. Format: JMPF <label No.> <program No.> <input condition value> Example: JMPF 12,3,5 Jumps to label 12 of program 3 when the condition jump input value is 5. If not, proceeds to the next step.

  • Page 63: Jmpb

    200- 231 (32 points). (3) Input status Here, “1” means ON, and “0” means OFF. * 0 to 7 (8 points) for the SRCP/SRCD series controllers 2-10-4 Function: Turns the general-purpose output or memory output or serial general- purpose output on or off.

  • Page 64: Wait

    100 -147 (48 points) or the serial general- purpose outputs 200- 231 (32 points). (2) Input status Here, “ 1” means the input is ON, and “0” means the input is OFF. * 0 to 7 (8 points) for the SRCP/SRCD series controllers...

  • Page 65: Emulated Serialization On Parallel Dio

    *1: SI200 to SI204 when the SRCP/SRCD series controllers are used. *2: DO0 to DO4 when the SRCP/SRCD series controllers are used. *3: DI0 to DI7 when the SRCP/SRCD series controllers are used.

  • Page 66

    CHAPTER2 PROFIBUS Unit Press (SYS) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON Press (next) to switch to the func- [SYS] tion display. When the function display select menu appears, then press (OPT). 1SAFE2OPT 3UTL 4next Press (next) to switch the function [SYS-OPT] display.

  • Page 67: Remote Command, Remote Command Specifications

    CHAPTER2 PROFIBUS Unit 2-12 Remote command When the remote register is used, the message command can be issued directly from the sequencer (PLC). The high-ranked commands such as MOVD command (movement command which directly specifies the position coordinates), which must use RS-232C unit conventionally, can be easily executed.

  • Page 68: Remote Command & Status Value List

    CHAPTER2 PROFIBUS Unit 2-12-2 Remote command & status value list The remote command code and status code are expressed in the hexadecimal mode. Remote Command Remote Command Meaning of command (QWn+10,QWn+8) 0000xxxx The command of the code xxxx is executed. 0001xxxx The command of the code xxxx is executed with the current position information indicated...

  • Page 69

    CHAPTER2 PROFIBUS Unit Remote Command (QWn+8) Command option Command response Code Command details Option register response register 010C Pallet work position specification Axis QWn+12 movement execution Pallet work position QWn+14 Speed QWn+16 Position specification arch 010D Axis QWn+12 motion definition Specified position QWn+14 010E...

  • Page 70

    CHAPTER2 PROFIBUS Unit 2. Data handling Remote Command (QWn+8) Command option Command response Code Command details Option register response register 0201 Current position read Axis QWn+12 X axis position IWm+18, IWm+16 Y axis position IWm+22, IWm+20 0202 Current program No. read Program number IWm+12 0203...

  • Page 71: Special Commands

    CHAPTER2 PROFIBUS Unit 3. Utility Remote Command (QWn+8) Command option Command response Code Command details Option register response register 0301 Execution program No. switching Program number QWn+12 0302 Execution task No. switching Task number QWn+12 Parameter data write Parameter number QWn+12 0303 QWn+18,...

  • Page 72: Remote Command Details (robot Operation)

    CHAPTER2 PROFIBUS Unit 2-12-3 Remote command details (robot operation) Return-to-origin execution ............ Code 0101 The return-to-origin operation of all axes or specified axis is executed, or the re- turn-to-origin status is judged. If the search system is selected for the origin-point detection system, the return-to-origin operation is executed, and if the mark sys- tem is selected, the return-to-origin status is judged.

  • Page 73

    CHAPTER2 PROFIBUS Unit CAUTION In return-to-origin of the stroke end origin system, do not stop return-to-origin operation during origin detection (mechanical limit in contact). The alarm stop results from the overload of the controller, and it is necessary to turn ON the power supply again.

  • Page 74

    Moreover, when the program data is loaded from the memory card to the controller, it is sometimes switched. *1: DO0 to DO4 when the SRCP/SRCD series controllers are used. *2: DO5 when the DRCX series controllers are used. *3: DO3 when the SRCP/SRCD series controllers are used.

  • Page 75

    CHAPTER2 PROFIBUS Unit Automatic operation start ............Code 0103 The program is executed to the final step. In the multi task program, all tasks are executed. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Example)

  • Page 76

    CHAPTER2 PROFIBUS Unit Step operation start ............... Code 0104 The program is executed by one step. In the multi task program, the task selected at the time is executed. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16...

  • Page 77

    CHAPTER2 PROFIBUS Unit Servo status change .............. Code 0105 The servo of all axes or specified axis is turned ON and OFF. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Status Axis Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis.

  • Page 78

    CHAPTER2 PROFIBUS Unit JOG movement (inching) ............Code 0106 The specified axis moves in the specified direction at the stroke shown with the following formula. Movement stroke = 1 × (Teach movement data (%)*/100 (mm) Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12...

  • Page 79

    CHAPTER2 PROFIBUS Unit JOG movement ............... Code 0107 The specified axis continues moving in the specified direction at the movement speed shown with the following formula until the interlock input is OFF or it reaches the software limit. Movement speed = 100 × (Teach movement data (%)*/100 (mm) Command option QWn+22 QWn+20...

  • Page 80

    CHAPTER2 PROFIBUS Unit Direct position specification movement execution .... Code 0108 It moves to the specified coordinate position. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Y axis position X axis position Speed Axis Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Details)

  • Page 81

    CHAPTER2 PROFIBUS Unit Position specification movement execution ....... Code 0109 The specified axis moves the position of the data of the point No. specified with the number. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Speed Point number Axis Command response IWm+22 IWm+20 IWm+18...

  • Page 82

    CHAPTER2 PROFIBUS Unit (10) Movement stroke specification movement execution ............. Code 010A The specified axis moves from the current position by the data of the point number specified. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Speed Point number Axis Command response IWm+22 IWm+20...

  • Page 83

    The movement speed is set with MOVF speed parameter* but is not influenced by the program execution speed parameter* *1: DI0 to DI7 when the SRCP/SRCD series controllers are used. *2: Single-axis controllers: PRM9, dual-axis controllers: PRM4 *3: Single-axis controllers: PRM30, dual-axis controllers: PRM17...

  • Page 84

    CHAPTER2 PROFIBUS Unit (12) Pallet work position specification movement execution ............. Code 010C It moves to the pallet work position specified with the matrix. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Speed Pallet work position Axis Command response IWm+22 IWm+20 IWm+18 IWm+16...

  • Page 85

    CHAPTER2 PROFIBUS Unit (13) Position specification arch motion definition ....Code 010D The arch motion of the position specification is defined. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Specified position Axis Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Details) Axis: It is the execution axis number of the arch motion.

  • Page 86

    CHAPTER2 PROFIBUS Unit (14) Distance specification arch motion definition ....Code 010E The arch motion of the distance specification is defined. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Specified distance Axis Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Details) Axis: It is the execution axis number of the arch motion.

  • Page 87

    0000 0000 0001 00CB 0000 010F Response example 1: It is normally ended. IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 IWm+10 IWm+8 0000 0000 0000 0000 0000 0000 0000 0200 * 0 to 4 (5 points) for the SRCP/SRCD series controllers...

  • Page 88

    0000 0001 00C9 0000 0110 0000 Response example 1: It is normally ended. IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 IWm+10 IWm+8 0000 0000 0000 0000 0000 0000 0000 0200 * 0 to 7 (8 points) for the SRCP/SRCD series controllers...

  • Page 89

    CHAPTER2 PROFIBUS Unit (17) Specified time waiting ............Code 0111 It waits for the specified time alone. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Time Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Details) Time: It can be specified in the range of 1 to 65535 in the 10 millisecond units.

  • Page 90

    CHAPTER2 PROFIBUS Unit (18) Matrix definition ..............Code 0112 The matrix is defined. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Pallet number Line number Array number Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Details) Array number, Line number: A value of 1 to 255 can be applied to each matrix.

  • Page 91

    CHAPTER2 PROFIBUS Unit (19) Movement matrix specification..........Code 0113 The movement matrix is specified with the pallet work position specification move- ment execution command (code: 010C). Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Pallet number Command response IWm+22 IWm+20 IWm+18 IWm+16...

  • Page 92

    CHAPTER2 PROFIBUS Unit (20) Point variable P definition ............. Code 0114 The point variable P is set. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Point number Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Details) Point number: A value of 0 to 999 can be specified. (Example) Transmission example 1: The point variable P is set to 100.

  • Page 93

    CHAPTER2 PROFIBUS Unit (21) Addition of specified value to point variable P ....Code 0115 The specified value is added to the point variable P. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Addition value Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12...

  • Page 94

    CHAPTER2 PROFIBUS Unit (22) Subtraction of specified value from point variable P .............. Code 0116 The specified value is subtracted from the point variable P. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Subtraction value Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12...

  • Page 95

    CHAPTER2 PROFIBUS Unit (23) Arrangement element specification of counter arrangement variable C ........Code 0117 The arrangement elements of the counter arrangement variable C used are speci- fied. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Arrangement element No. Command response IWm+22 IWm+20 IWm+18...

  • Page 96

    CHAPTER2 PROFIBUS Unit (24) Counter arrangement variable C specification ....Code 0118 The counter value is set at the counter arrangement variable C specified with the arrangement element specification command (code 0117). Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Counter value Command response IWm+22...

  • Page 97

    CHAPTER2 PROFIBUS Unit (25) Addition of specified value to counter arrangement variable C ........Code 0119 The specified value is added to the counter arrangement variable C specified with the arrangement element specification command (code 0117). Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14...

  • Page 98

    CHAPTER2 PROFIBUS Unit (26) Subtraction of specified value from counter arrangement variable C ......... Code 011A The specified value is subtracted from the counter arrangement variable C speci- fied with the arrangement element specification command (code 0117). Command option QWn+22 QWn+20 QWn+18 QWn+16...

  • Page 99

    CHAPTER2 PROFIBUS Unit (27) Counter variable D definition ..........Code 011B The counter variable D is set. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Counter value Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Details) Counter value: A value of 0 to 65535 can be specified. (Example) Transmission example 1: 200 is set to the counter variable D.

  • Page 100

    CHAPTER2 PROFIBUS Unit (28) Addition of specified value to counter variable D ....Code 011C The specified value is added to the counter variable D. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Addition value Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12...

  • Page 101

    CHAPTER2 PROFIBUS Unit (29) Subtraction of specified value from counter variable D ............Code 011D The specified value is subtracted from the counter variable D. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Subtraction value Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12...

  • Page 102

    CHAPTER2 PROFIBUS Unit (30) Shift execution of position data ..........Code 011E The position data is shifted by the specified point data. It is valid until this code is executed again or the program reset is applied. Command option QWn+22 QWn+20 QWn+18 QWn+16...

  • Page 103

    CHAPTER2 PROFIBUS Unit (31) Linear interpolation movement execution ......Code 011F It moves to the position of the data of the specified point number in the linear interpolation mode. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Speed Point number Axis Command response IWm+22...

  • Page 104

    CHAPTER2 PROFIBUS Unit (32) Circular interpolation movement execution ......Code 0120 The circular interpolation movement which passes the specified point is executed. If the point specification number is n, it moves on the circular locus on which the current position is the start point, the point n is passed, and the point n+1 is the end point.

  • Page 105

    CHAPTER2 PROFIBUS Unit CAUTION This command is invalid for single-axis controllers. CAUTION The applicable radius is max. 1000mm and min. 2mm. CAUTION The SCARA robot, etc. which do not operate in the cartesian coordinates cannot be moved in the circular interpolation mode. *1: Single-axis controllers: PRM30, dual-axis controllers: PRM17 *2: Single-axis controllers: PRM44, dual-axis controllers: PRM64 and PRM104...

  • Page 106: Remote Command Details (data Handling)

    CHAPTER2 PROFIBUS Unit 2-12-4 Remote command details (data handling) Current position read ............. Code 0201 The current positions of all axes or specified axes are read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Axis Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12...

  • Page 107

    CHAPTER2 PROFIBUS Unit Current program number read ..........Code 0202 The execution program number is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Program number (Details) Program number: It is the inherent number of 0 to 99 assigned to each program. (Example) Transmission example 1: The execution program is read.

  • Page 108

    CHAPTER2 PROFIBUS Unit Current step number read ............. Code 0203 The current step number is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Step number (Details) Step number: It is the inherent value of 1 to 255 assigned to each step. (Example) Transmission example 1: The execution step number is read.

  • Page 109

    CHAPTER2 PROFIBUS Unit Current task number read ............. Code 0204 The task number currently selected is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Task number (Details) Task number: It is the inherent number of 0 to 3 assigned to each task. (Example) Transmission example 1: The execution task number is read.

  • Page 110

    CHAPTER2 PROFIBUS Unit Current point No. read ............Code 0205 The point number currently selected is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Point number (Details) Point number: It is the inherent value of 0 to 999 assigned to each point. (Example) Transmission example 1: The current point number is read.

  • Page 111

    IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 IWm+10 IWm+8 0000 0000 0000 0000 0000 0532 0000 0200 M E M O M E M O The controller versions are as follows. ERCX/SRCX :V13.xx DRCX :V18.xx SRCP :V24.xx SRCD :V24.xxB SRCP30 :V24.xxH...

  • Page 112

    CHAPTER2 PROFIBUS Unit Number of axes read .............. Code 0207 The total number of operable axes is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Axis number (Example) Transmission example 1: The total number of axes is read.

  • Page 113

    CHAPTER2 PROFIBUS Unit Emergency stop status check..........Code 0208 The status of the emergency stop is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Emergency stop (Details) Emergency stop: 1 means the emergency stop status, and 0 means that the emer- gency stop is canceled.

  • Page 114

    CHAPTER2 PROFIBUS Unit Servo status check ..............Code 0209 The servo statuses of all axes or specified axes are read. When all axes are specified, the result becomes 1 only if the servos of all axes are Command option QWn+22 QWn+20 QWn+18 QWn+16...

  • Page 115

    CHAPTER2 PROFIBUS Unit (10) Return-to-origin status check ..........Code 020A It reads that the return-to-origin is completed in all axes or specified axes. In thee all-axis specification mode, the result becomes 1 only when all axes are completely returned to the origin. Command option QWn+22 QWn+20...

  • Page 116

    CHAPTER2 PROFIBUS Unit (11) Service mode status check ..........Code 020B The service mode status is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Status (Details) Status: 1 means that the servo mode is valid, and 0 means that it is invalid. (Example) Transmission example 1: The service mode status is read.

  • Page 117

    CHAPTER2 PROFIBUS Unit (12) Operation mode check ............Code 020C The robot status is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Operation mode (Details) Operation mode: 0: Stop status 1: The program is being executed with the commu- nication of HPB, personal computer , etc.

  • Page 118

    CHAPTER2 PROFIBUS Unit (13) Matrix definition content read ..........Code 020D The matrix definition content is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Pallet number Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Line number Array number (Details) Pallet number: It is the inherent number of 0 to 31 for matrix discrimination.

  • Page 119

    CHAPTER2 PROFIBUS Unit (14) Currently specified matrix number read ......Code 020E The pallet number of the currently specified matrix is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Pallet number (Details) Pallet number: It is the inherent number of 0 to 31 for matrix discrimination.

  • Page 120

    CHAPTER2 PROFIBUS Unit (15) Current point variable P read ..........Code 020F The point variable P is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Point number (Details) Point number: It is the inherent number assigned to the point of 0 to 999. (Example) Transmission example 1: The point variable P is read.

  • Page 121

    CHAPTER2 PROFIBUS Unit (16) Arrangement element number read of currently specified C ..........Code 0210 The element number of the counter arrangement variable C currently specified is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14...

  • Page 122

    CHAPTER2 PROFIBUS Unit (17) Counter arrangement variable C read ........Code 0211 The value of the counter arrangement variable C of the specified element number is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Element No. Command response IWm+22 IWm+20 IWm+18 IWm+16...

  • Page 123

    CHAPTER2 PROFIBUS Unit (18) Current counter variable D read ........... Code 0212 The value of the counter variable D is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Counter value (Example) Transmission example 1: The value of the counter variable D is read.

  • Page 124

    CHAPTER2 PROFIBUS Unit (19) Current shift data read ............Code 0213 The currently set shift data is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Y axis position X axis position (Details) Axis position: The shift data is indicated (unit: 0.01mm).

  • Page 125

    0000 00C9 0000 0214 0000 Response example 1: The SI201 status is SI201=1(ON). IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 IWm+10 IWm+8 0000 0000 0000 0000 0000 0001 0000 0200 * 0 to 7 (8 points) for the SRCP/SRCD series controllers...

  • Page 126

    0000 0000 00CA 0000 0215 Response example 1: The SO202 status is SO202=0(OFF). IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 IWm+10 IWm+8 0000 0000 0000 0000 0000 0000 0000 0200 * 0 to 4 (5 points) for the SRCP/SRCD series controllers...

  • Page 127

    CHAPTER2 PROFIBUS Unit (22) Specified parameter data read ..........Code 0216 The specified parameter data is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Parameter number Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Parameter value (Details) Parameter number: The inherent number assigned to each parameter is 0 to 63 for single-axis controllers, and is 0 to 127 for dual-axis controllers.

  • Page 128

    CHAPTER2 PROFIBUS Unit (23) Specified point data read ............Code 0217 The specified point data is read. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Point number Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 Y axis position X axis position (Details) Point number: It is the inherent number of 0 to 999 assigned to each point.

  • Page 129: Remote Command Details (utilities)

    CHAPTER2 PROFIBUS Unit 2-12-5 Remote command details (utilities) Execution program number switching ......... Code 0301 The execution program number is switched. If the program reset is hereafter ex- ecuted, it will return to the 1st step of the program selected here. When this command is issued, the program reset will be applied.

  • Page 130

    CHAPTER2 PROFIBUS Unit Execution task number switching........Code 0302 The execution task number is switched. If the step operation is hereafter executed, the program of the task selected here will be executed as one step. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14...

  • Page 131

    CHAPTER2 PROFIBUS Unit Parameter data write .............. Code 0303 Data is written into the specified parameter. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Parameter data Parameter number Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Details) Parameter number: The inherent number assigned to each parameter is 0 to 63 for single-axis controllers, and is 0 to 127 for dual-axis controllers.

  • Page 132

    CHAPTER2 PROFIBUS Unit Point data write ............... Code 0304 The data is written into the specified point. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Y axis position X axis position Axis Point number Command response IWm+22 IWm+20 IWm+18 IWm+16 IWm+14 IWm+12 (Details)

  • Page 133: Remote Command Details (special Commands)

    CHAPTER2 PROFIBUS Unit 2-12-6 Remote command details (Special commands) No execution (status clear) ........... Code 0000 The status is cleared to 0000 for the command ready (remote command acceptable status). Initialization of response register ......... Code 0401 The command option register is copied to the response register. If 0000 (hexadeci- mal) is set to QWn+12 to QWn+22, the response will be initialized.

  • Page 134: Status Details

    CHAPTER2 PROFIBUS Unit 2-12-7 Status details When the controller receives the command, the relevant process will be executed, and the result (status) will be informed to the master sequencer (PLC) side via IWm+8. The meanings indicated with the statuses are described in this section. Code 0000 ................

  • Page 135: Current Position Indication Mode

    CHAPTER2 PROFIBUS Unit 2-12-8 Current position indication mode The current position indication mode is selected by setting 0001 to QWn+10. In the current position indication mode, the current position of the robot is always output to IWm+16 to IWm+22 regardless of the execution status or no-execution status of the remote command.

  • Page 136: Sending/receiving Example

    CHAPTER2 PROFIBUS Unit M E M O M E M O If the robot position cannot be judged due to the incomplete origin position status, cable breakage, etc., the robot position will not be determined. 2-12-9 Sending/receiving example The sending/receiving example is shown when the direct position specification move- ment execution (code 0108).

  • Page 137: Other Operations, Serial I/o Display

    CHAPTER2 PROFIBUS Unit 2-13 Other operations 2-13-1 Serial I/O display Serial I/O (input/output) status can be displayed on the screen. Both initial screen and OPRT screen are used for display. Press (MON) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON Since the parallel input/output state con- 10000000 00000000 tinues displayed, press...

  • Page 138

    CHAPTER2 PROFIBUS Unit Press (above in 4), and the screen will 00000000 00000000 be switched to the remote register mode. FFFF1000 00000000 Each remote register will be displayed in the hexadecimal mode. 00000000 00000000 (Each register is indicated with 4 charac- ters.) 00000000 00000000 The top row displays the statuses of...

  • Page 139

    CHAPTER2 PROFIBUS Unit 10) Press (SI01) to display the Qn+3.7 [OPRT-STEP] 100 0: 0 to Qn.0 and Im+3.7 to Im.0 status. Press (SI02) to display the Qn+7.7 to 001:MOVA 254,100 Qn+4.0 and Im+7.7 to Im+4.0. Press 0.00, 0.00] (WIO) to display the status of the remote register.

  • Page 140: Manual Control Of General-purpose Output

    CHAPTER2 PROFIBUS Unit 2-13-2 Manual control of general-purpose output The serial general-purpose output can be manually controlled from HPB. Press (EDIT) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON Press (PNT). [MENU] select menu 1PGM 2PNT 3UTL Press (TCH) or (DTCH).

  • Page 141: Error Message

    CHAPTER2 PROFIBUS Unit 2-14 Error Message Regarding PROFIBUS system, the following error message is added. Message net link error Error No. Cause connection was forcibly disconnected because an error occurred in the network connection. Remedy Remedy the network connection error, and then restart.

  • Page 142: Troubleshooting

    (PLC) instruction manual. If the following items do not eliminate the problem, promptly contact your Yamaha dealer or Yamaha for assis- tance.

  • Page 143

    CHAPTER2 PROFIBUS Unit Symptom Causes Checkpoints Remedy Error occurred on • Check if an error has occurred by Program • Check for any problems with noise or the PROFIBUS monitoring the network status stops by itself the wiring specifications, and system during information on master PLC.

  • Page 144: Specifications

    CHAPTER2 PROFIBUS Unit 2-16 Specifications Model PROFIBUS Unit Spec. Item Controller models SRCP/SRCD/ERCX/SRCX/DRCX series controllers Communication profile PROFIBUS-DP slave Number of occupied nodes 1 node Station address setting 0 to 126 (Address is set from HPB.) Communication speed 9.6K/19.2K/93.75K/187.5K/500K/1.5M/3M/6M/12Mbps (automatic recognition)

  • Page 145: Supplement, Gsd Files

    YAMAHA MOTOR CO.,LTD. ;****************************************************************************** #Profibus_DP GSD_Revision ; GSD file revision Ver1.0 Vendor_Name = "YAMAHA MOTOR CO.,LTD." ; Vendor name Model_Name = "SRCP/SRCD/ERCX/SRCX/DRCX series" ; Model type Ident_Number = 0x082C ; Identification number FMS_supp ; FMS Not Supported Protocol_Ident ; Profibus-DP Supported Station_Type ;...

  • Page 146

    CHAPTER2 PROFIBUS Unit Auto_Baud_supp ; Supported 9.6_supp ; 9.6kbps 19.2_supp ; 19.2kbps 93.75_supp ; 93.75kbps 187.5_supp ; 187.5kbps 500_supp ; 500kbps 1.5M_supp ; 1.5Mbps 3M_supp ; 3Mbps 6M_supp ; 6Mbps 12M_supp ; 12Mbps ; Max. response times: MaxTsdr_9.6 = 15 MaxTsdr_19.2 = 15 MaxTsdr_93.75...

  • Page 147

    MEMO...

  • Page 148

    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.

This manual also for:

Srcp, Ercx, Srcx, Drcx

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