Yamaha ERCX-B1 Manuals

Manuals and User Guides for Yamaha ERCX-B1. We have 1 Yamaha ERCX-B1 manual available for free PDF download: User Manual

Yamaha ERCX-B1 User Manual (260 pages)

SINGLE-AXIS ROBOT CONTROLLER

Brand: Yamaha | Category: Controller | Size: 1.69 MB

Table of Contents
3
Chapter 1 OVERVIEW

9
- Features of the ERCX Series Controller
  
  10
- Setting up for Operation
  
  11
- External View and Part Names
  
  12
  - ERCX Controller
    12
  - Tpb
    14
- System Configuration
  
  15
- Accessories and Options
  
  16
  - Accessories
    16
  - Peripheral Options
    16
Chapter 2 INSTALLATION and CONNECTION

17
- Installing the ERCX Controller
  
  18
  - Installation Method
    18
  - Installation Location
    18
- Connecting the Power Supply
  
  19
- Grounding
  
  21
- Connecting the ERCX to the Control Unit
  
  21
- Connecting to the Robot
  
  22
  - Robot I/O Connector and Signal Table
    22
- Connecting to the I/O Connector
  
  23
- Connecting the Absolute Battery
  
  24
Chapter 3 I/O INTERFACE

25
- I/O Signals
  
  26
- Input Signal Description
  
  27
- Output Signal Description
  
  32
  - Dedicated Output
    32
  - General-Purpose Output (DO0 to DO12)
    33
- I/O Circuits
  
  33
  - I/O Circuit Specifications
    33
  - I/O Circuit and Connection Example
    34
- I/O Connection Diagram
  
  36
- I/O Control Timing Charts
  
  39
- I/O Assignment Change Function
  
  47
  - Changing the I/O Assignment
    47
  - I/O Signal Descripion
    49
  - Timing Chart
    52
Chapter 4 BASIC OPERATION of the TPB

61
Chapter 5 PARAMETERS

71
- Setting the Parameters
  
  72
- Parameter Description
  
  73
Chapter 6 PROGRAMMING

91
- Basic Contents
  
  92
- Editing Programs
  
  94
  - Creating Programs after Initialization
    94
  - Creating a New Program
    96
  - Adding a Step
    97
  - Correcting a Step
    99
  - Inserting a Step
    100
  - Deleting a Step
    101
- Program Utility
  
  102
  - Copying a Program
    102
  - Deleting a Program
    103
  - Viewing the Program Information
    104
Chapter 7 EDITING POINT DATA

105
- Manual Data Input
  
  106
- Teaching Playback
  
  107
- Direct Teaching
  
  109
- Manual Control of General-Purpose Output
  
  111
- Manual Release of Holding Brake
  
  112
- Deleting Point Data
  
  113
- Tracing Points (Moving to a Registered Data Point)
  
  114
Chapter 8 ROBOT LANGUAGE

115
- Robot Language Table
  
  116
- Robot Language Syntax Rules
  
  117
  - Command Statement Format
    117
  - Variables
    118
- Program Function
  
  119
  - Multi-Task Function
    119
  - Limitless Movement Function
    120
- Robot Language Description
  
  122
  - Mova
    122
  - Movi
    122
  - Movf
    123
  - Jmp
    123
  - Jmpf
    124
  - Jmpb
    125
  - Call
    126
  - Wait
    127
  - Timr
    127
  - Srvo
    129
  - Stop
    129
  - Orgn
    130
  - Ton
    131
  - Toff
    131
  - Jmpp
    132
  - Mat
    133
  - Msel
    134
  - Movm
    135
  - Jmpc
    136
  - Jmpd
    136
  - Csel
    137
  - Shft
    140
- Sample Programs
  
  141
Chapter 9 OPERATING the ROBOT

153
- Performing Return-To-Origin
  
  154
  - Return-To-Origin by the Search Method
    154
  - Return-To-Origin by the Mark Method
    156
- Using Step Operation
  
  158
- Using Automatic Operation
  
  161
- Switching the Execution Program
  
  163
- Emergency Stop Function
  
  164
  - Initiating an Emergency Stop
    164
  - Recovering from an Emergency Stop
    164
- Displaying the Memory I/O Status
  
  166
- Displaying the Variables
  
  167
Chapter 10 OTHER OPERATIONS

169
- Initialization
  
  170
- DIO Monitor Display
  
  172
  - Display from the Monitor Menu
    172
  - Display from the DIO Key Operation
    173
- System Information Display
  
  173
- SERVICE Mode Function
  
  174
- System Utilities
  
  181
  - Viewing Hidden Parameters
    181
- Using a Memory Card
  
  182
- Duty (Load Factor) Monitor
  
  188
  - Measuring the Duty (Load Factor)
    190
Chapter 11 COMMUNICATION with PC

191
- Communication Parameter Specifications
  
  192
- Communication Cable Specifications
  
  193
  - Connecting to the Computer with a 25-Pin D-Sub Connector
    193
  - Connecting to the Computer with a 9-Pin D-Sub Connector
    193
- Communication Command Specifications
  
  194
- Communication Command List
  
  195
- Communication Command Description
  
  198
  - Robot Movements
    198
  - Data Handling
    207
  - Utilities
    219
Chapter 12 MESSAGE TABLES

223
- Error Messages
  
  224
  - Error Message Specifications
    224
  - Command Error Message
    224
  - Operation Error Message
    225
  - Program Error Message
    226
  - System Error Message
    227
  - Multi-Task Error Message
    227
- TPB Error Messages
  
  228
- Stop Messages
  
  229
  - Message Specifications
    229
- Displaying the Error History
  
  230
Chapter 13 TROUBLESHOOTING

233
- If a Trouble Occurs
  
  234
- Alarm and Countermeasures
  
  235
  - Alarm Specifications
    235
  - Alarm Message List
    236
- Troubleshooting for Specific Symptom
  
  239
  - Relating to the Robot Movement
    239
  - Relating to the I/O
    241
  - Other
    242
- Displaying the Alarm History
  
  243
Chapter 14 MAINTENANCE and WARRANTY

245
- Warranty
  
  246
- Replacing the System Backup Battery
  
  246
- Replacing the Absolute Battery
  
  246
- Updating the System
  
  247
Chapter 15 SPECIFICATIONS

249
- ERCX Sereis
  
  250
  - Basic Specifications
    250
  - Robot Number List
    251
  - LED Display
    251
  - Absolute Battery Unit
    251
- Tpb
  
  252
  - Basic Specifications
    252
Chapter 16 APPENDIX

253
- Operation When Not Using Absolute Function
  
  254
- How to Handle Options
  
  255
  - Memory Card
    255
  - Handling the I/O Checker
    257
  - POPCOM Communication Cable
    258

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Yamaha ERCX-B1 Manuals

Yamaha ERCX-B1 User Manual (260 pages)

Table of Contents

Chapter 1 OVERVIEW

Features of the ERCX Series Controller

Setting up for Operation

External View and Part Names

System Configuration

Accessories and Options

Chapter 2 INSTALLATION and CONNECTION

Installing the ERCX Controller

Connecting the Power Supply

Grounding

Connecting the ERCX to the Control Unit

Connecting to the Robot

Connecting to the I/O Connector

Connecting the Absolute Battery

Chapter 3 I/O INTERFACE

I/O Signals

Input Signal Description

Output Signal Description

I/O Circuits

I/O Connection Diagram

I/O Control Timing Charts

I/O Assignment Change Function

Chapter 4 BASIC OPERATION of the TPB

Connecting and Disconnecting the TPB

Basic Key Operation

Reading the Screen

Hierarchical Menu Structure

Restricting Key Operation by Access Level

Chapter 5 PARAMETERS

Setting the Parameters

Parameter Description

Chapter 6 PROGRAMMING

Basic Contents

Editing Programs

Program Utility

Chapter 7 EDITING POINT DATA

Manual Data Input

Teaching Playback

Direct Teaching

Manual Control of General-Purpose Output

Manual Release of Holding Brake

Deleting Point Data

Tracing Points (Moving to a Registered Data Point)

Chapter 8 ROBOT LANGUAGE

Robot Language Table

Robot Language Syntax Rules

Program Function

Robot Language Description

Sample Programs

Chapter 9 OPERATING the ROBOT

Performing Return-To-Origin

Using Step Operation

Using Automatic Operation

Switching the Execution Program

Emergency Stop Function

Displaying the Memory I/O Status

Displaying the Variables

Chapter 10 OTHER OPERATIONS

Initialization

DIO Monitor Display

System Information Display

SERVICE Mode Function

System Utilities

Using a Memory Card

Duty (Load Factor) Monitor

Chapter 11 COMMUNICATION with PC

Communication Parameter Specifications

Communication Cable Specifications

Communication Command Specifications

Communication Command List

Communication Command Description

Chapter 12 MESSAGE TABLES

Error Messages

TPB Error Messages

Stop Messages

Displaying the Error History

Chapter 13 TROUBLESHOOTING