Yamaha ERCX Series Manuals

• 3

  Table of Contents

9

Chapter 1 OVERVIEW

• 10

  Features of the ERCX Series Controller
• 11

  Setting up for Operation
• 12

  External View and Part Names
  • 12

    ERCX Controller
  • 14

    Tpb
• 15

  System Configuration
• 16

  Accessories and Options
  • 16

    Accessories
  • 16

    Peripheral Options

17

Chapter 2 INSTALLATION and CONNECTION

• 18

  Installing the ERCX Controller
  • 18

    Installation Method
  • 18

    Installation Location
• 19

  Connecting the Power Supply
  • 19

    Power Supply
  • 20

    Connecting the Power Supply
  • 20

    Insulation Resistance and Voltage Breakdown Tests
• 21

  Grounding
• 21

  Connecting the ERCX to the Control Unit
• 22

  Connecting to the Robot
  • 22

    Robot I/O Connector and Signal Table
• 23

  Connecting to the I/O Connector
• 24

  Connecting the Absolute Battery

25

Chapter 3 I/O INTERFACE

• 26

  I/O Signals
• 27

  Input Signal Description
  • 27

    Dedicated Command Input
  • 30

    General-Purpose Input (DI0 to DI15)
  • 31

    SERVICE Mode Input (SVCE)
  • 31

    Interlock (LOCK)
  • 31

    Emergency Stop Inputs 1, 2 (EMG1, EMG2)
• 32

  Output Signal Description
  • 32

    Dedicated Output
  • 33

    General-Purpose Output (DO0 to DO12)
• 33

  I/O Circuits
  • 33

    I/O Circuit Specifications
  • 34

    I/O Circuit and Connection Example
• 36

  I/O Connection Diagram
  • 36

    General Connections
  • 37

    Connection to PLC Output Unit
  • 38

    Connection to PLC Input Unit
• 39

  I/O Control Timing Charts
  • 39

    When Turning the Power on
  • 40

    When Executing a Dedicated Input Command
  • 44

    When Interlock Signal Is Input
  • 45

    When Emergency Stop Is Input
  • 45

    When Alarm Is Issued
  • 46

    When Executing a Point Movement Command
• 47

  I/O Assignment Change Function
  • 47

    Changing the I/O Assignment
  • 49

    I/O Signal Descripion
  • 52

    Timing Chart

61

Chapter 4 BASIC OPERATION of the TPB

• 62

  Connecting and Disconnecting the TPB
  • 62

    Connecting the TPB to the ERCX Controller
  • 63

    Disconnecting the TPB from the ERCX Controller
  • 63

    Different Points from SRCX and DRCX Controllers
• 64

  Basic Key Operation
• 65

  Reading the Screen
  • 65

    Program Execution Screen
  • 65

    Program Edit Screen
  • 66

    Point Edit Screen (Teaching Playback)
  • 66

    DIO Monitor Screen
• 67

  Hierarchical Menu Structure
• 68

  Restricting Key Operation by Access Level
  • 68

    Explanation of Access Level
  • 69

    Changing an Access Level

71

Chapter 5 PARAMETERS

• 72

  Setting the Parameters
• 73

  Parameter Description

91

Chapter 6 PROGRAMMING

• 92

  Basic Contents
  • 92

    Robot Language and Point Data
  • 92

    Using the TPB to Enter the Robot Language
  • 92

    Program Specifications
• 94

  Editing Programs
  • 94

    Creating Programs after Initialization
  • 96

    Creating a New Program
  • 97

    Adding a Step
  • 99

    Correcting a Step
  • 100

    Inserting a Step
  • 101

    Deleting a Step
• 102

  Program Utility
  • 102

    Copying a Program
  • 103

    Deleting a Program
  • 104

    Viewing the Program Information

105

Chapter 7 EDITING POINT DATA

• 106

  Manual Data Input
• 107

  Teaching Playback
• 109

  Direct Teaching
• 111

  Manual Control of General-Purpose Output
• 112

  Manual Release of Holding Brake
• 113

  Deleting Point Data
• 114

  Tracing Points (Moving to a Registered Data Point)

115

Chapter 8 ROBOT LANGUAGE

• 116

  Robot Language Table
• 117

  Robot Language Syntax Rules
  • 117

    Command Statement Format
  • 118

    Variables
• 119

  Program Function
  • 119

    Multi-Task Function
  • 120

    Limitless Movement Function
• 122

  Robot Language Description
  • 122

    Mova
  • 122

    Movi
  • 123

    Movf
  • 123

    Jmp
  • 124

    Jmpf
  • 125

    Jmpb
  • 126

    Call
  • 127

    Wait
  • 127

    Timr
  • 129

    Srvo
  • 129

    Stop
  • 130

    Orgn
  • 131

    Ton
  • 131

    Toff
  • 132

    Jmpp
  • 133

    Mat
  • 134

    Msel
  • 135

    Movm
  • 136

    Jmpc
  • 136

    Jmpd
  • 137

    Csel
  • 140

    Shft
• 141

  Sample Programs
  • 141

    Moving between Two Points
  • 141

    Moving at an Equal Pitch
  • 144

    Picking up 3 Kinds of Workpieces Flowing on the Front Conveyor and Placing Them on the Next Conveyors While Sorting
  • 146

    Switching the Program from I/O
  • 148

    Axis Movement and I/O Multi-Task
  • 151

    Limitless Movement at same Pitch
  • 152

    Limitless Rotation

153

Chapter 9 OPERATING the ROBOT

• 154

  Performing Return-To-Origin
  • 154

    Return-To-Origin by the Search Method
  • 156

    Return-To-Origin by the Mark Method
• 158

  Using Step Operation
• 161

  Using Automatic Operation
• 163

  Switching the Execution Program
• 164

  Emergency Stop Function
  • 164

    Initiating an Emergency Stop
  • 164

    Recovering from an Emergency Stop
• 166

  Displaying the Memory I/O Status
• 167

  Displaying the Variables

169

Chapter 10 OTHER OPERATIONS

• 170

  Initialization
• 172

  DIO Monitor Display
  • 172

    Display from the Monitor Menu
  • 173

    Display from the DIO Key Operation
• 173

  System Information Display
• 174

  SERVICE Mode Function
  • 175

    Safety Settings for SERVICE Mode
  • 177

    Enabling/Disabling the SERVICE Mode Function
  • 179

    Setting the SERVICE Mode Functions
• 181

  System Utilities
  • 181

    Viewing Hidden Parameters
• 182

  Using a Memory Card
  • 182

    Saving Controller Data to a Memory Card
  • 184

    Loading Data from a Memory Card
  • 186

    Formatting a Memory Card
  • 187

    Viewing the ID Number for Memory Card Data
• 188

  Duty (Load Factor) Monitor
  • 190

    Measuring the Duty (Load Factor)

191

Chapter 11 COMMUNICATION with PC

• 192

  Communication Parameter Specifications
• 193

  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
• 194

  Communication Command Specifications
• 195

  Communication Command List
• 198

  Communication Command Description
  • 198

    Robot Movements
  • 207

    Data Handling
  • 219

    Utilities

223

Chapter 12 MESSAGE TABLES

• 224

  Error Messages
  • 224

    Error Message Specifications
  • 224

    Command Error Message
  • 225

    Operation Error Message
  • 226

    Program Error Message
  • 227

    System Error Message
  • 227

    Multi-Task Error Message
• 228

  TPB Error Messages
• 229

  Stop Messages
  • 229

    Message Specifications
• 230

  Displaying the Error History

233

Chapter 13 TROUBLESHOOTING

• 234

  If a Trouble Occurs
• 235

  Alarm and Countermeasures
  • 235

    Alarm Specifications
  • 236

    Alarm Message List
• 239

  Troubleshooting for Specific Symptom
  • 239

    Relating to the Robot Movement
  • 241

    Relating to the I/O
  • 242

    Other
• 243

  Displaying the Alarm History

245

Chapter 14 MAINTENANCE and WARRANTY

• 246

  Warranty
• 246

  Replacing the System Backup Battery
• 246

  Replacing the Absolute Battery
• 247

  Updating the System

249

Chapter 15 SPECIFICATIONS

• 250

  ERCX Sereis
  • 250

    Basic Specifications
  • 251

    Robot Number List
  • 251

    LED Display
  • 251

    Absolute Battery Unit
• 252

  Tpb
  • 252

    Basic Specifications

253

Chapter 16 APPENDIX

• 254

  Operation When Not Using Absolute Function
• 255

  How to Handle Options
  • 255

    Memory Card
  • 257

    Handling the I/O Checker
  • 258

    POPCOM Communication Cable

• 5

  Table of Contents

7

Chapter 1 CE Marking

• 8

  Safety Information
• 9

  CE Marking
• 11

  Safety Precautions During Robot Operation
• 11

  Safety Precautions During Maintenance
• 11

  Precautions for Motor Overload
• 12

  Warning Labels
• 14

  Operating Environment

15

Chapter 2 Configuration and Connection

• 16

  Configuration of CE Marking Controller
• 22

  Connecting the Power Supply

26

Chapter 3 EMC Countermeasures

• 27

  Typical Component Layout for EMC Countermeasures
• 29

  Precautions for Cable Connections

30

Chapter 4 SPECIFICATIONS

• 31

  CE Marking