Yamaha SRCP Manuals

Manuals and User Guides for Yamaha SRCP. We have 3 Yamaha SRCP manuals available for free PDF download: User Manual

Yamaha SRCP User Manual

Yamaha SRCP User Manual (246 pages)

Single-axis Robot Controller  
Brand: Yamaha | Category: Controller | Size: 1.76 MB
Table of contents
Table Of Contents3................................................................................................................................................................
Chapter 1 Overview9................................................................................................................................................................
Features Of The Srcp Series Controller10................................................................................................................................................................
Setting Up For Operation11................................................................................................................................................................
External View And Part Names12................................................................................................................................................................
Srcp Controller12................................................................................................................................................................
Tpb15................................................................................................................................................................
System Configuration16................................................................................................................................................................
Accessories And Options17................................................................................................................................................................
Accessories17................................................................................................................................................................
Peripheral Options17................................................................................................................................................................
Chapter 2 Installation And Connection19................................................................................................................................................................
Installing The Srcp Controller20................................................................................................................................................................
Installation Method20................................................................................................................................................................
Installation Location20................................................................................................................................................................
Connecting The Power Supply21................................................................................................................................................................
Power Supply21................................................................................................................................................................
Installing An External Leakage Breaker22................................................................................................................................................................
Installing A Circuit Protector22................................................................................................................................................................
Installing Current Control Switches23................................................................................................................................................................
Insulation Resistance And Voltage Breakdown Tests23................................................................................................................................................................
Grounding23................................................................................................................................................................
Connecting The Srcp To The Control Unit23................................................................................................................................................................
Connecting To The Robot24................................................................................................................................................................
Robot I/o Connector And Signal Table24................................................................................................................................................................
Motor Connector And Signal Table24................................................................................................................................................................
Connecting To The I/o. Cn Connector25................................................................................................................................................................
Connecting To The Ext. Cn Connector26................................................................................................................................................................
Connecting To The Regenerative Unit27................................................................................................................................................................
Chapter 3 I/o Interface29................................................................................................................................................................
I/o Signals30................................................................................................................................................................
I/o. Cn Connector Signals30................................................................................................................................................................
Ext. Cn Connector Signals30................................................................................................................................................................
Input Signal Description31................................................................................................................................................................
Dedicated Command Input31................................................................................................................................................................
General-purpose Input (di0 To Di7)34................................................................................................................................................................
Service Mode Input (svce)35................................................................................................................................................................
Interlock (lock)35................................................................................................................................................................
Emergency Stop Inputs 1, 2 (emg1, Emg2)35................................................................................................................................................................
Output Signal Description36................................................................................................................................................................
Dedicated Output36................................................................................................................................................................
General-purpose Output (do0 To Do4)37................................................................................................................................................................
Feedback Pulse Output37................................................................................................................................................................
I/o Circuits38................................................................................................................................................................
I/o Circuit Specifications38................................................................................................................................................................
I/o Circuit And Connection Example39................................................................................................................................................................
I/o Connection Diagram40................................................................................................................................................................
Connection To Plc Output Unit40................................................................................................................................................................
Connection To Plc Input Unit41................................................................................................................................................................
I/o Control Timing Charts42................................................................................................................................................................
When Turning The Power On42................................................................................................................................................................
When Executing A Dedicated Input Command43................................................................................................................................................................
When Interlock Signal Is Input46................................................................................................................................................................
When Emergency Stop Is Input47................................................................................................................................................................
When Alarm Is Issued47................................................................................................................................................................
When Executing A Point Movement Command48................................................................................................................................................................
Chapter 4 Basic Operation Of The Tpb49................................................................................................................................................................
Connecting And Disconnecting The Tpb50................................................................................................................................................................
Connecting The Tpb To The Srcp Controller50................................................................................................................................................................
Disconnecting The Tpb From The Srcp Controller51................................................................................................................................................................
Basic Key Operation52................................................................................................................................................................
Reading The Screen53................................................................................................................................................................
Program Execution Screen53................................................................................................................................................................
Program Edit Screen53................................................................................................................................................................
Point Edit Screen (teaching Playback)54................................................................................................................................................................
Dio Monitor Screen54................................................................................................................................................................
Hierarchical Menu Structure55................................................................................................................................................................
Restricting Key Operation By Access Level56................................................................................................................................................................
Explanation Of Access Level56................................................................................................................................................................
Changing An Access Level57................................................................................................................................................................
Chapter 5 Parameters59................................................................................................................................................................
Setting The Parameters60................................................................................................................................................................
Parameter Description61................................................................................................................................................................
Chapter 6 Programming75................................................................................................................................................................
Basic Contents76................................................................................................................................................................
Robot Language And Point Data76................................................................................................................................................................
Using The Tpb To Enter The Robot Language76................................................................................................................................................................
Program Specifications76................................................................................................................................................................
Editing Programs77................................................................................................................................................................
Creating Programs After Initialization78................................................................................................................................................................
Creating A New Program80................................................................................................................................................................
Adding A Step81................................................................................................................................................................
Correcting A Step83................................................................................................................................................................
Inserting A Step84................................................................................................................................................................
Deleting A Step85................................................................................................................................................................
Program Utility86................................................................................................................................................................
Copying A Program86................................................................................................................................................................
Deleting A Program87................................................................................................................................................................
Viewing The Program Information88................................................................................................................................................................
Chapter 7 Editing Point Data89................................................................................................................................................................
Manual Data Input90................................................................................................................................................................
Teaching Playback91................................................................................................................................................................
Direct Teaching93................................................................................................................................................................
Manual Control Of General-purpose Output95................................................................................................................................................................
Manual Release Of Holding Brake96................................................................................................................................................................
Deleting Point Data97................................................................................................................................................................
Tracing Points (moving To A Registered Data Point)98................................................................................................................................................................
Chapter 8 Robot Language99................................................................................................................................................................
Robot Language Table100................................................................................................................................................................
Robot Language Syntax Rules101................................................................................................................................................................
Command Statement Format101................................................................................................................................................................
Variables102................................................................................................................................................................
Program Function103................................................................................................................................................................
Multi-task Function103................................................................................................................................................................
Robot Language Description104................................................................................................................................................................
Mova104................................................................................................................................................................
Movi104................................................................................................................................................................
Movf105................................................................................................................................................................
Jmp105................................................................................................................................................................
Jmpf106................................................................................................................................................................
Jmpb107................................................................................................................................................................
Call108................................................................................................................................................................
Wait109................................................................................................................................................................
Timr109................................................................................................................................................................
Srvo111................................................................................................................................................................
Stop111................................................................................................................................................................
Orgn112................................................................................................................................................................
Ton113................................................................................................................................................................
Toff113................................................................................................................................................................
Jmpp114................................................................................................................................................................
Mat115................................................................................................................................................................
Msel116................................................................................................................................................................
Movm117................................................................................................................................................................
Jmpc118................................................................................................................................................................
Jmpd118................................................................................................................................................................
Csel119................................................................................................................................................................
Shft121................................................................................................................................................................
Sample Programs122................................................................................................................................................................
Moving Between Two Points122................................................................................................................................................................
Moving At An Equal Pitch122................................................................................................................................................................
Positioning 2 Points And Sending Job Commands To A Plc At Each Position123................................................................................................................................................................
Robot Stands By At P0, And Moves To P1 And Then To P2 To Pick And Place A Workpiece124................................................................................................................................................................
Picking Up 3 Kinds Of Workpieces Flowing On The Front Conveyor And Placing Them On The Next Conveyors While Sorting125................................................................................................................................................................
Switching The Program From I/o127................................................................................................................................................................
Axis Movement And I/o Multi-task129................................................................................................................................................................
Turning On General-purpose Outputs During Robot Movement After A Certain Time Has Elapsed130................................................................................................................................................................
Turning On A General-purpose Output During Robot Movement When It Has Passed A Specified Position131................................................................................................................................................................
Chapter 9 Operating The Robot133................................................................................................................................................................
Performing Return-to-origin134................................................................................................................................................................
Using Step Operation136................................................................................................................................................................
Using Automatic Operation139................................................................................................................................................................
Switching The Execution Program141................................................................................................................................................................
Emergency Stop Function142................................................................................................................................................................
Initiating An Emergency Stop142................................................................................................................................................................
Recovering From An Emergency Stop142................................................................................................................................................................
Displaying The Memory I/o Status144................................................................................................................................................................
Displaying The Variables145................................................................................................................................................................
Chapter 10 Other Operations147................................................................................................................................................................
Initialization148................................................................................................................................................................
Dio Monitor Display150................................................................................................................................................................
Display From The Monitor Menu150................................................................................................................................................................
Display From The Dio Key Operation151................................................................................................................................................................
System Information Display151................................................................................................................................................................
Service Mode Function152................................................................................................................................................................
Safety Settings For Service Mode153................................................................................................................................................................
Enabling/disabling The Service Mode Function155................................................................................................................................................................
Setting The Service Mode Functions157................................................................................................................................................................
System Utilities159................................................................................................................................................................
Viewing Hidden Parameters159................................................................................................................................................................
Using A Memory Card160................................................................................................................................................................
Saving Controller Data To A Memory Card160................................................................................................................................................................
Loading Data From A Memory Card162................................................................................................................................................................
Formatting A Memory Card164................................................................................................................................................................
Viewing The Id Number For Memory Card Data165................................................................................................................................................................
Duty (load Factor) Monitor166................................................................................................................................................................
Measuring The Duty (load Factor)168................................................................................................................................................................
Using The Internal Flash Rom169................................................................................................................................................................
Saving The Parameter Data Onto The Flash Rom170................................................................................................................................................................
Manually Loading The Data From Flash Rom172................................................................................................................................................................
Initializing The Flash Rom Data174................................................................................................................................................................
Chapter 11 Communication With Pc177................................................................................................................................................................
Communication Parameter Specifications178................................................................................................................................................................
Communication Cable Specifications179................................................................................................................................................................
Connecting To The Computer With A 25-pin D-sub Connector179................................................................................................................................................................
Connecting To The Computer With A 9-pin D-sub Connector179................................................................................................................................................................
Communication Command Specifications180................................................................................................................................................................
Communication Command List181................................................................................................................................................................
Communication Command Description184................................................................................................................................................................
Robot Movements184................................................................................................................................................................
Data Handling193................................................................................................................................................................
Utilities205................................................................................................................................................................
Chapter 12 Message Tables209................................................................................................................................................................
Error Messages210................................................................................................................................................................
Error Message Specifications210................................................................................................................................................................
Command Error Message210................................................................................................................................................................
Operation Error Message211................................................................................................................................................................
Program Error Message212................................................................................................................................................................
System Error Message213................................................................................................................................................................
Multi-task Error Message213................................................................................................................................................................
Tpb Error Messages214................................................................................................................................................................
Stop Messages215................................................................................................................................................................
Message Specifications215................................................................................................................................................................
Displaying The Error History216................................................................................................................................................................
Chapter 13 Troubleshooting219................................................................................................................................................................
If A Trouble Occurs220................................................................................................................................................................
Alarm And Countermeasures221................................................................................................................................................................
Alarm Specifications221................................................................................................................................................................
Alarm Message List222................................................................................................................................................................
Troubleshooting For Specific Symptom225................................................................................................................................................................
Relating To The Robot Movement225................................................................................................................................................................
Relating To The I/o227................................................................................................................................................................
Other228................................................................................................................................................................
Displaying The Alarm History229................................................................................................................................................................
Chapter 14 Maintenance And Warranty231................................................................................................................................................................
Warranty232................................................................................................................................................................
Warranty Description232................................................................................................................................................................
Warranty Period232................................................................................................................................................................
Exceptions To The Warranty232................................................................................................................................................................
Replacing The System Backup Battery233................................................................................................................................................................
Updating The System234................................................................................................................................................................
Chapter 15 Specifications235................................................................................................................................................................
Srcp Sereis236................................................................................................................................................................
Basic Specifications236................................................................................................................................................................
Robot Number List237................................................................................................................................................................
Led Display237................................................................................................................................................................
Regenerative Unit (rgu-2)239................................................................................................................................................................
Dimensions239................................................................................................................................................................
Chapter 16 Appendix241................................................................................................................................................................
How To Handle Options242................................................................................................................................................................
Memory Card242................................................................................................................................................................
Popcom Communication Cable244................................................................................................................................................................

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Yamaha SRCP User Manual

Yamaha SRCP User Manual (148 pages)

Profibus  
Brand: Yamaha | Category: Network Card | Size: 0.99 MB
Table of contents
Table Of Contents5................................................................................................................................................................
Cautions To Ensure Safety7................................................................................................................................................................
Basic Safety Points8................................................................................................................................................................
System Design Safety Points8................................................................................................................................................................
Installation And Wiring Safety Points9................................................................................................................................................................
Start-up And Maintenance Safety Points10................................................................................................................................................................
Precautions When Disposing Of The Unit10................................................................................................................................................................
Warranty10................................................................................................................................................................
Profibus Unit11................................................................................................................................................................
Profibus Unit Features12................................................................................................................................................................
Profibus System Concept13................................................................................................................................................................
Brofibus Cable Connections14................................................................................................................................................................
Parallel I/o Connector15................................................................................................................................................................
Controller (slave Station) System Setting17................................................................................................................................................................
Validating The Profibus Unit17................................................................................................................................................................
Setting The Station Address18................................................................................................................................................................
Checking The Communication Speed19................................................................................................................................................................
Sequencer (master Station) Settings20................................................................................................................................................................
Exchanging Data With The Controller20................................................................................................................................................................
I/o Information21................................................................................................................................................................
Profile (i/o Signal Table)21................................................................................................................................................................
Dedicated Command Inputs23................................................................................................................................................................
General-purpose Inputs (si200 - Si231)27................................................................................................................................................................
Interlock (lock)28................................................................................................................................................................
Emergency Stop Input (emg)28................................................................................................................................................................
Service Mode (svce)29................................................................................................................................................................
Dedicated Outputs30................................................................................................................................................................
General-purpose Outputs (so200 - So231)31................................................................................................................................................................
Timing Chart32................................................................................................................................................................
Right After Controller Power Turns On32................................................................................................................................................................
Dedicated Input Command Execution33................................................................................................................................................................
When Interlock Signal Is Input37................................................................................................................................................................
When Emergency Stop Signal Is Input38................................................................................................................................................................
When An Alarm Is Issued39................................................................................................................................................................
When Point Movement Commands Are Run40................................................................................................................................................................
I/o Assignment Change Function41................................................................................................................................................................
Changing The I/o Assignment41................................................................................................................................................................
I/o Assignment List42................................................................................................................................................................
I/o Assignment Selection Parameter Description44................................................................................................................................................................
I/o Signal Descripion46................................................................................................................................................................
Robot Language61................................................................................................................................................................
Movf61................................................................................................................................................................
Jmpf62................................................................................................................................................................
Jmpb63................................................................................................................................................................
Wait64................................................................................................................................................................
Emulated Serialization On Parallel Dio65................................................................................................................................................................
Remote Command67................................................................................................................................................................
Remote Command Specifications67................................................................................................................................................................
Remote Command & Status Value List68................................................................................................................................................................
Special Commands71................................................................................................................................................................
Remote Command Details (robot Operation)72................................................................................................................................................................
Remote Command Details (data Handling)106................................................................................................................................................................
Remote Command Details (utilities)129................................................................................................................................................................
Remote Command Details (special Commands)133................................................................................................................................................................
Status Details134................................................................................................................................................................
Current Position Indication Mode135................................................................................................................................................................
Sending/receiving Example136................................................................................................................................................................
Other Operations137................................................................................................................................................................
Serial I/o Display137................................................................................................................................................................
Manual Control Of General-purpose Output140................................................................................................................................................................
Error Message141................................................................................................................................................................
Troubleshooting142................................................................................................................................................................
Specifications144................................................................................................................................................................
Supplement145................................................................................................................................................................
Gsd Files145................................................................................................................................................................
Yamaha SRCP User Manual

Yamaha SRCP User Manual (52 pages)

Yamaha Network Board User's Manual  
Brand: Yamaha | Category: Network Card | Size: 1.09 MB
Table of contents
Table Of Contents5................................................................................................................................................................
Chapter 1 Cautions To Ensure Safety7................................................................................................................................................................
Basic Safety Points8................................................................................................................................................................
System Design Safety Points8................................................................................................................................................................
Installation And Wiring Safety Points9................................................................................................................................................................
Start-up And Maintenance Safety Points10................................................................................................................................................................
Precautions When Disposing Of The Unit10................................................................................................................................................................
Warranty11................................................................................................................................................................
Chapter 2 Ethernet Unit13................................................................................................................................................................
Ethernet Unit Features14................................................................................................................................................................
How Data Is Exchanged15................................................................................................................................................................
How To Connect To Ethernet16................................................................................................................................................................
Making System Settings For The Controller (server)17................................................................................................................................................................
Validating The Ethernet Unit17................................................................................................................................................................
Setting The Ip Address18................................................................................................................................................................
Setting The Subnet Mask20................................................................................................................................................................
Setting The Gateway21................................................................................................................................................................
Making The Pc Settings (client)23................................................................................................................................................................
Setting The Tcp/ip Protocol23................................................................................................................................................................
Checking The Connection With "ping25................................................................................................................................................................
Using Telnet26................................................................................................................................................................
Difference Between Telnet And Rs-232c Communications26................................................................................................................................................................
Telnet Dedicated Parameters27................................................................................................................................................................
Telnet Dedicated Parameters: Setup Method 127................................................................................................................................................................
Telnet Dedicated Parameters: Setup Method 228................................................................................................................................................................
Description Of Telnet Dedicated Parameters29................................................................................................................................................................
Telenet Communication Commands31................................................................................................................................................................
Communication Command Specifications31................................................................................................................................................................
Ethernet Unit Control Commands32................................................................................................................................................................
Robot Control Commands32................................................................................................................................................................
Making A Connection With Telnet.exe33................................................................................................................................................................
Other Operating Tasks35................................................................................................................................................................
Displaying The Mac Address35................................................................................................................................................................
Displaying The Version Of The Ethernet Unit36................................................................................................................................................................
Message List37................................................................................................................................................................
Error Messages37................................................................................................................................................................
Telnet Message List37................................................................................................................................................................
Troubleshooting38................................................................................................................................................................
Specifications41................................................................................................................................................................
Ethernet Unit Specifications41................................................................................................................................................................
Modular Connector42................................................................................................................................................................
Utp (stp) Cable43................................................................................................................................................................
Supplement44................................................................................................................................................................
Typical Network Systems44................................................................................................................................................................
Description Of Terminology49................................................................................................................................................................
Network Board52................................................................................................................................................................

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