Yamaha SRCP30 Manuals

Manuals and User Guides for Yamaha SRCP30. We have 1 Yamaha SRCP30 manual available for free PDF download: User Manual

Yamaha SRCP30 User Manual (282 pages)

SINGLE-AXIS ROBOT CONTROLLER FOR MF100

Brand: Yamaha | Category: Controller | Size: 4.18 MB

Table of Contents
3
Chapter 1 OVERVIEW
9
Features of the SRCP30 Controller
10
Setting up for Operation
11
External View and Part Names
12
SRCP30 Controller
12
Tpb
14
System Configuration
15
Accessories and Options
16
Accessories
16
Peripheral Options
16
Chapter 2 INSTALLATION and CONNECTION
17
Installing the SRCP30 Controller
18
Installation Method
18
Installation Location
18
Connecting the Power Supply
19
Power Supply
19
Installing an External Leakage Breaker
20
Installing a Circuit Protector
20
Installing Power Supply Switches
21
Insulation Resistance and Voltage Breakdown Tests
21
Installing a Noise Filter
21
Grounding
22
Connecting the SRCP30 to the Control Unit
22
Connecting to the Robot
22
Robot I/O Connector and Signal Table
22
Motor Connector and Signal Table
23
Connecting to the I/O. CN Connector
23
Connecting to the EXT. CN Connector
24
Connecting to the Regenerative Unit
25
Chapter 3 I/O INTERFACE
27
I/O Signals
28
I/O. CN Connector Signals
28
EXT. CN Connector Signals
28
Input Signal Description
29
Dedicated Command Input
29
General-Purpose Input (DI0 to DI7)
32
SERVICE Mode Input (SVCE)
33
Interlock (LOCK)
33
Emergency Stop Inputs 1, 2 (EMG1, EMG2)
33
Output Signal Description
34
Dedicated Output
34
General-Purpose Output (DO0 to DO4)
35
Feedback Pulse Output
35
I/O Circuits
36
I/O Circuit Specifications
36
I/O Circuit and Connection Example
37
I/O Connection Diagram
38
Connection to PLC Output Unit
38
Connection to PLC Input Unit
39
I/O Control Timing Charts
40
When Turning the Power on
40
When Executing a Dedicated Input Command
41
When Interlock Signal Is Input
44
When Emergency Stop Is Input
45
When Alarm Is Issued
45
When Executing a Point Movement Command
46
Chapter 4 BASIC OPERATION of the TPB
47
Connecting and Disconnecting the TPB
48
Connecting the TPB to the SRCP30 Controller
48
Disconnecting the TPB from the SRCP30 Controller
49
Basic Key Operation
50
Reading the Screen
51
Program Execution Screen
51
Program Edit Screen
51
Point Edit Screen (Teaching Playback)
52
DIO Monitor Screen
52
Hierarchical Menu Structure
53
Restricting Key Operation by Access Level
54
Explanation of Access Level
54
Changing an Access Level
55
Chapter 5 PARAMETERS
57
Setting the Parameters
58
Parameter Description
59
Chapter 6 PROGRAMMING
73
Basic Contents
74
Robot Language and Point Data
74
Using the TPB to Enter the Robot Language
74
Program Specifications
74
Editing Programs
75
Creating Programs after Initialization
76
Creating a New Program
78
Adding a Step
79
Correcting a Step
81
Inserting a Step
82
Deleting a Step
83
Program Utility
84
Copying a Program
84
Deleting a Program
85
Viewing the Program Information
86
Chapter 7 EDITING POINT DATA
87
Manual Data Input
88
Teaching Playback
89
Direct Teaching
91
Manual Control of General-Purpose Output
93
Manual Release of Holding Brake
94
Deleting Point Data
95
Tracing Points (Moving to a Registered Data Point)
96
Chapter 8 ROBOT LANGUAGE
97
Robot Language Table
98
Robot Language Syntax Rules
99
Command Statement Format
99
Variables
100
Program Function
101
Multi-Task Function
101
Robot Language Description
102
Mova
102
Movi
102
Movf
103
Jmp
103
Jmpf
104
Jmpb
105
Call
106
Wait
107
Timr
107
Srvo
109
Stop
109
Orgn
110
Ton
111
Toff
111
Jmpp
112
Mat
113
Msel
114
Movm
115
Jmpc
116
Jmpd
116
Csel
117
Shft
119
Sample Programs
120
Moving between Two Points
120
Moving at an Equal Pitch
120
Picking up 3 Kinds of Workpieces Flowing on the Front Conveyor and Placing Them on the Next Conveyors While Sorting
123
Switching the Program from I/O
125
Axis Movement and I/O Multi-Task
127
Chapter 9 OPERATING the ROBOT
131
Performing Return-To-Origin
132
Using Step Operation
134
Using Automatic Operation
137
Switching the Execution Program
139
Emergency Stop Function
140
Initiating an Emergency Stop
140
Recovering from an Emergency Stop
140
Displaying the Memory I/O Status
142
Displaying the Variables
143
Chapter 10 OTHER OPERATIONS
145
Initialization
146
DIO Monitor Display
148
Display from the Monitor Menu
148
Display from the DIO Key Operation
149
System Information Display
149
SERVICE Mode Function
150
Safety Settings for SERVICE Mode
151
Enabling/Disabling the SERVICE Mode Function
153
Setting the SERVICE Mode Functions
155
System Utilities
157
Viewing Hidden Parameters
157
Using a Memory Card
158
Saving Controller Data to a Memory Card
158
Loading Data from a Memory Card
160
Formatting a Memory Card
162
Viewing the ID Number for Memory Card Data
163
Duty (Load Factor) Monitor
164
Measuring the Duty (Load Factor)
166
Using the Internal Flash ROM
167
Saving the Parameter Data Onto the Flash ROM
168
Manually Loading the Data from Flash ROM
170
Initializing the Flash ROM Data
172
Chapter 11 COMMUNICATION with PC
175
Communication Parameter Specifications
176
Communication Cable Specifications
177
Connecting to the Computer with a 25-Pin D-Sub Connector
177
Connecting to the Computer with a 9-Pin D-Sub Connector
177
Communication Command Specifications
178
Communication Command List
179
Communication Command Description
182
Robot Movements
182
Data Handling
191
Utilities
203
Chapter 12 MESSAGE TABLES
207
Error Messages
208
Error Message Specifications
208
Command Error Message
208
Operation Error Message
209
Program Error Message
210
System Error Message
211
Multi-Task Error Message
211
TPB Error Messages
212
Stop Messages
213
Message Specifications
213
Displaying the Error History
214
Chapter 13 TROUBLESHOOTING
217
If a Trouble Occurs
218
Alarm and Countermeasures
219
Alarm Specifications
219
Alarm Message List
220
Troubleshooting for Specific Symptom
223
Relating to the Robot Movement
223
Relating to the I/O
225
Relating to Other Factors
226
Displaying the Alarm History
227
Chapter 14 MAINTENANCE and WARRANTY
229
Warranty
230
Warranty Description
230
Warranty Period
230
Exceptions to the Warranty
230
Replacing the System Backup Battery
231
Updating the System
231
Chapter 15 SPECIFICATIONS
233
SRCP30 Controller
234
Basic Specifications
234
Robot Number List
235
LED Display
235
Tpb
236
Basic Specifications
236
Regenerative Unit (RGU-3)
237
Basic Specifications
237
Dimensions
237
Chapter 16 APPENDIX
239
How to Handle Options
240
Memory Card
240
POPCOM Communication Cable
242
Chapter 17 HPB OPERATION (SUPPLEMENT)
243
About the HPB
244
What the HPB Does
244
Part Names and Functions
245
Connecting and Disconnecting the HPB
249
Connecting to the SRCP30 Controller
249
Disconnecting from the SRCP30 Controller
252
Basic Operations
253
HPB Control Keys
253
HPB and TPB Key Layout Differences
255
Basic Key Operation
256
Hierarchical Menu Structure
258
Using SD Memory Cards
259
Before Using an SD Memory Card
259
Saving Controller Data to an SD Memory Card
264
Loading SD Memory Card Data to the Controller
267
Creating Directories on the SD Memory Card
270
Deleting Files and Directories from the SD Memory Card
273
Displaying SD Memory Card File Content
274
Error and Alarm
276
HPB Error Message List
277
Troubleshooting
279
Problems and Corrective Actions
279
Specifications
280
HPB Specifications
280
Dimensions
281

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