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Yamaha SRCP30 User Manual

Single-axis robot controller for mf100
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MF100
YAMAHA SINGLE-AXIS ROBOT CONTROLLER
SRCP30
E
User's Manual
ENGLISH
E104-Ver. 1.02

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Summary of Contents for Yamaha SRCP30

  • Page 1 MF100 YAMAHA SINGLE-AXIS ROBOT CONTROLLER SRCP30 User’s Manual ENGLISH E104-Ver. 1.02...

  • Page 3: Table Of Contents

    Insulation resistance and voltage breakdown tests ..................2-5 2-2-7 Installing a noise filter ........................... 2-5 Grounding ..........................2-6 Connecting the SRCP30 to the Control Unit ................2-6 Connecting to the Robot ......................2-6 2-5-1 Robot I/O connector and signal table ......................2-6 2-5-2 Motor connector and signal table ........................
  • Page 4 Chapter 4 BASIC OPERATION OF THE TPB ................. 4-1 Connecting and Disconnecting the TPB ................. 4-2 4-1-1 Connecting the TPB to the SRCP30 controller ....................4-2 4-1-2 Disconnecting the TPB from the SRCP30 controller ..................4-3 Basic Key Operation ......................4-4 Reading the Screen ........................
  • Page 5 Robot Language Description ....................8-6 8-4-1 MOVA ................................8-6 8-4-2 MOVI ................................8-6 8-4-3 MOVF ................................8-7 8-4-4 JMP ................................8-7 8-4-5 JMPF ................................8-8 8-4-6 JMPB ................................8-9 8-4-7 L ..................................8-9 8-4-8 CALL ................................8-10 8-4-9 DO ................................8-10 8-4-10 WAIT ................................
  • Page 6 10-6 Using a Memory Card ......................10-14 10-6-1 Saving controller data to a memory card ....................10-14 10-6-2 Loading data from a memory card ......................10-16 10-6-3 Formatting a memory card ........................10-18 10-6-4 Viewing the ID number for memory card data ..................10-19 10-7 Duty (load factor) monitor....................
  • Page 7 17-1-1 What the HPB does ............................. 17-2 17-1-2 Part names and functions ..........................17-3 17-2 Connecting and Disconnecting the HPB ................17-7 17-2-1 Connecting to the SRCP30 controller ......................17-7 17-2-2 Disconnecting from the SRCP30 controller ....................17-10 17-3 Basic Operations ........................ 17-11 17-3-1 HPB control keys ............................
  • Page 8 MEMO...

  • Page 9: Chapter 1 Overview

    This first chapter explains basic information you should know before using the SRCP30 controller such as names and functions of the various parts, steps necessary to prepare the robot for operation, and the architecture of the...

  • Page 10: Features Of The Srcp30 Controller

    17 "HPB OPERATION (SUPPLEMENT)" if you use SRCP30 with HPB. For details on operation with POPCOM, refer to the POPCOM manual. If you want to use your own methods to operate the SRCP30 controller from a PC, refer to Chapter 11 "COMMUNICATIONS WITH PC" for pertinent information.

  • Page 11: Setting Up For Operation

    1-2 Setting Up for Operation Setting Up for Operation The chart below illustrates the basic steps to follow from the time of purchase of this controller until it is ready for use. The chapters of this user's manual are organized according to the operation proce- dures, and allow first time users to proceed one step at a time.

  • Page 12: External View And Part Names

    1-3 External View and Part Names External View and Part Names This section explains part names of the SRCP30 controller and TPB along with their functions. Note that the external view and specifications are subject to change without prior notice to the user.
  • Page 13 1-3 External View and Part Names 14. Serial number label Serial number label description * Same as serial number shown on specification label. Fig. 1-1 Exterior of the SRCP30 controller Fig. 1-2 Three-side view of the SRCP30 controller 152.5 SRCP30 MOTOR RGEN Model: SRCP30...

  • Page 14: Tpb

    The TPB can be operated in interactive data entry mode. Instructions are input through the control keys while reading the contents on the LCD screen. 4. Connection Cable This cable connects the TPB to the SRCP30 controller. 5. DC Power Input Terminal Not used.

  • Page 15: System Configuration

    1-4 System Configuration System Configuration 1-4-1 System configuration The SRCP30 controller can be combined with various peripheral units and optional products to configure a robot system as shown below. Fig.1-5 System configuration diagram SRCP30 Controller RS-232C communication control TPB programming box...

  • Page 16: Accessories And Options

    1-5 Accessories and Options Accessories and Options 1-5-1 Accessories The SRCP30 robot controller comes with the following accessories. After unpacking, check that all items are included. 1. EXT. CN connector Connector : 733-104 made by WAGO 1 piece 2. I/O. CN connector with flat cable (option)

  • Page 17: Chapter 2 Installation And Connection

    Chapter 2 INSTALLATION AND CONNECTION This chapter contains precautions that should be observed when installing the controller, as well as procedures and precautions for wiring the controller to the robot and to external equipment.

  • Page 18: Installing The Srcp30 Controller

    2-1-1 Installation method Using the L-shaped brackets attached to the top and bottom of the controller, install the controller from the front or rear position. (See Fig.1-2 Three-side view of the SRCP30 controller.) 2-1-2 Installation location ■ Install the controller in locations where the ambient temperature is between 0 to 40°C and the humidity is between 35 to 85% without condensation.

  • Page 19: Connecting The Power Supply

    If the power supply voltage drops below the above range during operation, the alarm circuit will work and return the SRCP30 controller to the initial state the same as just after power-on, or stop operation. To avoid this problem, use a regulated power supply with voltage fluctuations of less than ±10%.

  • Page 20: Installing An External Leakage Breaker

    2-2 Connecting the Power Supply CAUTION The SRCP30 controller does not have a power switch. Be sure to provide a power supply breaker (insulation) of the correct specifications that will turn the power on or off to the entire system including the robot controller.

  • Page 21: Installing Power Supply Switches

    : Contactor 2-2-6 Insulation resistance and voltage breakdown tests Never attempt insulation resistance tests or voltage breakdown tests on the SRCP30 controller. Since capacitive grounding is provided between the controller body and 0V, these tests may mistakenly detect excess leakage current or damage the internal circuitry. If these tests are required, please consult your YAMAHA sales office or representative.

  • Page 22: Grounding

    100 ohms or less) or higher grounding be provided. Connecting to the Robot First make sure that the power to the SRCP30 controller is turned off, and then connect the robot cable to the robot I/O connector and motor connector on the front panel of the SRCP30 controller.

  • Page 23: Motor Connector And Signal Table

    The I/O. CN connector is used for connecting the SRCP30 controller to external equipment such as a PLC. When using external equipment for I/O control, connect the wiring to the I/O. CN connector (with a flat cable) supplied as an accessory and then plug it into the I/O. CN connector on the SRCP30 controller.

  • Page 24: Connecting To The Ext. Cn Connector

    Unless these terminals are shorted, emergency stop is always activated to prohibit the robot from operating. DANGER Be sure to turn off the power to the entire robot system before doing any wiring to the SRCP30 controller. Failure to do so may cause electrical shocks.

  • Page 25: Connecting To The Regenerative Unit

    Connecting to the Regenerative Unit Some types of robots must be connected to a regenerative unit. In such cases, use the interconnection cable to connect the SRCP30 controller to the regenerative unit. Fig. 2-3 Connecting the SRCP30 controller to a regenerative unit Use the interconnection cable to make connections.
  • Page 26 MEMO...

  • Page 27: Chapter 3 I/O Interface

    I/O INTERFACE The SRCP30 controller has I/O interface connectors (EXT. CN and I/O. CN) as a standard feature. The EXT. CN is used for emergency stop input and 24V power input for I/O control. The I/O. CN consists of an interlock input, 7 dedicated command inputs, 3 dedicated outputs, 8 general-purpose inputs, 5 general-purpose outputs, feedback pulse outputs, etc.

  • Page 28: I/O Signals

    3-1-1 I/O. CN connector signals The I/O. CN connector of the SRCP30 controller has 40 pins, with an individual signal assigned to each pin. The following table shows the pin number as well as the name and description of each signal assigned to each pin.

  • Page 29: Input Signal Description

    3-2-1 Dedicated command input The dedicated command input is used to control the SRCP30 controller from a PLC or other external equipment. To accept this input, the READY, BUSY and LOCK signals must be set as follows.
  • Page 30 3-2 Input Signal Description ■ Absolute point movement command (ABS-PT) This command moves the robot to an absolute position specified by a point number at a specified speed along an axis coordinate whose origin is defined as 0. The point number and speed are specified by general-purpose input.
  • Page 31 The lead program is the program that has been selected as the execution program by the TPB or POPCOM. (See "9-4 Switching the Execution Program".) The lead program can also be selected by executing a communication command "@SWI". It may also be selected when the program data is loaded into the SRCP30 controller from the memory card.

  • Page 32: General-Purpose Input (Di0 To Di7)

    3-2 Input Signal Description 3-2-2 General-purpose input (DI0 to DI7) These general-purpose inputs are available to users for handling data input in a program. These inputs are usually connected to sensors or switches. These inputs can also be directly con- nected to a PLC output circuit.

  • Page 33: Service Mode Input (Svce)

    (SERVO). The servo will turn on to enable robot operation. The TPB or PC can also be used to reset emergency stop when the SRCP30 controller is connected to the TPB or PC.

  • Page 34: Output Signal Description

    BUSY signal cannot turn off even after the command execution is complete. As long as the BUSY signal is on, the SRCP30 controller will not accept other dedicated command inputs or commands from the TPB or PC. Avoid operating the TPB while the SRCP30 controller is being operated through the I/O interface.

  • Page 35: General-Purpose Output (Do0 To Do4)

    LED lamps. These outputs of course, can be directly connected to a PLC input circuit. All general-purpose outputs are reset (turned off) when the SRCP30 controller is turned on or the program is reset. * When PRM33 ("Operation at return-to-origin complete" parameter) is set to 1 or 3, DO4 does not turn off even if the program is reset.

  • Page 36: I/O Circuits

    3-4 I/O Circuits I/O Circuits This section provides the SRCP30 controller I/O circuit specifications and examples of how the I/O circuits should be connected. Refer to these specifications and diagrams when connecting to external equipment such as a PLC. 3-4-1 I/O circuit specifications ■...

  • Page 37: I/O Circuit And Connection Example

    3-4 I/O Circuits 3-4-2 I/O circuit and connection example I/O circuit and connection example Photocoupler Push-button Input signal NPN transistor Incandescent lamp Output signal Solenoid valve Controller side External DC24V power supply Pulse output circuit connection example Controller side 26LS32 or equivalent 26LS31 or equivalent PZM+ PZM-...

  • Page 38: I/O Connection Diagram

    3-5 I/O Connection Diagram I/O Connection Diagram 3-5-1 Connection to PLC output unit Connection to the Mitsubishi © PLC AY51 output unit AY51 type output unit SRCP30 controller I/O. CN TB 1 DI 0 DI 1 DI 2 DI 3...

  • Page 39: Connection To Plc Input Unit

    3-5 I/O Connection Diagram 3-5-2 Connection to PLC input unit Connection to the Mitsubishi © PLC AX41 input unit AX41 type input unit SRCP30 controller I/O. CN TB 1 READY BUSY DO 0 Internal DO 1 circuit DO 2 Photocoupler...

  • Page 40: I/O Control Timing Charts

    AC power supply READY ■ The SRCP30 initial state depends on whether emergency stop is triggered when the power is turned on. When the power is turned on while emergency stop is cancelled, the SRCP30 controller starts with the READY signal and also the servo turned on. (Robot is ready to operate in this state.) In contrast, when the power is on while emergency stop is triggered, the SRCP30 controller starts with the READY signal turned off under emergency stop conditions.

  • Page 41: When Executing A Dedicated Input Command

    3-6 I/O Control Timing Charts 3-6-2 When executing a dedicated input command ■ The BUSY signal turns on when a dedicated command is received. Whether the received com- mand has ended normally can be checked with the END signal status at the point that the BUSY signal turns off.
  • Page 42 3-6 I/O Control Timing Charts (2)When a command with a short execution time runs and ends normally: (Command execution has already ended and the END signal is on before turning off (contact open) the dedicated command input, as in the examples listed below.) •...
  • Page 43 3-6 I/O Control Timing Charts (3)When a command cannot be executed from the beginning: (Command execution is impossible from the beginning and the END signal does not turn on, as in the examples listed below.) • A movement command (ABS-PT, INC-PT) was executed without return-to-origin being com- pleted.

  • Page 44: When Interlock Signal Is Input

    3-6 I/O Control Timing Charts (4)When command execution cannot be completed: (Command execution stops before completion and the END signal does not turn on, as in the examples listed below.) • An interlock or emergency stop was triggered during execution of a dedicated command. •...

  • Page 45: When Emergency Stop Is Input

    3-6 I/O Control Timing Charts 3-6-4 When emergency stop is input Emergency stop Dedicated command BUSY READY 5ms or less 1ms or less ■ The READY signal turns off. The BUSY signal also turns off while a dedicated command is being executed.

  • Page 46: When Executing A Point Movement Command

    3-6 I/O Control Timing Charts 3-6-6 When executing a point movement command ■ When executing a point movement command (ABS-PT, INC-PT), the point data and speed data must first be input before inputting the command. The point data and speed data can be specified with DI0 to DI7 (or DI0 to DI6 when SERVICE mode is enabled).

  • Page 47: Chapter 4 Basic Operation Of The Tpb

    Chapter 4 BASIC OPERATION OF THE TPB The TPB is a hand-held, pendant-type programming box that connects to the SRCP30 controller to edit or run programs for robot operation. The TPB allows interactive user operation on the display screen so that even first-time users can easily operate the robot with the TPB.

  • Page 48: Connecting And Disconnecting The Tpb

    4-1-1 Connecting the TPB to the SRCP30 controller CAUTION Do not modify the TPB cable or use any type of relay unit for connecting the TPB to the SRCP30 controller. Doing so might cause communication errors or malfunctions. ■ When the power supply to the controller is turned off...

  • Page 49: Disconnecting The Tpb From The Srcp30 Controller

    4-1 Connecting and Disconnecting the TPB 4-1-2 Disconnecting the TPB from the SRCP30 controller To disconnect the TPB from the controller while a program or an I/O dedicated command is being executed, pull out the TPB while holding down the ESC switch on the front panel of the controller.

  • Page 50: Basic Key Operation

    4-2 Basic Key Operation Basic Key Operation 1) Selectable menu items are displayed on the 4th line (bottom line) of the TPB screen. [MENU] Example A is the initial screen that allows you select menu to select the following modes. 1 EDIT 1EDIT2OPRT3SYS 4MON 2 OPRT...

  • Page 51: Reading The Screen

    4-3 Reading the Screen Reading the Screen The following explains the basic screen displays and what they mean. 4-3-1 Program execution screen The display method slightly differs depending on the version of TPB. Ver. 12.50 or earlier Ver. 12.51 or later [OPRT-STEP] 100 0:31 [STEP] 100% 062:MOVA 200,100...

  • Page 52: Point Edit Screen (Teaching Playback)

    4-3 Reading the Screen 4-3-3 Point edit screen (teaching playback) [EDIT-PNT-TCH](1)100 P255 = 123.45 [mm] 0.00] 1CHG 2SPD 3S_SET4next 1. Current mode 2. Speed selection number 3. Speed parameter (%) 4. Edit point number 5. Current position 4-3-4 DIO monitor screen DI 00000000 00000000 DO 10100000 O:0 S:1 1.

  • Page 53: Hierarchical Menu Structure

    4-4 Hierarchical Menu Structure Hierarchical Menu Structure MOD (Step Edit) INFORMATION INS (Step Insert) (System information) DEL (Step Delete) CHG (Program Change) (Program Edit) MDI (Manual Data Input) CHG (Point Change) CHG (Point Change) SPD (Speed Change) TCH (Teaching Playback) S_SET (Speed Set) EDIT DO (General-purpose Output Control)

  • Page 54: Restricting Key Operation By Access Level

    4-5 Restricting Key Operation by Access Level Restricting Key Operation by Access Level The TPB key operations can be limited by setting the access levels (operation levels). A person not trained in robot operation might accidentally damage the robot system or endanger others by using the TPB incorrectly.

  • Page 55: Changing An Access Level

    Level Description All operations are permitted. Loading the parameters and all data to the SRCP30 is prohibited. (Point data or program data can be loaded.) Loading any data to the SRCP30 is prohibited. (Data can be saved and the memory card formatted.) Use of memory card is prohibited.
  • Page 56 PGM invalid NOTE The password is identical to the SRCP30 controller's version number. For example, if the controller version is 24.31H, enter 24.31 as the password. Once the password is accepted, it will not be requested unless the TPB is disconnected from the controller or the controller power is turned off.

  • Page 57: Chapter 5 Parameters

    The SRCP30 controller uses a software servo system, so no adjustment of hardware components such as potentiometers or DIP switches are required. Instead, the SRCP30 controller uses parameters that can be easily set or changed by the TPB or PC (personal computer).

  • Page 58: Setting The Parameters

    5-1 Setting the Parameters Setting the Parameters 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PRM). [SYS] select menu 4next 1PRM 2B.UP3INIT 3) Select the parameter group you want to edit. [SYS-PRM] When editing PRM0 to PRM63, press (PRM1).

  • Page 59: Parameter Description

    5-2 Parameter Description Parameter Description The parameters are described in order below. CAUTION Parameters not displayed on the TPB screen are automatically set or optimized to match the robot type when the robot parameters are initialized. You usually do not have to change these parameter settings. If for some special reason you need to change or check these hidden parameters, use any of the following methods.
  • Page 60 5-2 Parameter Description PRM3: Payload This specifies the total weight of the workpiece and tool attached to the robot. In cases where this weight varies, enter the maximum payload. Based on this parameter, the controller determines the optimum acceleration speed for the robot, so ensure that the correct payload is set.
  • Page 61 5-2 Parameter Description PRM7: I/O point movement command speed This parameter sets the movement speed to execute a point movement command (ABS- PT, INC-PT) and also determines the number of points that can be used with a point movement command. (See "3-2-2 General-purpose input (DI0 to DI7)".) Input range: 0 to 100 (%) Default value: 100...
  • Page 62 This parameter indicates the constant that is determined by the linear scale. Default value: Depends on robot type. PRM13: Origin detection method This parameter specifies the origin (reference point) detection method. The SRCP30 con- troller uses the stroke-end detection method. Default value: 1 (Stroke-end detection method) CAUTION The origin detection method is predetermined by the machine specifications.
  • Page 63 5-2 Parameter Description PRM18: Speed integration gain This sets the speed control gain. Typically, PRM17 and PRM18 should be input at a ratio of 3 : 2. Generally, the larger the gain, the higher the acceleration will be. However, if the gain is set too high, abnormal oscillation or noise might be generated, causing serious problems in the robot and controller.
  • Page 64 5-2 Parameter Description PRM24: Teaching count data (TPB entry) This is entered in the TPB and cannot be used. Default value: 0 PRM25: Not used Default value: 0 PRM26: Teaching movement data This parameter is used during movement with a communication command @X+ or @XINC. This is also used for point teaching playback.
  • Page 65 5-2 Parameter Description PRM32: Alarm number output When an alarm is issued, this parameter selects whether the alarm number is to be output as a general-purpose output. When this parameter is set to 1, the alarm number is output as a 5-bit binary signal through DO0 to DO4.
  • Page 66 5-2 Parameter Description PRM34: System mode selection This parameter specifies the system operation mode. When you want to use the SRCP30 controller in operating specifications that differ from normal mode, change this parameter as explained below. This parameter functions are allocated in bit units.
  • Page 67 5-2 Parameter Description Bit 7: END output sequence setting at command execution completion (supported by Ver. 24.32H and later versions): This selects the END output sequence at dedicated command completion. With the standard setting ("0"), the command's execution result is output to the END output when the command is completed.
  • Page 68 5-2 Parameter Description PRM41: I/O point movement command speed 1 This parameter sets the speed at which the robot moves when a point movement command (ABS-PT, INC-PT) is executed. The speed set here is the movement speed used in normal mode (SERVICE mode disabled) with PRM7set to 0, DI6 turned on and DI7 turned off.
  • Page 69 5-2 Parameter Description PRM46: Servo status output This parameter selects whether to output the axis servo status as a general-purpose output. When this parameter is set to 1, DO3 turns on and off along with servo on/off. Input range: 0 or 1 Meaning: 0: Does not output the servo status.
  • Page 70 5-2 Parameter Description PRM51: Lead program number This parameter sets the lead program number. Default value: 0 NOTE The lead program is the program that has been selected as the execution program by the TPB or POPCOM. (See "9-4 Switching the Execution Program".) The lead program can also be selected by executing a communication command "@SWI".
  • Page 71 5-2 Parameter Description Zone output function To use the zone output function, the desired zone must be specified with point data. (See Chapter 7, "EDITING POINT DATA".) When the robot enters the specified zone, its re- sult is output to the specified port. Point numbers and output port that can be used for each zone output are listed below.
  • Page 72 5-2 Parameter Description PRM54: Magnetic pole detection level Default value: Depends on the robot. PRM55: Magnetic pole position Default value: 0 PRM56: Controller version 2 This parameter reads out the version information (2) on the control software in the con- troller.

  • Page 73: Chapter 6 Programming

    Chapter 6 PROGRAMMING In this chapter we will try programming some operations. First, you will learn how to enter a program using the TPB programming box.

  • Page 74: Basic Contents

    Basic Contents 6-1-1 Robot language and point data The SRCP30 controller uses the YAMAHA robot language that is very similar to BASIC. It allows you to easily create programs for robot operation. In programs created with the YAMAHA robot language, the robot position data (absolute position, amount of movement) are not expressed in terms of direct numeric values.

  • Page 75: Editing Programs

    6-2 Editing Programs Editing Programs "Program editing" refers to operations such as creating a program right after initialization, creating a new program, changing an existing program, and deleting or copying a program. In this section, you will learn the basic procedures for program editing using the TPB. "Creating a program right after initialization"...

  • Page 76: Creating Programs After Initialization

    6-2 Editing Programs 6-2-1 Creating programs after initialization 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PGM). [EDIT] select menu 1PGM 2PNT 3UTL 3) Since no program is registered after initializa- tion, an error message appears on the screen, [EDIT] indicating that no program exists.
  • Page 77 6-2 Editing Programs 7) After selecting the robot language command, [EDIT-PGM] No 0 enter the operand data. When you press , the cursor moves to op- 001:MOVA 0 ,100 erand 1, so enter the data with the number keys. (Do not press at this point.) (point No)0→999 While pressing...

  • Page 78: Creating A New Program

    6-2 Editing Programs 6-2-2 Creating a new program 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PGM). [EDIT] select menu 1PGM 2PNT 3UTL 3) The execution program number and step are [EDIT-PGM] No10 displayed on the screen.

  • Page 79: Adding A Step

    6-2 Editing Programs 6-2-3 Adding a step 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PGM). [EDIT] select menu 1PGM 2PNT 3UTL 3) The execution program number and step are [EDIT-PGM] No10 displayed on the screen. Press (CHG) here.
  • Page 80 6-2 Editing Programs 7) Select or a robot language com- [EDIT-PGM] No10 mand shown on the lower part of each number key. 051:_ To change the robot language menu display, press (next). To go back to the previous menu display, press the key.

  • Page 81: Correcting A Step

    6-2 Editing Programs 6-2-4 Correcting a step 1) Use the same procedure up to step 4 in "6-2-3 Adding a step". 2) Enter the number of the step you want to cor- [EDIT-PGM] rect with the number keys and press No = 10 STEP No = _ (REG.steps) 50...

  • Page 82: Inserting A Step

    6-2 Editing Programs 6-2-5 Inserting a step 1) Use the same procedure up to step 4 in "6-2-3 Adding a step". 2) Enter the number of the step where you want to insert a step with the number keys and press [EDIT-PGM] No = 10 STEP No = _...

  • Page 83: Deleting A Step

    6-2 Editing Programs 6-2-6 Deleting a step 1) Use the same procedure up to step 4 in "6-2-3 Adding a step". 2) Enter the number of the step you want to delete [EDIT-PGM] with the number keys and press No = 10 STEP No = _ (REG steps) 50 3) Press...

  • Page 84: Program Utility

    6-3 Program Utility Program Utility 6-3-1 Copying a program 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (UTL). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press (COPY). [EDIT-UTL] select menu 1COPY2DEL 3LIST 4) Enter the program number you want to copy [EDIT-UTL-COPY] from with the number keys, and then press Copy from No = _...

  • Page 85: Deleting A Program

    6-3 Program Utility 6) If program data is already registered with the [EDIT-UTL-COPY] selected program number, a confirmation mes- sage appears. Copy from No = 0 To overwrite the program, press (yes). No99 overwrite OK ? To cancel, press (no). 1yes 2no 7) When the program has been copied, the screen [EDIT-UTL]...

  • Page 86: Viewing The Program Information

    6-3 Program Utility 6-3-3 Viewing the program information 1) Use the same procedure up to 2 in "6-3-1 Copy- ing a program". 2) Press (LIST). [EDIT-UTL] select menu 1COPY2DEL 3LIST 3) The program numbers are displayed on the [EDIT-UTL-LIST] screen, along with the number of registered steps and the number of available remaining free 678 steps...

  • Page 87: Chapter 7 Editing Point Data

    Chapter 7 EDITING POINT DATA There are three methods to enter point data: manual data input (MDI), teaching playback, and direct teaching. Manual data input allows you to directly enter point data with the TPB number keys. Teaching playback moves the robot in manual operation to a desired position and then obtains that position as point data.

  • Page 88: Manual Data Input

    7-1 Manual Data Input Manual Data Input 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PNT). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press (MDI). [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL 4) The currently selected point data in the execu- [EDIT-PNT-MDI] tion program appears on the screen.

  • Page 89: Teaching Playback

    7-2 Teaching Playback Teaching Playback 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PNT). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press (TCH). [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL 4) The currently selected point data in the execu- [EDIT-PNT-TCH](1) 50 tion program appears on the screen.
  • Page 90 7-2 Teaching Playback 6) Move the robot to the teaching position with [EDIT-PNT-TCH](1) 50 – keys. Each time the – key is pressed, the robot moves a certain P500 = 19.27 [mm] amount in the direction indicated by the key 0.00] and then stops.

  • Page 91: Direct Teaching

    7-3 Direct Teaching Direct Teaching 1) On the initial screen, press (EDIT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (PNT). [EDIT] select menu 1PGM 2PNT 3UTL 3) Press (DTCH). [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL 4) Following the message, press the emergency [EDIT-PNT-DTCH] stop button on the TPB.
  • Page 92 7-3 Direct Teaching 7) Move the robot to the teaching position by hand. [EDIT-PNT-DTCH] P500 = 19.27 [mm] 0.00] 1CHG 2DO 3BRK 8) Press to input the current position as point [EDIT-PNT-DTCH] data. Use the same procedure to input all other nec- P500 = 167.24 [mm] essary point data, and then press the...

  • Page 93: Manual Control Of General-Purpose Output

    I/O interface to operate a gripper or other tools, you may want to check the position of workpiece by actually moving it. For this reason, the SRCP30 controller is designed to allow manual control of general-purpose out- puts from the TPB.

  • Page 94: Manual Release Of Holding Brake

    7-5 Manual Release of Holding Brake Manual Release of Holding Brake The holding brake on the vertical type robot can be released. Since the movable part will drop when the brake is released, attaching a stopper to protect the tool tip from being damaged is recommended. 1) Use the same procedure up to step 4 in "7-3 Direct Teaching".

  • Page 95: Deleting Point Data

    7-6 Deleting Point Data Deleting Point Data 1) Use the same procedure up to step 2 in "7-1 Manual Data Input". 2) Press (DEL). [EDIT-PNT] select menu 1MDI 2TCH 3DTCH4DEL 3) Enter the point number at the start to delete [EDIT-PNT-DEL] point data with the number keys and press DEL range P_...

  • Page 96: Tracing Points (Moving To A Registered Data Point)

    7-7 Tracing Points (Moving to a registered data point) Tracing Points (Moving to a registered data point) The robot can be moved to the position specified by a registered data point. You can check the input point data by actually moving the robot. 1) Use the same procedure up to step 5 in "7-2 Teaching Playback".

  • Page 97: Chapter 8 Robot Language

    This chapter explains the robot language. It describes what kind of commands are available and what they mean. The SRCP30 controller uses the YAMAHA robot language. This is an easy-to-learn BASIC-like programming language. Even a first-time user can easily create programs to control complex robot and peripheral device move- ments.

  • Page 98: Robot Language Table

    8-1 Robot Language Table Robot Language Table Instruction Description and Format Moves to point data position. MOVA MOVA <point number>, <maximum. speed> Moves from current position by amount of point data. MOVI MOVI <point number>, <maximum. speed> Moves until specified DI input is received. MOVF MOVF <point number>, <DI number>, <DI status>...

  • Page 99: Robot Language Syntax Rules

    Robot Language Syntax Rules 8-2-1 Command statement format The robot language command statement format for the SRCP30 controller is as follows. When creat- ing a program using the TPB, each command statement can be automatically entered in this format, so you do not have to be aware of this format while creating the program.

  • Page 100: Variables

    8-2 Robot Language Syntax Rules 8-2-2 Variables Variable are used in a program to hold data. The following variables can be used with the SRCP30 controller. ■ Point variable P A point variable can contain a point number. It is used in movement commands such as MOVA and MOVI statements instead of specifying the point number directly.

  • Page 101: Program Function

    Strictly speaking, if the CPU is one unit, it executes two or more programs (tasks) while switching between them in an extremely short time almost as if they were being simultaneously executed. The SRCP30 controller uses this multi-task function to perform multiple tasks while switching the programs within a very short time (5ms maximum).

  • Page 102: Robot Language Description

    8-4 Robot Language Description Robot Language Description 8-4-1 MOVA Function: Moves to a point specified by a point number (Moves to an absolute position relative to the origin point). Format: MOVA <point number>, <maximum speed> Example: MOVA 51, 80 Moves to P51 at speed 80. Explanation: This command moves the robot to a position on the absolute coordinates whose origin position is defined as 0.

  • Page 103: Movf

    8-4 Robot Language Description 8-4-3 MOVF Function: Moves until a specified DI number input is received. Format: MOVF <point number> <DI number> <DI status> Example: MOVF 1, 2, 1 The robot moves toward P1 and stops when DI2 turns on. Program ex- ecution then proceeds to the next step.

  • Page 104: Jmpf

    8-4 Robot Language Description 8-4-5 JMPF Function: If the conditional jump input matches the setting value, program execu- tion jumps to a specified label in a specified program. Format: JMPF <label number>, <program number>, <input condition value> Example: JMPF 12, 3, 5 If the conditional jump input is 5, program execution jumps to label 12 in program 3.

  • Page 105: Jmpb

    8-4 Robot Language Description 8-4-6 JMPB Function: Jumps to a specified label when a specified general-purpose input or memory input is ON or OFF. Format: JMPB <label number>, <DI or MI number>, <input status> Example: JMPB 12, 2, 1 Jumps to label 12 when DI2 input is ON. If DI2 is OFF, the program execution proceeds to the next step.

  • Page 106: Call

    8-4 Robot Language Description 8-4-8 CALL Function: Calls and executes another program. Format: CALL <program number>, <number of times> Example: CALL 5, 2 Calls program 5 and executes it twice. Program execution then proceeds to the next step. Explanation: When repeating the same operation a number of times, the CALL state- ment is used as needed to call and execute the subroutine defined as a separate program.

  • Page 107: Wait

    8-4 Robot Language Description 8-4-10 WAIT Function: Waits until a specified general-purpose input or memory input changes to a specified state. Format: WAIT <DI or MI number>, <input status> Example: WAIT 5, 1 Waits until DI5 turns on. Explanation: This command adjusts the timing according to the general-purpose in- put or memory input state.
  • Page 108 8-4 Robot Language Description 8-4-12 P Function: Sets a point variable P. Format: <point number> Example: Sets a point variable P to 200. Explanation: The point variable can contain a point number as a variable, which can be from 0 to 999. By using a movement command such as MOVA with a P+ or P- statement, the number of steps required to create a repeating program can be reduced.

  • Page 109: Srvo

    8-4 Robot Language Description 8-4-15 SRVO Function: Turns the servo on and off. Format: SRVO <servo status> Example: SRVO This turns the servo on. SRVO This turns the servo off. Explanation: This command is used to prevent an overload on the motor that may occur if the robot is locked mechanically after positioning is completed.

  • Page 110: Orgn

    8-4 Robot Language Description 8-4-17 ORGN Function: Performs return-to-origin by using the stroke-end detection method. Format: ORGN Example: ORGN Performs return-to-origin by the stroke-end detection method. Explanation: Return-to-origin is performed based on return-to-origin parameter data. Others: • The magnetic pole is detected simultaneously with return-to-origin operation.

  • Page 111: Ton

    8-4 Robot Language Description 8-4-18 TON Function: Executes a specified task. Format: <task number>, <program number>, <start type> Example: 1,2,0 Newly executes program 2 as task 1. Explanation: This command starts multiple tasks and can be used to control the I/O signals in parallel with the axis movement and perform different process- ing for each axis.

  • Page 112: Jmpp

    8-4 Robot Language Description 8-4-20 JMPP Function: Jumps to a specified label when the axis position relation meets the speci- fied conditions. Format: JMPP <label number>, <axis position condition> Example: JMPP Jumps to label 3 if the X-axis position is smaller than the point specified with the point variable P.

  • Page 113: Mat

    8-4 Robot Language Description 8-4-21 MAT Function: Defines the number of rows and columns of the matrix. Format: <number of rows>, <number of columns>, <pallet number> Example: 3, 6, 0 Defines a matrix of 3 × 6 on pallet number 0. Explanation: This command defines a matrix for palletizing movement.

  • Page 114: Msel

    8-4 Robot Language Description 8-4-22 MSEL Function: Specifies a matrix where the robot moves with a MOVM statement. Format: MSEL <pallet number> Example: MSEL Points where the robot moves with a MOVM statement are calculated based on matrix data of pallet number 0. Explanation: This command selects a matrix and is always used with a MOVM state- ment as a pair.

  • Page 115: Movm

    8-4 Robot Language Description 8-4-23 MOVM Function: Moves to a point on the specified matrix. Format: MOVM <pallet work position>, <maximum speed> Example: MOVM 23, 100 Moves to the point at row 3, column 7 at speed 100 when a matrix of 5 × 8 is defined by the MAT statement.

  • Page 116: Jmpc

    8-4 Robot Language Description 8-4-24 JMPC Function: Jumps to a specified label when the counter array variable C matches a specified value. Format: JMPC <label number>, <counter value> Example: JMPC 5, 100 Jumps to label 5 when the counter array variable C is 100. Program execution proceeds to the next step except when the counter array vari- able C is 100.

  • Page 117: Csel

    8-4 Robot Language Description 8-4-26 CSEL Function: Specifies an array element of the counter array variable C to be used. Format: CSEL <array element number> Example: CSEL The counter array variable of element number 1 is used in the subse- quent steps.
  • Page 118 8-4 Robot Language Description 8-4-28 C+ Function: Adds a specified value to the counter array variable C. Format: [<addition value>] Example: Adds 100 to the counter array variable C. (C←C+100) Adds 1 to the counter array variable C. (C←C+1) Explanation: This command adds a specified value to the counter array variable C specified with the CSEL statement.

  • Page 119: Shft

    8-4 Robot Language Description 8-4-32 D- Function: Subtracts a specified value from the counter variable D. Format: [<subtraction value>] Example: Subtracts 100 from the counter variable D. (D←D-100) Subtracts 1 from the counter variable D. (D←D-1) Explanation: This command subtracts a specified value from the counter variable D. The subtraction value can be set to any value from 1 to 65535.

  • Page 120: Sample Programs

    8-5 Sample Programs Sample Programs 8-5-1 Moving between two points Program Comment [NO0] ; Label definition 001: L ; Moves to P1 002: MOVA ; Moves to P2 003: MOVA ; Delays for one second 004: TIMR : Returns to L0 005: JMP 8-5-2 Moving at an equal pitch 50mm...
  • Page 121 8-5 Sample Programs 8-5-3 Positioning 2 points and sending job commands to a PLC at each position Job 1 Job 2 Point Position at which job 1 is complete Position at which job 2 is complete General-purpose input Job 1 completion 1: Complete 0: Not complete Job 2 completion 1: Complete 0: Not complete General-purpose output Job 1 command 1: Output...
  • Page 122 8-5 Sample Programs 8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece X-axis Upper end limit switch (DI0) AC servo Air cylinder (DO0) Lower end limit switch (DI1) Air chuck (DO1) Workpiece detection sensor (DI2)

  • Page 123: Picking Up 3 Kinds Of Workpieces Flowing On The Front Conveyor And Placing Them On The Next Conveyors While Sorting

    8-5 Sample Programs 8-5-5 Picking up 3 kinds of workpieces flowing on the front conveyor and placing them on the next conveyors while sorting [TOP VIEW] Front conveyor Workpiece Next conveyors Next single-axis robot [SIDE VIEW] Upper end limit AC servo switch (DI0) Air cylinder (DO0)
  • Page 124 8-5 Sample Programs Program Comment [NO1] <<Main routine>> ; Label definition 001: L ; Jumps to L2 when workpiece A is detected 002: JMPB ; Jumps to L3 when workpiece B is detected 003: JMPB ; Jumps to L4 when workpiece C is detected 004: JMPB ;...

  • Page 125: Switching The Program From I/O

    (DI7 and DO0 in this case) one at a time and perform the handshake. This is for synchronizing the SRCP30 controller program with an external device such as a PLC. If this part is omitted, the wrong program might be selected during program selection with the JMPF statement.
  • Page 126 8-5 Sample Programs Program Comment [NO0] ; Label definition 001: L ; Waits for confirmation ON of the selected program 002: WAIT Handshaking ; Program selection start turns on 003: DO ; Waits for confirmation OFF of the selected program 004: WAIT ;...

  • Page 127: Axis Movement And I/O Multi-Task

    8-5 Sample Programs 8-5-7 Axis movement and I/O multi-task The robot moves between two points and performs multi-task I/O operation in asynchronous mode. General-purpose input/output Job status detection Job owner's output Program Comment [NO0] ; Starts program NO1 as task 1 001: TON ;...
  • Page 128 8-5 Sample Programs 8-5-8 Turning ON general-purpose outputs during robot movement after a certain time has elapsed 3 sec. 3 sec. 3 sec. DO0=1 DO1=1 DO2=1 Point Start position Target position Program Comment [NO0] ; Label definition 001: L ; Moves to P0 at speed 100 002: MOVA ;...
  • Page 129 8-5 Sample Programs 8-5-9 Turning ON a general-purpose output during robot movement when it has passed a specified position DO0=1 DO0=0 Point Start position Target position Position at DO0=1 Position at DO0=0 ■ When P1 is nearer to the plus side than P0: Program Comment [NO0]...
  • Page 130 MEMO...

  • Page 131: Chapter 9 Operating The Robot

    Chapter 9 OPERATING THE ROBOT This chapter describes how to actually operate the robot. If the program has already been completed, you will be able to operate the robot by the time you finish reading this chapter. There are two types of robot operation: step and automatic. In step operation, the program is executed one step at a time, with a step being carried out each time the RUN key on the TPB is pressed.

  • Page 132: Performing Return-To-Origin

    9-1 Performing Return-to-Origin Performing Return-to-Origin The stroke-end detection is used as the origin (reference point) detection method. The following explains the procedure to perform return-to-origin using the stroke-end detection. The magnetic pole is detected simultaneously with return-to-origin operation. Each time the power is turned on, return-to-origin becomes incomplete.
  • Page 133 9-1 Performing Return-to-Origin CAUTION When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".) • Return-to-origin movement speed is limited to 10mm/s or less in "SERVICE mode state" when the robot movement speed limit is enabled. •...

  • Page 134: Using Step Operation

    9-2 Using Step Operation Using Step Operation The following procedure explains how to perform step operation. In the case of a multi-task program, only the task currently selected is executed in step operation. 1) On the initial screen, press (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON...
  • Page 135 9-2 Using Step Operation 7) The screen returns to step 5. Pressing [OPRT-STEP] 50 0:10 this point executes the first step. 001:MOVA 999,50 0.00] 1SPD 2RSET3CHG 4next 8) This screen is displayed while the program is [OPRT-STEP] being executed. running ... 9) Pressing during execution brings the ro- STOP...
  • Page 136 9-2 Using Step Operation 14)The screen returns to step 5, and the process is [OPRT-STEP] 50 0:10 repeated from that point. 001:MOVA 999,50 250.00] 1SPD 2RSET3CHG 4next CAUTION When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".) •...

  • Page 137: Using Automatic Operation

    9-3 Using Automatic Operation Using Automatic Operation The following procedure explains how to perform automatic operation. All the tasks started in a multi-task program are executed by automatic operation. 1) On the initial screen, press (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (AUTO).
  • Page 138 9-3 Using Automatic Operation 8) This is the screen displayed while the program [OPRT-AUTO] is being executed. running ··· 9) Pressing during execution brings the ro- STOP [OPRT-AUTO] bot to a halt and displays the message "stop key". Press the key to display the step where execution was interrupted.

  • Page 139: Switching The Execution Program

    9-4 Switching the Execution Program Switching the Execution Program The following procedure explains how to switch the program in automatic operation. Use the same procedure in step operation. The program selected by this procedure will be the lead program to which the execution sequence always returns after program reset.

  • Page 140: Emergency Stop Function

    Emergency Stop Function There are two ways to trigger emergency stop on the SRCP30 controller. One way is by using the push-button on the TPB. The other is to use the I/O emergency stop input. In either case for safety reasons, a contact B (normally closed) input is used (when the contact is opened, emergency stop is triggered).
  • Page 141 9-5 Emergency Stop Function 3) After the emergency stop is released, a mes- sage appears asking whether to turn the servo [OPRT-STEP] 100 0: 7 To turn the servo on, press (yes). servo on ready ? To leave the servo off , press (no).

  • Page 142: Displaying The Memory I/O Status

    9-6 Displaying the Memory I/O Status Displaying the Memory I/O Status The memory I/O status can be displayed on the screen. 1) On the initial screen, press (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press (STEP) or (AUTO). [OPRT] The STEP or AUTO mode screen appears. The select menu following steps are explained using the STEP mode screen.

  • Page 143: Displaying The Variables

    9-7 Displaying the Variables Displaying the Variables The point data variable "P", counter array variable "C" and counter variable "D" values can be dis- played on the TPB screen. 1) On the initial screen, press (OPRT). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press (STEP) or (AUTO).
  • Page 144 MEMO...

  • Page 145: Chapter 10 Other Operations

    Chapter 10 OTHER OPERATIONS The TPB has many convenient functions in addition to those already covered. For example, memories can be initialized, and options such as memory cards can be used. This chapter will describe these additional functions...

  • Page 146: Initialization

    10-1 Initialization 10-1 Initialization Initializing the programs and points erases all the program data and point data currently stored in the controller. Initializing the parameters resets the parameters to their initial values. 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press...
  • Page 147 10-1 Initialization 6) Finally, enter the robot payload. [SYS-INIT-PRM] Enter the payload with the number keys and robot type : 560 then press stroke : 895 [mm] weight : 3_ [kg] 7) A confirmation message appears on the screen. [SYS-INIT-PRM] To execute the initialization, press (yes).

  • Page 148: Dio Monitor Display

    10-2 DIO Monitor Display 10-2 DIO Monitor Display Data indicating whether the I/O signals are on or off can be displayed on the screen. The operation procedure is explained below. 10-2-1 Display from the monitor menu 1) On the initial screen, press (MON).

  • Page 149: Display From The Dio Key Operation

    10-2 DIO Monitor Display 10-2-2 Display from the DIO key operation 1) Hold down the key. [OPRT-AUTO] running... 2) The ON/OFF status of I/O signals is displayed [OPRT-AUTO] as long as the key is held down. For information about what the display shows, running...

  • Page 150: Service Mode Function

    A safety function called "SERVICE mode function" places limits on controller operation when in "SERVICE mode state". When the SERVICE mode function is enabled, the SRCP30 controller constantly monitors status to check whether "SERVICE mode state" occurs. In "SERVICE mode state", the SERVICE mode func- tion does the following: •...

  • Page 151: Safety Settings For Service Mode

    10-4 SERVICE mode function 10-4-1 Safety settings for SERVICE mode Safety controls that work in "SERVICE mode state" are explained in detail below. ■ Limiting command input from any device other than TPB When the operator is working within the robot safety enclosure using the TPB, permitting any command input from devices (such as via I/O) other than the TPB is very hazardous to the TPB operator.
  • Page 152 10-4 SERVICE mode function ■ Prohibiting the automatic operation and step operation Running an automatic operation or step operation while an operator is working within the robot safety enclosure is very dangerous to that operator. (For example, when the operator is in the safety enclosure, a hazardous situation may occur if someone runs a robot program without letting the operator know about it.) To avoid this kind of hazard, automatic operation and step operation are basically prohibited in "SERVICE mode state".

  • Page 153: Enabling/Disabling The Service Mode Function

    10-4 SERVICE mode function 10-4-2 Enabling/disabling the SERVICE mode function To enable or disable the SERVICE mode function, follow these steps. 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press (next) to change the menu display [SYS] and then press (SAFE).
  • Page 154 0:Invalid 1:Valid NOTE The password is identical to the SRCP30 controller's version number. For example, if the controller version is 24.31H, enter 24.31 as the password. Once the password is accepted, it will not be requested unless the TPB is...

  • Page 155: Setting The Service Mode Functions

    10-4 SERVICE mode function 10-4-3 Setting the SERVICE mode functions 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press (next) to change the menu display [SYS] and then press (SAFE). select menu 1SAFE2OPT 3UTL 4next 3) The password request screen appears.
  • Page 156 PB/DI valid NOTE The password is identical to the SRCP30 controller's version number. For example, if the controller version is 24.31H, enter 24.31 as the password. Once the password is accepted, it will not be requested unless the TPB is...

  • Page 157: System Utilities

    Display of hidden parameters is permitted un- select menu til you press (HDPR) and then (no), or the SRCP30 controller is turned off, or until the TPB is disconnected. 1HDPR 2REC NOTE The hidden parameter display is also permitted by turning on the power to the controller while holding down the key on the TPB, or by connecting the TPB to the controller while holding down the key.

  • Page 158: Using A Memory Card

    10-6 Using a Memory Card A memory card can be used with the TPB to back up the data in the SRCP30 controller. Refer to "16-1-1 Memory card" for the procedure for handling a memory card and for the number of data that can be stored.
  • Page 159 10-6 Using a Memory Card 7) If data already exists in the area specified in [B.UP-SAVE] step 5, a confirmation message appears. To overwrite the data in the selected area, press AREA 1 already saved (yes). delete OK ? To change the selected area, press (no).

  • Page 160: Loading Data From A Memory Card

    10-6 Using a Memory Card 10-6-2 Loading data from a memory card 1) Insert the memory card into the TPB. 2) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 3) Next, press (B.UP). [SYS] select menu 1PRM 2B.UP3INIT 4next 4) Press (LOAD).
  • Page 161 (no) loads the data after initial- izing the data in the SRCP30 controller. When (ALL) was selected in step 7, all data in the SRCP30 controller will be initial- ized and then loaded. 9) A confirmation message appears asking [B.UP-LOAD]AREA 3 whether to load the data.

  • Page 162: Formatting A Memory Card

    10-6 Using a Memory Card 10-6-3 Formatting a memory card 1) Insert the memory card into the TPB. 2) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 3) Next, press (B.UP). [SYS] select menu 4next 1PRM 2B.UP3INIT 4) Press (FMT).

  • Page 163: Viewing The Id Number For Memory Card Data

    10-6 Using a Memory Card 10-6-4 Viewing the ID number for memory card data 1) Insert the memory card into the TPB. 2) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 3) Next, press (B.UP). [SYS] select menu 4next 1PRM 2B.UP3INIT 4) Press...

  • Page 164: Duty (Load Factor) Monitor

    10-7 Duty (load factor) monitor 10-7 Duty (load factor) monitor The SRCP30 controller has a duty (load factor) monitor to allow you to operate the robot under the most optimal conditions. The duty monitor checks the robot's motor load factor and displays it in percent (%) versus the motor rating.
  • Page 165 10-7 Duty (load factor) monitor [Method 2] 1) Add the robot language command "DUTY 1" to the beginning of the interval in a program in which you want to measure the duty and also add the robot language command "DUTY 0"...

  • Page 166: Measuring The Duty (Load Factor)

    10-7 Duty (load factor) monitor 10-7-1 Measuring the duty (load factor) 1) While moving the robot with a pulse train [MENU] input (Pulse Train mode) or dedicated command input (Normal mode), press select menu (MON) on the TPB initial menu screen to enter MON (monitor) mode.

  • Page 167: Using The Internal Flash Rom

    When the auto-load function is enabled, changes you make to parameter data in the RAM are rewritten by the parameter data in the flash ROM if you turn the SRCP30 controller off without saving the changes into the flash ROM.

  • Page 168: Saving The Parameter Data Onto The Flash Rom

    10-8 Using the internal flash ROM 10-8-1 Saving the parameter data onto the flash ROM NOTE The use of a flash ROM is supported in TPB Ver. 12.51 and later versions. 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (B.UP).
  • Page 169 CAUTION When saving the data onto the flash ROM, make sure that the I/O. CN connector is disconnected and the emergency stop button is pressed. Do not move the robot or turn off the SRCP30 controller during saving of data.

  • Page 170: Manually Loading The Data From Flash Rom

    10-8 Using the internal flash ROM 10-8-2 Manually loading the data from flash ROM NOTE The use of a flash ROM is supported in TPB Ver. 12.51 and later versions. 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (B.UP).
  • Page 171 CAUTION When loading the data from the flash ROM, make sure that the I/O. CN connector is disconnected and the emergency stop button is pressed. Do not move the robot or turn off the SRCP30 controller during loading of data.

  • Page 172: Initializing The Flash Rom Data

    10-8 Using the internal flash ROM 10-8-3 Initializing the flash ROM data NOTE The use of a flash ROM is supported in TPB Ver. 12.51 and later versions. 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (B.UP).
  • Page 173 : Invalid 2LOAD 3INIT 1SAVE CAUTION When initializing the flash ROM data, make sure that the I/O. CN connector is disconnected and the emergency stop button is pressed. Do not move the robot or turn off the SRCP30 controller during initialization.
  • Page 174 MEMO...

  • Page 175: Chapter 11 Communication With Pc

    Chapter 11 COMMUNICATION WITH PC The SRCP30 controller allows you to edit the program data and point data or control the robot operation using a PC (personal computer) by RS-232C communication instead of using the TPB. This chapter describes how to set the communication parameters required to communicate between the PC and the...

  • Page 176: Communication Parameter Specifications

    11-1 Communication Parameter Specifications 11-1 Communication Parameter Specifications The communication parameters on the PC should be set as follows. For the setting procedure, refer to the computer operation manual. ■ Baud rate 9600 bps ■ Data bit length 8 bits ■...

  • Page 177: Communication Cable Specifications

    11-2 Communication Cable Specifications 11-2 Communication Cable Specifications CAUTION Pins 10, 12, 18 and 21 of the controller's connector are specifically used for TPB connection. To avoid possible accidents do not connect other inputs to these pins. When using optional POPCOM software, make connections while referring to the POPCOM user's manual since it shows the different connection specifications.

  • Page 178: Communication Command Specifications

    Items in [ ] (brackets) can be omitted. ■ The character codes used in the SRCP30 controller, are the JIS8 unit system codes (ASCII codes with katakana characters added). Input characters can be upper case or lower case. ■ One or more space must be inserted between the operation code and the operand.

  • Page 179: Communication Command List

    11-4 Communication Command List 11-4 Communication Command List 1. Robot movement Operation code Operand 1 Operand 2 Operand 3 Command details Returns to origin ORGN RESET Resets program Starts automatic operation SRUN Starts step operation SRVO Turns servo off Turns servo on X+/X- Performs jog movement (inching) along X-axis XINC/...
  • Page 180 11-4 Communication Command List 2. Data handling Operation code Operand 1 Operand 2 Operand 3 Command details ?POS Reads current position Reads current program number ?SNO Reads current step number ?TNO Reads current task number ?PNO Reads current point number ?STP program number Reads total number of steps in specified...
  • Page 181 11-4 Communication Command List 3. Utility Operation code Operand 1 Operand 2 Operand 3 Command details INIT Initializes program data Initializes point data robot number Initializes robot parameters CLOCK Initializes timer that measures total operation time Initializes alarm history Initializes error history program number Switches program number to be run SWITSK...

  • Page 182: Communication Command Description

    11-5 Communication Command Description 11-5 Communication Command Description 11-5-1 Robot movements (1)@ORG @ORGN Returns the robot to its origin position and outputs the machine reference value when completed correctly. Transmission example : @ORG c/r l/f ........ Performs return-to-origin. Response example 1 : OK c/r l/f 52% c/r l/f OK c/r l/f...
  • Page 183 11-5 Communication Command Description (2)@RESET This returns the program execution step to the first step of the program selected with the '@SWI' statement, and turns all general-purpose outputs (DO0 to DO4) and memory output off. The "cur- rent position in the program" used as a reference for the relative movement command (MOVI) is initialized to the current position of the robot, and the point variable P is also cleared to 0.
  • Page 184 11-5 Communication Command Description (6)@X+, (@X-) @X+ moves the robot to the + side and @X- to the - side based on the following equation. Movement distance = 1 × (PRM26/100) (mm) PRM26: Teaching movement data (%) (7)@XINC, (@XDEC) @XINC moves the robot to the + side and @XDEC to the - side at a speed calculated by the equation below.
  • Page 185 11-5 Communication Command Description (9)@MOVA <point number>,<speed> Moves the robot to a position specified by a point number at a specified speed. Point number : This is a number assigned to each point (position data) and can be from 0 to 999 (a total of 1,000 points). Data for the point numbers can be edited with the @WRITE PNT statement.
  • Page 186 11-5 Communication Command Description (11)@MOVF <point number>,<DI number>,<DI status> This command moves the robot toward a position specified by a point number until a specified DI input condition is met. When the DI condition is met, the robot stops and the command termi- nates.
  • Page 187 CAUTION The contents of the point variable P are held even when the SRCP30 controller is turned off. However, when the program is reset or when the program reset is applied for example by switching the execution program, the point variable P will be initialized to 0.
  • Page 188 • The MOVM statement performs calculation on the assumption that the robot operates on the Cartesian coordinate system. • Because only a single-axis robot is controlled with the SRCP30 controller, the actual movement is linear even if a 2-dimensional matrix is defined.
  • Page 189 11-5 Communication Command Description (21)@CSEL <array element number> Specifies an array element for the counter array variable C to be used. Array element number : This is a number used to designate an array element for the counter array variable C, and can be from 0 to 31. The counter variable D can also be specified here as the array element.
  • Page 190 11-5 Communication Command Description (26)@D+ [<addition value>] Adds a specified value to the counter variable D. Addition value : This can be any value from 1 to 65535. If this value is omitted, then 1 is added to the counter variable. Transmission example : @D+ c/r l/f ........

  • Page 191: Data Handling

    11-5 Communication Command Description 11-5-2 Data handling (1)@?POS Reads the current position. Transmission example : @?POS c/r l/f Response example : 321.05 c/r l/f OK c/r l/f (2)@?NO Reads the current program number. In multi-task operation, this command reads the program information on the task currently selected.
  • Page 192 : @?ROBOT c/r l/f Response example : 560 c/r l/f OK c/r l/f (10)@?CLOCK Reads the total operation time of the SRCP30 controller. Transmission example : @?CLOCK c/r l/f Response example : 00101,05:11:12 c/r l/f ....Indicates that the total opera-...
  • Page 193 OK c/r l/f ........The most recent alarm that occurred was a voltage drop alarm occurring 101 days, 5 hours, 11 minutes and 12 seconds after the SRCP30 controller has started. The next most recent alarm was a voltage drop alarm occurring...
  • Page 194 11-5 Communication Command Description (13)@?EMG Reads the emergency stop status. Transmission example : @?EMG c/r l/f Response example 1 : 0 c/r l/f .......... Emergency stop is off. OK c/r l/f Response example 2 : 1 c/r l/f .......... Emergency stop is on. OK c/r l/f (14)@?SRVO Reads the servo status.
  • Page 195 CAUTION The contents of the point variable P are held even when the SRCP30 controller is turned off. However, when the program is reset or when the program reset is applied for example by switching the execution program, the point variable P will be initialized to 0.
  • Page 196 11-5 Communication Command Description (20-1) @?PRM <parameter number> Reads the data from a specified parameter. Parameter number : This is a number used to identify each parameter and can be from 0 to 99. Transmission example : @?PRMl c/r l/f ......Reads the data from PRM1 (parameter 1).
  • Page 197 11-5 Communication Command Description (21-2) @?P <point number>,<point number> Reads multiple point data from the first point number to the second point number. If unregistered points exist, they will be skipped. Point number : This is a number used to identify each point data and can be from 0 to 999.
  • Page 198 11-5 Communication Command Description (22-3) @READ PNT Reads all point data. Transmission example : @READ PNT c/r l/f Response example : P0=0.00 c/r l/f P1=350.00 c/r l/f P2=196.47 c/r l/f P254=-0.27 c/r l/f ^Z (=1AH) OK c/r l/f (22-4) @READ PRM Reads all parameter data.
  • Page 199 11-5 Communication Command Description (22-6) @READ DIO Reads the on/off status of DIO. Refer to "4-3-4 DIO monitor screen". Transmission example : @READ DIO c/r l/f Response example : D I 00000000 00000000 c/r l/f DO 11100000 O:0 S:1 c/r l/f OK c/r l/f (22-7) @READ MIO Reads the on/off status of memory I/O.
  • Page 200 : Send Receive @WRITE PRM c/r l/f READY c/r l/f PRM1=550 c/r l/f PRM2=10 c/r l/f ^Z(=1AH) OK c/r l/f CAUTION Loading unsuitable robot data to the SRCP30 can inhibit the robot controller performance, possibly resulting in failures, malfunctions, and errors.
  • Page 201 (The previous data remains as long as its program number or point number differs from the program number or point number to be written.) • Loading unsuitable robot data to the SRCP30 can inhibit the robot controller performance, possibly resulting in failures, malfunctions, and errors.
  • Page 202 11-5 Communication Command Description (26)@?CSEL Reads the currently specified element number of the counter array variable C. In multi-task opera- tion, this command reads the program information on the task currently selected. Transmission example : @?CSEL c/r l/f Response example : 0 c/r l/f OK c/r l/f (27)@?C [<array element number>]...

  • Page 203: Utilities

    : OK c/r l/f (1-4) @INIT CLOCK Initializes the timer to 0, which is used to measure the total operation time of the SRCP30 control- ler. The alarm history and error history are also initialized at this point. Transmission example...
  • Page 204 If the step following the last step is specified, a new step will be added. If the first step of a program that does not exist is specified, a new program will be created. The SRCP30 controller will transmit READY when this command is received. Confirm that READY is re- ceived and then transmit the insertion data.
  • Page 205 (6)@SMOD <program number>,<step number> Modifies data in a specified step. The SRCP30 controller will transmit READY when this com- mand is received. Confirm that READY is received and then transmit the modification data. Program number : This is a number used to identify each program and can be from 0 to 99.
  • Page 206 11-5 Communication Command Description (8)@DEL <program number> Deletes a program. Program number : This is a number used to identify each program and can be from 0 to 99. Transmission example : @DEL 10 c/r l/f ......Deletes program No. 10. Response example 1 : OK c/r l/f Response example 2...

  • Page 207: Chapter 12 Message Tables

    Chapter 12 MESSAGE TABLES This section lists all of the messages that are displayed on the TPB or sent to the PC (personal computer) to inform the operator of an error in operation or a current status. For a list of the alarm messages displayed if any trouble occurs, refer to "13-2 Alarm and Countermeasures".

  • Page 208: Error Messages

    12-1 Error Messages 12-1 Error Messages 12-1-1 Error message specifications The error message transmission format is as follows. <Error No.> : <Error message> c/r l/f The length of the <error message> character string is 17 characters. (Spaces are added until the message contains 17 characters.) Thus, the character string length containing the c/r l/f will be 22 characters.

  • Page 209: Operation Error Message

    12-1 Error Messages 12-1-3 Operation error message Message soft limit over Error No. Cause Executing the command will move the robot to a position that exceeds the soft limit set by parameter. Action Review the point data or soft limit parameter. Message running Error No.

  • Page 210: Program Error Message

    12-1 Error Messages 12-1-4 Program error message Message stack overflow q Seven or more successive CALL statements were used within a CALL statement. w In the program called as a subroutine by a CALL statement, a jump was made to Error No.

  • Page 211: System Error Message

    Action Register the point data. Message PRM0 data error Error No. Cause This error will not occur in the SRCP30 controller. Action Message PRM8 data error Error No. Cause The number of conditional input points is set to something other than 1 to 8.

  • Page 212: Tpb Error Messages

    SIO error 1. Parity error in data received from controller. Cause 2. TPB was connected when dedicated command input was on. 1. Contact YAMAHA for consultation. Action 2. Turn all dedicated command inputs off before connecting the TPB. Message bad format Cause The memory card is not formatted.

  • Page 213: Stop Messages

    12-3 Stop Messages 12-3 Stop Messages 12-3-1 Message specifications The stop message transmission format is as follows. <Message No.> : <Stop message> c/r l/f The length of the <stop message> character string is 17 characters. (Spaces are added until the mes- sage contains 17 characters.) Thus, the character string length containing the c/r l/f will be 22 charac- ters.

  • Page 214: Displaying The Error History

    12-4 Displaying the Error History 12-4 Displaying the Error History A history of past errors can be displayed. Up to 100 errors can be stored in the controller. 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (next) to change the menu [SYS]...
  • Page 215 12-4 Displaying the Error History 5) History numbers, time that errors occurred 00:00101,05:11:12,CM (total elapsed time from controller start-up) and error descriptions are displayed. One 01:00096,18:10:02,PI screen displays the past 4 errors in the order from the most recent error. 02:00080,10:07:33,CM Pressing the keys displays the...
  • Page 216 MEMO...

  • Page 217: Chapter 13 Troubleshooting

    Chapter 13 TROUBLESHOOTING This chapter explains how to take corrective action when a problem or breakdown occurs, by categorizing it into one of two cases depending on whether or not an alarm is output from the controller.

  • Page 218: If A Trouble Occurs

    13-1 If a Trouble Occurs 13-1 If a Trouble Occurs If trouble or breakdown occurs, contact YAMAHA or your YAMAHA dealer, providing us with the following information in as much detail as possible. Item Description (example) ・Controller model name : SRCP30 What you were using ・Robot model name...

  • Page 219: Alarm And Countermeasures

    13-2 Alarm and Countermeasures 13-2 Alarm and Countermeasures If the READY signal is turned off except in cases of emergency stop, then an alarm has probably been issued. The status LED on the front panel of the controller lights up in red. 13-2-1 Alarm specifications ■...

  • Page 220: Alarm Message List

    Excessive load on motor Lower the operation duty on the robot. Defective transistor If the controller is being used correctly, the transistor is probably defective, so replace the SRCP30 controller. Power supply POWER Insufficient power supply capacity Check the power supply capacity. If...
  • Page 221 13-2 Alarm and Countermeasures Alarm No. Alarm Message Meaning Possible Cause Action P.E. COUNTER Overflow in Mechanical lock Check whether robot moving parts are OVER position deviation locked. counter Motor wire is broken or connected Check the motor wire and position wrong.
  • Page 222 Internal LSI failure or If the error occurs frequently, then the FAULT 2 internal LSI error malfunction LSI is probably defective, so replace the SRCP30 controller. FEEDBACK Mechanical The robot slider struck on an Remove the obstacle or correct the ERROR 3 lockup obstacle or mechanical damper.

  • Page 223: Troubleshooting For Specific Symptom

    If the voltage is correct, even after flashes. replace the SRCP30 controller. power is turned Emergency stop is • If the READY signal of the I/O • Check whether the emergency stop activated.
  • Page 224 Parameter error • Try initializing the parameters. • The SRCP30 controller has a safety circuit to detect wire breakage, but check the points listed on the right anyway.

  • Page 225: Relating To The I/O

    • Correct the program. signal cannot program. be controlled even with the Output transistor • Measure the voltage at the PLC input • Replace the SRCP30 controller if the manual is defective. terminal. output transistor is defective. instruction of ON: 0.5V or less.

  • Page 226: Relating To Other Factors

    13-3 Troubleshooting for Specific Symptom 13-3-3 Relating to other factors Symptom Possible Cause Items to Check Action An error A dedicated I/O • Check the signal input (by using a PLC • Always turn off dedicated command occurs when command input is monitor, etc.).

  • Page 227: Displaying The Alarm History

    13-4 Displaying the Alarm History 13-4 Displaying the Alarm History A history of past alarms can be displayed. Up to 100 alarms can be stored in the controller. 1) On the initial screen, press (SYS). [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Next, press (next) to change the menu [SYS]...
  • Page 228 13-4 Displaying the Alarm History 5) History numbers, time that alarms occurred 00:00101,05:11:12,X0 (total elapsed time from controller start-up) and alarm descriptions are displayed. One 01:00096,18:10:02,X0 screen displays the past 4 alarms in the order 02:00080,10:07:33,X0 from the most recent alarm. Pressing the keys displays the –...

  • Page 229: Chapter 14 Maintenance And Warranty

    Chapter 14 MAINTENANCE AND WARRANTY For safety purposes, always turn the power off before starting robot maintenance, cleaning or repairs, etc.

  • Page 230: Warranty

    14-1 Warranty 14-1 Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. 14-1-1 Warranty description If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and/or related product within the warranty period, then YAMAHA will repair or replace those parts free of charge (hereafter called "warranty repair").

  • Page 231: Replacing The System Backup Battery

    14-3 Updating the System YAMAHA may request, on occasion, that you update the system in your equipment. The following steps describe how to update the system. Before updating the system, you must set up a system that allows communications between the controller and a PC (personal computer).
  • Page 232 MEMO...

  • Page 233: Chapter 15 Specifications

    Chapter 15 SPECIFICATIONS...

  • Page 234: Srcp30 Controller

    15-1 SRCP30 controller 15-1 SRCP30 controller 15-1-1 Basic specifications   Model SRCP30 Specification item 2500VA Max. power consumption Basic External dimensions W152.5×H250×D157mm specifi- cations Weight 3.5kg Main power supply: Three-phase AC200 to 230V, within ± 10%, 50/60Hz Power supply voltage Controlled power supply: Single-phase AC200 to 230V, within ±10%, 50/60Hz...

  • Page 235: Robot Number List

    15-1 SRCP30 controller Protective Error detection items Overcurrent, overload, wire breakage, runaway, etc. function Ambient temperature 0 to 40°C Storage temperature -10 to 65°C General specification Ambient humidity 35 to 85%RH (no condensation) Noise immunity Conforms to IEC61000-4-4 Level 2...

  • Page 236: Tpb

    IC memory card Ambient temperature 0: to 40: Storage temperature -10: to 65: General specification Ambient humidity 35 to 85% RH (no condensation) Noise immunity Conforms to IEC61000-4-4 Level 2 Others Applicable TPB Ver. 12.50 or later compatible with SRCP30 controller...

  • Page 237: Regenerative Unit (Rgu-3)

    15-3 Regenerative Unit (RGU-3) 15-3 Regenerative Unit (RGU-3) 15-3-1 Basic specifications Model RGU-3 Specification item W66 × H254 × D235mm External dimensions Basic Weight 2.8kg specifications Cable length 300mm Regenerative voltage Approx. 380V or more Special specifications Regenerative stop voltage Approx.
  • Page 238 MEMO...

  • Page 239: Chapter 16 Appendix

    Chapter 16 APPENDIX...

  • Page 240: How To Handle Options

    16-1 How to Handle Options 16-1-1 Memory card A memory card (option) can be used with the TPB to back up the SRCP30 controller data. ■ Using the memory card 1. Insert the memory card into the TPB as shown in Fig. 16-1.
  • Page 241 Data size that can be saved on one memory card is as follows: Memory card TPB Ver. 2.18 or earlier TPB Ver. 12.50 or later capacity Cannot be used. 64KB Cannot be used. Up to 3 units of SRCP30 1024KB Cannot be used. Up to 48 units of SRCP30 (1MB)

  • Page 242: Popcom Communication Cable

    16-1 How to Handle Options 16-1-2 POPCOM communication cable This cable is used to operate the SRCP30 controller from POPCOM software which runs on a PC and allows easy and efficient robot programming and operation. This POPCOM cable is different from typical communication cables, so do not use it for other pur- pose.

  • Page 243: Chapter 17 Hpb Operation (Supplement)

    Chapter 17 HPB OPERATION (SUPPLEMENT) This chapter is primarily a guide to functions which have been added to the HPB. For information concerning functions not included in this chapter, refer to the TPB operation explanations.

  • Page 244: About The Hpb

    17-1 About the HPB 17-1 About the HPB The HPB is a hand-held, pendant-type programming box which connects to the controller in order to edit robot operation data and execute programs. The HPB is compatible with all controllers where the TPB was used.

  • Page 245: Part Names And Functions

    (male) is provided at and data entry/operation one end of the cable. keys. (For operation key Use the accessory connector details, see Chapter "17-3 Basic adapter to connect to SRCP30 Operations".) controller. Rear view 3-Position enable switch (HPB-D only) This switch is effective for use with an external safety circuit.
  • Page 246 17-1 About the HPB ● 9-25pin conversion adapter (Accessory Item) This adapter is required when connecting the HPB to SRCP30. 9-25pin conversion adapter 9-25pin conversion adapter HPB connection cable Insertion direction HPB side Controller side Signal name Pin No. Pin No.
  • Page 247 17-1 About the HPB ● 15-pin D-sub connectors (supplied only with HPB-D) Use these connectors with the emergency stop or enable switch to configure an external safety circuit. 15-pin D-sub connector (female: KS9-M532A-000) Pin No. ･ Attaching this connector directly to the safety connector ･...
  • Page 248 17-1 About the HPB ● SD memory card SD memory cards (required format: FAT12/16) are not available as accessory or optional items, and must be provided by the customer. (For SD memory card handling information, see "17-4 Using SD Memory Cards".) SD memory card SD memory card Insertion direction...

  • Page 249: Connecting And Disconnecting The Hpb

    ■ When controller power is OFF Connect the HPB to the SRCP30 controller. Attach the 9-25pin conversion adapter to the HPB connection cable, then plug the cable into the TPB connector at the front panel of the controller. Secure by tightening the two screws on both sides of the adapter.
  • Page 250 ■ When controller power is ON The HPB can be connected even while the controller power is ON. Connect the HPB to the SRCP30 controller. Attach the 9-25pin conversion adapter to the HPB connection cable, then plug the adapter into the controller's PB connector while pressing the ESC switch on the controller's front panel.
  • Page 251 17-2 Connecting and Disconnecting the HPB Verify that the initial menu screen displays. Initial menu screen ［ＭＥＮＵ］ ｓｅｌｅｃｔ ｍｅｎｕ １ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ  ４ＭＯＮ...

  • Page 252: Disconnecting From The Srcp30 Controller

    After loosening the 9-25pin conversion adapter screws, disconnect the 9-25pin conversion adapter and HPB from the SRCP30 controller. To disconnect the HPB while a program or an I/O dedicated command is being executed, press the ESC switch on the controller's front panel while disconnecting the 9-25pin conversion adapter and the HPB.

  • Page 253: Basic Operations

    17-3 Basic Operations 17-3 Basic Operations 17-3-1 HPB control keys The HPB control keys are divided into 2 main groups, as shown below. HPB control key layout 1. Function keys 2. Data entry / operation keys The key functions are described below. 1.
  • Page 254 17-3 Basic Operations 〜 〜 Numerical input keys. – • Symbol input keys. Robot language input keys (used the robot language editing screen in the 〜 〜 TIMR MOVF program editing mode). – Moves the robot in the plus and minus directions within an X, Y, Z, R coordinate system.

  • Page 255: Hpb And Tpb Key Layout Differences

    17-3 Basic Operations 17-3-2 HPB and TPB key layout differences The main differences between the HPB and TPB key layout and key functions are shown below. HPB and TPB key layout differences key on HPB E M G Cursor keys Cursor keys Cursor keys STOP...

  • Page 256: Basic Key Operation

    17-3 Basic Operations 17-3-3 Basic key operation HPB operations are selected from a hierarchical menu system. To display a menu item, press the corresponding function key. The number keys and the key are used to enter numerical values. The following steps describe a basic HPB operation, showing how to select a robot operation pro- gram from the initial menu.
  • Page 257 17-3 Basic Operations Use the same procedure to select Input enabled at cursor position the next mode. ［ＳＴＥＰ］ １００％  ０：    ０ In the example shown at right, the STEP ＰＧＭ  Ｎｏ  ＝ ＿ mode screen's (CHG) key was （ｐｒｏｇｒａｍ Ｎｏ） ０   ９９                ˜ pressed to select the program changing mode.

  • Page 258: Hierarchical Menu Structure

    17-3 Basic Operations 17-3-4 Hierarchical menu structure HPB operations are performed by making selections from a hierarchical menu system. The HPB menu hierarchy structure is shown below. INFORMATION (System information) MOD (Step edit) (Step insert) (Program edit) (Step delete) (Program change) (Manual data input) (Point change) (Point change)

  • Page 259: Using Sd Memory Cards

    17-4 Using SD Memory Cards 17-4 Using SD Memory Cards SD memory cards can be used at the HPB to back up controller data. 17-4-1 Before using an SD memory card ■ Supported SD memory card type Only SD memory cards with a "FAT12/16" format can be used. These cards are provided by the customer.
  • Page 260 17-4 Using SD Memory Cards ■ Inserting and ejecting an SD memory card A PUSH-PUSH type (with breakage prevention mechanism for excessive-force ejection) is used for SD memory card insertion and ejection. [Inserting the card] Insert the SD memory card into the SD memory card slot (connector). Inserting the SD memory card (1) SD memory card Insertion direction...
  • Page 261 17-4 Using SD Memory Cards [Ejecting the card] Push the SD memory card in until a clicking sound is heard, then release it. SD memory card ejection (1) Remove the SD memory card from the SD memory card slot (connector). SD memory card ejection (2) SD memory card Ejection direction...
  • Page 262 Data that can be loaded differs according to the controller type and version number indicated on the first line of the data file. Various data that have been backed up by the SRCP30 controller can also be loaded to other controller models.
  • Page 263 17-4 Using SD Memory Cards NOTE On the SRCP30 controller, the controller type and version number notation on the file's first line ends with "H". (SRC[24.nnH]) [Ex] When "SRC[24.31H]" is indicated at the file's 1st line: ↓ PGM (program data), PNT (point data), PRM (parameter data), ALL (program, point, and param- eter data) can all be loaded to the SRCP30 controller.

  • Page 264: Saving Controller Data To An Sd Memory Card

    17-4 Using SD Memory Cards 17-4-2 Saving controller data to an SD memory card Insert an SD memory card in the HPB. Press (SYS) on the initial ［ＭＥＮＵ］ menu screen. ｓｅｌｅｃｔ ｍｅｎｕ The SYS (system) mode screen appears. １ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ  ４ＭＯＮ Press (B.UP).
  • Page 265 17-4 Using SD Memory Cards Specify the save destination. Press (SEL) or to display the data save destination. Data save destinations can be displayed by the following 2 methods. • Saving in the root directory: * A "root directory" is the highest level ［ＣＡＲＤ−ＳＥＬＥＣＴ−ＤＩＲ］...
  • Page 266 17-4 Using SD Memory Cards Assign the file name. Enter a file name of up to 8 characters (alphanumeric chars, underscore marks ( _ ), and hyphens ( - ) are permitted), then press (file extension names are automatically assigned, and need not be entered.) The character input procedure is described below.

  • Page 267: Loading Sd Memory Card Data To The Controller

    17-4 Using SD Memory Cards CAUTION • If an alarm occurs during the save operation, the file being written is deleted without being destroyed. • If connection with the controller is severed during the save operation, or if the SD memory card is ejected at that time, the file will be destroyed.
  • Page 268 １ＳＥＬ ２ＭＫＤＩＲ３ＤＥＬ４ＶＩＥＷ ［ＣＡＲＤ−ＳＥＬＥＣＴ−ＦＩＬＥ］ ＳＲＣＰ３０−１．ＡＬＬ    Ｌｖ２ ０７０４０１ １３００       ４Ｋ １ＳＥＬ ２ＭＫＤＩＲ３ＤＥＬ４ＶＩＥＷ Root directory Sub-directory (level 2) Sub-directory (level 3) <070401.BAK> <.. > "SRCP30-1.ALL" In the above example, this file is specified for loading. <Directory name> <.. > "File name" <Directory name> <Directory name> <..
  • Page 269 If this occurs, back up all files to a Windows personal computer, then copy only the required files. • Loading unsuitable robot data to the SRCP30 can inhibit the robot controller performance, possibly resulting in failures, malfunctions, and errors.

  • Page 270: Creating Directories On The Sd Memory Card

    17-4 Using SD Memory Cards 17-4-4 Creating directories on the SD memory card Insert an SD memory card in the HPB. Press (SYS) on the initial ［ＭＥＮＵ］ menu screen. ｓｅｌｅｃｔ ｍｅｎｕ The SYS (system) mode screen appears. １ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ  ４ＭＯＮ Press (B.UP). ［ＳＹＳ］...
  • Page 271 17-4 Using SD Memory Cards • For creation in a directory other than ［ＣＡＲＤ−ＬＩＳＴ］ the root directory (sub-directory): ＜０７０４０１  ．ＢＡＫ＞   Ｌｖ１ Use the cursor keys ( ) to ０７０４０１ １２３４ specify the hierarchy level where the １ＭＫＤＩＲ２ＤＥＬ３ＶＩＥＷ directory is to be created. ［ＣＡＲＤ−ＬＩＳＴ］ ＜．．          ＞   Ｌｖ２...
  • Page 272 17-4 Using SD Memory Cards Assign a name to the directory. Enter a directory name (alphanumeric chars, underscore marks ( _ ), and hyphens ( - ), and period ( . ) are permitted), then press An 8.3 input format is used (max. 8- character directory name, and 3-character extension name).

  • Page 273: Deleting Files And Directories From The Sd Memory Card

    17-4 Using SD Memory Cards 17-4-5 Deleting files and directories from the SD memory card Insert an SD memory card in the HPB. Press (SYS) on the initial ［ＭＥＮＵ］ menu screen. ｓｅｌｅｃｔ ｍｅｎｕ The SYS (system) mode screen appears. １ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ  ４ＭＯＮ Press (B.UP).

  • Page 274: Displaying Sd Memory Card File Content

    17-4 Using SD Memory Cards CAUTION • A directory cannot be deleted if it contains sub-directories and files. Therefore, deletions should always be performed in ascending order, beginning from the lower hierarchy levels. • Although system files and hidden files can be displayed, they cannot be deleted. This applies to read-only files, as well.
  • Page 275 17-4 Using SD Memory Cards Display the file content. The file content displays in ASCII code. ［ＶＩＥＷ］                          ０ For a hexadecimal display, press ０００：Ｓ  Ｒ  Ｃ  ［  ２ ４  ．  ３ (HEX).

  • Page 276: Error And Alarm

    17-5 Error and Alarm 17-5 Error and Alarm An error No. and message display on the HPB screen if an error occurs due to inappropriate opera- tion (operator error). An alarm No. and alarm message display in the event of a system problem. For details concerning the content of error and alarm messages, refer to the user's manual for the controller in question.

  • Page 277: Hpb Error Message List

    17-5 Error and Alarm 17-5-1 HPB error message list Only error messages display (no error No.) for HPB related errors. The HPB related error messages are listed below, together with the corrective actions. Message SIO error (1) HPB was connected while a dedicated command input was ON. Meaning (2) No response from controller.
  • Page 278 17-5 Error and Alarm Message card write error Meaning SD memory card writing failed. • If the memory card became full during a save (SAVE) operation, the most recently saved file will be incomplete. Delete this file and other unnecessary files, or insert a new SD memory card, then repeat the save operation.

  • Page 279: Troubleshooting

    17-6 Troubleshooting 17-6 Troubleshooting The corrective actions for HPB problems are explained in this chapter. 17-6-1 Problems and corrective actions When an HPB problem occurs, take the appropriate corrective action with reference to the table below. If the problem persists after the corrective action has been taken, contact (without delay) our sales office or sales representative.

  • Page 280: Specifications

    17-7 Specifications 17-7 Specifications 17-7-1 HPB specifications Item Specification W107 × H230 × D53mm (not including strap holder and emergency stop button) Outer dimensions Weight 650g Basic Power consumption 5V, 200mA or less specifications Power supply DC 12V (supplied from controller) Cable length 3.5m Interface...

  • Page 281: Dimensions

    17-7 Specifications 17-7-2 Dimensions Dimensional outlines Units: mm 18.5...
  • Page 282 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.

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