Yamaha ERC Series Robot Controller User Manual

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Document
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Owner's Manual
ROBOT
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Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
AN OVERVIEW
The ERC Features and Difference from the SRC Series..................... 2
Setting Up for Operation ver RER EEE IIA 4
Сх!епог versenken rans 5
System Configuration ................e—.r.eeemeecrrineri eee 9
Accessories and OptIONS ioe reee 11
INSTALLATION AND WIRING
Installing the ERC Controller... III 14
Connecting the Power Supply ....................0v 00000000 ee 15
Grounding Construction ...................r.eeseeeresiiereneeeri re DRA 16
Connecting the ERC to the Control Unit eee 17
Connecting the ERC to the Robot …….…...……..….ccrrreserreen cena ca recenser 17
Connecting the ERC to the 1/0 Connector.................... EEE 19
МО Interface
I/O Connector Signals ........................2&iacute;&iacute;eeeierererre ere e DD 22
Description of the 1/O Signal ..........................eee.eiiiiire ere. 23
I/O Circuits ....................mviiiiieiienc ie ene eee reee eee eee. 28
I/O Connection Diagram ..................eee.ee2evecerererr een ee e eee 32
I/O Circuit Timing Charts ....................eee.ereeernieecer RI III III 35
BASIC OPERATION OF THE DPB
Connecting the DPB to the ERC Controller and Detaching №............ 44
Basic Operation ....................eeeerciceiencerr eee ener e e reee 46
PARAMETERS
Description of Parameters o.oo, 54
Setting Parameters Used by the DPB .....................e22reereecercececeneD 61
Japanese / English Display Switching ..................e.eeeiemreeercerre Ds 62
PROGRAMMING
Basic Contents ..................eeeeeerveiceciececeene recen eee eee eee. 64
Editing Programs .................eeere2ereiecescereriier rre e e ee eee es 66
Editing Point Data ri er re nenes 78
Robot Instructions .....................—.e..ee&iacute;ereeceriecera rre ree een eee. 86
Sample Programs ..................eeeeerveecererenicoccreerireeerensrss rene ere D. 93
Tuning Function ..............._ ee. ..e.ereereriececrer ener ere re eee 102
OPERATING THE ROBOT
Returning to the Origin ......................verevericereriere reee e eres 104
Using Step Operation cocoon, 105
Using Automatic Operation ..................e.eeeecevireriinrree reee 108
Emergency Stop Function ................e.e.eemererererr erre are 111
Changing Programs ..................ee..22eiereiiererericeeerecec rr ce A 113
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
9-1
9-2
9-3
10:
10-1
10-2
11:
11-1
11-2
11-3
12:
12-1
12-2
12-3
12-4
13:
13-1
13-2
14:
14-1
14-2
OTHER OPERATIONS
Initialization ......oooi acre ee eee rerre aceras
DIO Monitor...............e.reeeeeereererinenerrer arena nece ce eacenarareeereeerecereenarenmeneD.
Viewing the System Version Number.…...….….…..….…..rerreeccserensse cannes
Using Memory Card .................eeeeeeeieeiereeecrireee eee,
COMMUNICATIONS WITH A PERSONAL
COMPUTER
Setting the Communication Parameters ......................eervrreccienee_.
Communication Cable Specifications serres
Communication COMMANdS.…..….....…...…...rrrssrrrenreresranr nana naar seen nee
Details Concerning Communication Commands …….……….….…..…………………….………
MESSAGE TABLES
Err Or MESSAGES uence eee eee nee nee eee
STOP MESSAGES ounce eee reer s
TROUBLESHOOTING
BreakdOWNS oo. ercer res
Handling Alarms co.cc IDA
Handling Other Types of Breakdowns ..........ccccooev viii,
MAINTENANCE AND WARRANTY
Var ANY eee aaa
Changing the Power Supply Voltage Specifications ........................
Battery replacement Methods ….….…...…..…......rerressensensenses nan era san
Replacing the ROM ...................eeee.nrevececerreceneecer ee se nana annee ens
SPECIFICATIONS
ERC Controller... erre rene eee ea
INSTRUCTIONS FOR HANDLING OPTIONS
Handling the Memory Card .....................eeeeerercececiire rre DIA
Handling the I/O Checker cco,
CHAPTER 7&raquo; ~~ ~~~ &deg;&quot; &quot;
AN OVERVIEW
A FT Th A A dd AA AAA Ad Pd PAA
Thank you for purchasing the Yamaha Single-Axis Robot Controller (ERC Controller). The following pages
describe the special features built into this equipment, as well as how to operate the equipment for optimum
results.
The ERC can be used for various machine parts and devices positioning and pick-and-place work
when used in combination with the single-axis FLIP series.
This first chapter contains basic information regarding the use of this equipment, such as the names and func-
tions of the various parts, the steps necessary to prepare the robot for operation, and the architecture of the
system itself. Please read this chapter carefully for a basic overview of the ERC Controller.
Note that the details of this owner's manual are subject to change without notice.
SAFETY
Please follow the rules and owner's related to safety to ensure that the Yamaha Robot is used safely
and correctly.
(While Yamaha addresses safety issues throughout this manual, the user is solely responsible for
his/her own safety and the safety of others.)
When using this robot in Europe, please refer to the following European Standards related to the
safety of machinery, and take appropriate measures for safety.
Do not use the robot until the entire system complies with the European Machinery Directives listed
below.
EN292-2
EN294
EN60204-1
89/392/EEC
91/368/EEC
93/44/EEC
93/ 68/EEC (as of March 1995)
The ERC Features and Difference from
the SRC Series
The ERC Controller is a robot controller, that uses a high-performance single-chip CPU,
designed to control the single-axis FLIP series robots manufactured by Yamaha Motor
Corporation.
The ERC Controller can handle: (1) servo control of the robot; (2) control of I/O devices
such as valves and sensors; and (3) control of communications between the robot and a
personal computer. For simple applications such as picking and placing of electronic
parts, one controller is needed to design a complete system.
Features of the ERC Controller
* The ERC is an AC servo series robot controller equivalent to the SRCA single-
axis robot controller.
* A high-performance single-chip CPU is used for high-speed, high-precision
software servo control.
* The I/O interface provides 9 input points and 5 output points.
* The DPB programming device (optional) can use a menu driven style of op-
eration that allows immediate usage.
* The robot can be operated easily with a personal computer in the same man-
ner as the DPB by using the support software POPCOM (optional).
* Programs are written in easy-to-learn robot owner's that closely resemble
BASIC.
* For users who are not accustomed to the robot language, a PLC can be used
to move the robot directly, through a point trace function.
CAUTION
HE HA E Mo A И N A A A A A FF FF RRR RENEE RO
With the ERC Controller, either the DPB programming unit or a personal computer can
be operated, depending on how connections are made. This owner's manual describes
operations using the DPB. If you are using a personal computer, please refer to Chapter
9 for the pertinent information. Refer to the Online Help of POPCOM for details on
operation with POPCOM.
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Difference from the SRC Series Controllers
Similar to the ERC, which is designed to control a single-axis robot, YAMAHA also
provides the SRC and SRCA controllers. Basic operations and connections of these con-
trollers are the same. However, there are some differences in the internal specifications
between the ERC and SRC controllers, as follows:
* The ERC is more compact and lightweight than the SRC series controllers.
(See &quot;1-3 ERC External Appearance”.)
* The ERC is an AC servo series robot controller equivalent to the SRCA series
controller. But, robot models that can be used with the ERC are limited. (See
&quot;13-1 ERC Controller&quot;.)
The ERC is not equipped with a 24V power supply for I/O signals. An external
24V power supply is required to operate the ERC. (See &quot;3-3 I/O Circuits”.)
* By simply changing parameter setting, the ERC is capable of increasing the
number of speed setting points which are switchable through the interface
during point trace. (See &quot;3-2 Description of the 1/O Signals&quot;.)
This function can be added to the SRCA series controllers by upgrading the
ROM version to V2.82 or later version.
Setting Up for Operation
The chart below illustrates the basic steps to follow from the time of purchase of this
equipment until it is ready for use. The chapters of this owner's manual are organized in
accordance with the operation procedures, and allow first time users to proceed one step
at a time.
Operation | Information to be Familiar With | — Contents Reference
Installation
Installing the controller —------ 2-1
Connecting the power supply 2-2
Grounding construction ------------ )
Connecting peripheral 2-6
equipement
COSTO AAA ono Toon Chapter 3
ETA eee Chapter 4
Setting parameters |
Setting the various parameters ------- Chapter 5
Programming
Running the robot
Inputting the editing programs
Ш Teee Chapter 6
Editing point data
Return to origin
Various operation steps -------------- Chapter7
Emergency stop
A РИ а Е ИЕ ИИ ЙЕ а НАНЕС ОИ НЫЕ ЕО Аааа ОИ Ч И я
Exterior
The names of the parts found on the exterior of the ERC Controller and the DPB are
described below, along with their functions. Note that the exterior is subject to change
without notice.
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ERC Controller
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The exterior of the ERC controller is shown in Fig. 1-1.
Fig. 1-2 gives the dimensional outline of the ERC.
PB/RS232C Connector
This 1s used to connect the controller to the DPB or the RS-232C terminal of a
personal computer.
POWER/ERROR LED
The green LED is lit in normal operation and the red LED lights up if an error
OCCUFS.
Robot I/O Connector
This connector 1s used for input from peripheral equipment such as an encoder, an
origin point sensor, and brakes.
Terminal Bases
The terminal bases connect the motor wires for the robot cable. Be sure that the
wiring of each phase (U, V, W) of the motor code 1s connected correctly.
1/0 Connector
This 1s used to connect external equipment such as a PLC.
Power Supply Inlet
AC power 1s supplied through this inlet. Grounding construction of the ground
terminal should always be done to protect against electrical shock and to boost the
reliability of the equipment.
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Fig. 1-2 Dimensional Outline of the ERC Controller
1-3-2 DPB
The exterior of the DPB is shown in Fig.1-3, and the three sides of it are illustrated in
Fig.1-4.
1.
Fig. 1-3 Exterior of the DPB
Liquid Crystal Display
This display has four lines of twenty characters each, and is used as a program
console.
Option Card Connector
An IC memory card or printer card can be inserted here. Be careful not to insert the
card upside-down.
Sheet Keys
The DPB can be manipulated using menu driven operation. Owner's are input through
the sheet keys while reading the contents of the liquid crystal display. There are a
total of 28 keys but the | &quot;land |” [keys are not used.
Connection Cable a a
This 1s the cable used to connect the ERC Controller with the DPB.
DC Power Supply Inlet
Not used.
Emergency Stop Switch
This is the Emergency Stop switch. When pressed, it locks in the depressed posi-
tion. It 1s released by turning it in the clockwise direction.
To cancel the emergency stop first release the switch and then use signal input
through the I/O port (see Chapter 3) or DPB operation (see Chapter 7).
Fig.1-4 Exterior of the DPB
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The ERC Controller 1s composed of various main components like those shown in Fig-
ure 1-5. For further reference, please see Figures 1-6, which shows the main block dia-
gram of the ERC Controller.
Programming Board DPB
Gripper, limit switches, etc.
7
Personal computer
Single-axis robot
External control
(PLC and similar units)
Fig. 1-5 System Configuration Diagram
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Fig. 1-6 Main Unit Block Diagram
10
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1-5 Accessories and Options
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1-5-1 Accessories
The following accessories should be supplied with the ERC Controller. Please check,
when you purchase your unit, to make sure all of the accessories are included.
|. I/O connector
Connector: One FCN-361P032-AU, made by Fujitsu
Connector cover: One FCN-360C32-B, made by Fujitsu
2
Power supply connector : MSTB made by PHENIX
3. Sleeve core: RI-26-28-13, made by Kitagawa Kogyo
CALLE LIE ELLE LLE LLL LLO LLL ALL LLL LLL LLE
|-5-2 Peripheral Options
The following options are available for the ERC Controller:
|. IC memory card
This 1s used when the DPB is connected, to back up programs, point data, and
parameter settings.
2. VO checker
A simulation device called an I/O checker can force inputs and monitor outputs.
11
MEMO
12
CHAPTER 2 .
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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.
13
Installation Method
Procedures can be broadly grouped into the following 2 methods. Select the method that
matches your particular conditions and install as shown.
Refer to &quot;1-3 Exterior of the DPB&quot; (Fig. 1-2, page 7) for installation dimensions.
(1) Installing inside the control panel
The ERC can be installed in the control panel in the same way as other control
equipment such as PLCs.
1. Install the DIN rail (35mm width) at a suitable location within the control panel.
(This 35mm DIN rail is provided by the customer.)
2. To secure the ERC unit in place, insert M5 nuts in the A holes from the rear just
as shown in Fig. 2-1 and tighten with M5 screws from the front. Do not fully
tighten the screws at this time.
3. Fit the ERC unit onto the DIN rail installed in step 1 by hooking it from the
lower side onto the groove at the rear of the ERC unit.
4. Now sufficiently tighten the screws that were lightly tightened in step 2. Check
the ERC unit after installation to make sure that there is no looseness or play in
the unit.
Fig. 2-1 Location of A-Holes and Installing inside the control panel
(2) Installing outside the control panel
Check the strength and safety of the installation location before attempting to install
the ERC at a location outside the control panel.
Tighten with M5 screws by utilizing the B holes or directly attach M5 tapping
screws.(See Fig. 2-2)
Fig. 2-2 Location of B-Holes and Installing outside the control panel
14
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2-|-2 Installation Location
Table. 2-1 Installation Location
Item Item
1 Ambient temperature | 0 ~ 40&deg;C
2 Humidity 35-85% (with no condensation)
3 Other conditions 1) Location with good ventilation
2) Location where no corrosive gases such as sulfuric acid
and hydrochloric acid are generated
3) Area largely free of dust and dirt
4) Location where the equipment will be kept well away
from oil and water
2-2- Connection Method
Using the special power supply plug provided as an accessory, connect the power supply
(as shown in Figure 2-3). Check the seal affixed to the front panel of the ERC for the
power supply voltage specifications and make sure the voltage is appropriate. The spe-
cial power supply plug has separate terminals marked for hot (L1) and neutral (N). For
safety purposes, check the LI and N markings on the AC power supply side before
wiring. Before connecting the power cable to the ERC, wrap the accessory ferrite core
[.5 turns around the power cable.
1
UW;
2. AC IN (neutral)
3. Ground
Power supply voltage seal
Fig. 2-3 Power Supply Connections
15
2-2-2 Power Supply and Power Consumption
Table. 2-2 Power Supply voltage and Power Consumption of ERC
Style Item | Power supply voltage No. of phases, Frequency [Max. power consumption
ERC AC 100—115/200-230 V 10% Single-phase| 50/60Hz 400VA
CAUTION
za ЦИ НН МНН НН EN ANR RES PE ONE J N 9 AE NS ON A o &sect; &sect;8 RR &sect;B &sect; NE |
(1) The power supply voltage is set to one of above specification when it is shipped
from the factory. If it is necessary to change the voltage, please contact a Yamaha
dealer or representative.
(2) If the power supply voltage drops below the above range during operation, an alarm
circuit will deactivate the ERC. To avoid problems, a stable power supply with less
than &pound;10% fluctuation should be provided.
(3) The controller has a capacitor input type of power supply, therefore, when the power
is turned on a large supply of current flows. Quick-blow circuit breakers and fuses
should be avoided.
(4) For the same reason, avoid turning the power off and on again repeatedly in inter-
vals of less than 10 seconds. This could lead to deterioration of the main circuit
elements in the controller.
КОР ЯР&quot; ГОР боб SFE a a O A FA
2-3 Grounding Construction
Grounding construction should always be done to ensure safety in the event of electrical
leakage. Grounding protects humans against electrical shock and can help prevent mal-
function of the equipment due to noise.
Note that grounding of Class 3 or higher (grounding resistance of 100 € or less) is
recommended.
For grounding the controller, the ground terminal of the terminal base or the ground pin
of the power supply plug should be used.
— — — Special notice regarding European Specifications — — —
If the robot controller is part of a machine facility for Europe, install a terminal, marked with the characters
PE, on the general protective conductor, and connect to the external protective conductor. Securely connect
the robot controllers earth terminal (symbol 417-IEC-5019) to the protective conductor.
1
16
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Connecting the ERC to the Control Unit
The ERC can be operated either through the DPB programming unit or through a per-
sonal computer equipped with an RS-232C terminal. When using the DPB, connect the
DPB male connector to the ERC Controller's RS-232C femal port marked &quot;DPB&quot;. When
using a personal computer, connect the personal connector to hte RS-232C female port
marked &quot;DPB&quot; with a special cable. (For DPB connections, please see Chapter 4, Sec-
tion 4-1.)
Connecting the ERC to the Robot
Connect the accessory robot cable to the controller as shown in Fig. 2-4. Make all elec-
trical connections with the power OFF. The output cable to the motor has a round shaped
terminal. Using the marking on the cable end and the marking on the terminal block
correctly and securely fasten the cable by tightening with a machine screw. Also connect
the robot cable connector to the robot encoder connector on the under panel of the ERC
Controller. If this connector is not properly attached the robot will move in uncontrolled
motions. Fasten this cable securely to the unit with setscrews.
СЕ
_—
UN,
Fig. 2-4 Connection of the ERC Controller to the Robot
The robot encoder connector that can be used with the ERC Controller is listed below.
Applicable connector number : MR-20LM (made by HONDA TSUSIN)
1P54 or higher.
— — — Special notice regarding European Specifications — — —
The robot controller cabinet is not designed as the EN60204-1 enclosure. When using the controller as part of
a machine work cell, note that the robot controller must be stored in a cabinet having a protective class of
17
Table. 2-3 Robot Encoder Signals-ERC
Pin No.| Signal Name Description of Signal
1 SHIELD Shield (motor case)
2 PA (+) Encoder A-phase (+) pulse input
3 PA (-) Encoder A-phase (-) pulse input
4 |PB(+) Encoder B-phase (+) pulse input
5 PB (-) Encoder B-phase (-) pulse input
6 | PC (+) Encoder C-phase (+) pulse input
7 PC (-) Encoder C-phase (-) pulse input
8 5V Encoder power supply 5V
9 SV Encoder power supply 5V
10 DGND Encoder power supply OV
11 DGND Encoder power supply OV
12 | N.C. Not connected
13 ORG Origin sensor signal
14 +24V +24V power supply for origin sensor
15 +24V +24V power supply for origin sensor
16 OV +0V power supply for origin sensor
17 OV +0V power supply for origin sensor
18 BK (+) Brake signal (+)
19 BK (-) Brake signal (-)
20 №. С. Not connected
18
A A LI EDDIE EEE E
Connecting the ERC to the I/O Connector
Fasten the accessory I/O connector as shown in Fig 2-5. Fig. 2-6 shows the exploded
view of the I/O connector.
Fig. 2-6 Exploded View of the 1/O Connector
The I/O connector 1s used to connect the ERC Controller to external equipment such as
a PLC. The signals assigned to each of the I/O connector terminals and their functions
are described in detail in Chapter 3. Wire the signals necessary for operation to the termi-
nals to which they are assigned. Then plug in the I/O connector. Listed below are the
precautions that should be taken when connecting the wiring. The I/O connector that is
compatible with the ERC Controller is listed below.
Connector number : FCN-361P032-AU (made by Fujitsu)
Connector cover number : FCN-360C32-B (made by Fujitsu)
CAUTION
ME PE AE PUR HD o Sr o _B &sect; &sect; 8 &sect; _&amp;o &sect;R &reg; 8 &sect;8 &sect; FB &sect; &sect; &sect; &sect; |
Even if not using I/O control, the 1/0 connector should be plugged in after completing
the following wiring. (This wiring has already been done on the I/O connector provided
as an accessory, so the connector can be used just as it 1s.)
I. Short pin numbers All and B12.
2. Short pin numbers B4 and A9 or B10.
3. Apply a 24V supply between the terminal No. A4 or BS and the terminal No. BS or
BIO.
19
MEMO
20
СНАРТЕВ $ hh — —T TT
The ERC Controller is equipped with an I/O interface, consisting of nine general-use input points, five general-
use output points, and other components. Through this I/O interface, commands and data can be exchanged
between the controller and external equipment, and actuators such as valves and sensors can be directly con-
nected and controlled. To construct a system utilizing the many features of the ERC Controller, it is necessary
to have a basic knowledge of the I/O interface and how it works. Chapter 3 covers this fundamental information.
This chapter also provides examples of I/O circuit connections and timing charts, which are necessary for
reference when expanding the system by using a PLC or other similar components. Please refer to these dia-
grams and examples when writing PLC programs.
In Chapter 3, the terms “ON” and “OFF” refer to turning on and off the switches connected to the input, in the
case of input, and to the output transistor in the case of output.
21
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I/0 Connector Signals
The VO connector used as standard equipment in the ERC Controller is constructed of
32 pins (Fig. 3-1), with an individual signal assigned to each pin. Table 3-1shows the pin
numbers and the name and description of the signal assigned to that pin. For a more
detailed description of each of the signals, please refer to Section 3-2.
Fig. 3-1 I/O Connector
Row B, No. 1 Row B
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Row A, No. 1 How A
(View from connector insertion side)
Table. 3-1 I/O Connector Signals
Pin No. Signal Description
A-1 ABS-PT Point movement command with absolute
B-1 INC-PT Point movement command with incremental
A-2 AUTO-R Automatic operation start command
B-2 STEP-R Step operation start command
A-3 ORG-S Origin return command
B-3 RESET Reset command
A-4 +24 V External + 24 V power supply input
B-4 LOCK Interlock
А-5 DIO General-use input &Ocirc;
B-5 +24V External + 24 V power supply input
A-6 DI 2 General-use input 2
B-6 DI 1 General-use input 1
A-7 DI 4 General-use input 4
B-7 DI 3 General-use input 3
A-8 DI 6 General-use input 6
B-8 DIS General-use input $
A-9 OV Reference 0 V for input/output
B-9 DI 7 General-use input 7
A-10 Di 8 General-use input 8
B-10 OV Reference 0 V for input/output
A-11 ЕМС | Used for Input 1 for emergency stop and EMG2 as set
B-11 Not connected
A-12 Not connected
B-12 EMG 2 Used for Input 2 for emergency stop and EMG] as set
A-13 DO 1 General-use output |
B-13 DO 0 General-use output O
A-14 DO 3 General-use output 3
B-14 DO 2 General-use output 2
A-15 END Normal end of execution
B-15 DO 4 General-use output 4
A-16 READY Preparation completed (Alarm)
B-16 BUSY Command execution in progress
22
PILLE L LL LLL LLL ELLE LLL LL LLL PLE EI ILL LLE
Description of the I/O Signals
KU LLL ELL LL ALL E
5-2-1
Input Signals
Input signals consist of the following types: interlock, six special-use input points, nine
general-use input points, and the emergency stop input.
All input circuits, except emergency stop input uses photocoupler insulation input cir-
cuit specifications. However, only the emergency stop input circuit serves as contact
input to which a relay excitation circuit (used for direct switching of the internal motor
power supply) 1s connected. (See Chapter 3-4, “VO Connection Diagram”.)
The ERC requires an external 24V power supply during operation.
PLL ELL ELLE LLL LALALA AE LLL AE
1. Interlock (LOCK)
This input 1s used to temporarily interrupt robot movement.
During execution of special-use commands from the МО interface (i.e.; when program-
ming using the DPB, a personal computer, or during a return to the origin position),
robot movements can be stopped by turning off (contact open) the Interlock signal. (This
also interrupts the running of the program.)
However, turning off this signal inhibits execution of special I/O commands and DPB
(or personal computer) programs, as well as execution of a return to the origin. For this
reason, the Interlock signal 1s normally left on (contact closed).
The only exception to this 15 the RESET input, which can be executed regardless of
whether the Interlock signal is on or off.
When the interlock input 15 turned off, the robot will be stopped, even after the input has
been turned back on, until another command 1s input. These commands include: a com-
mand to start automatic operation or to carry out a return to the origin position.
23
2. Special-Use Command Input
Special-use command input is used to accept instructions from a PLC or other external
equipment. When using special-use commands, the signals READY, BUSY and LOCK
must be set to the conditions listed below:
READY : ON
BUSY :OFF
LOCK :ON
If the above conditions are not satisfied, special-use command input cannot be accepted.
However, if LOCK is turned off the reset command can be accepted.
* For example, when BUSY is turned on, the controller is in the process of executing
special-use commands, and no other special-use commands can be accepted until it
has finished. If LOCK input is turned OFF, a command also can not be accepted since
Interlock is executing. As an exception, if READY and BUSY satisfy the above condi-
tion, reset command will execute even if LOCK is OFF.
Input 1s accepted when the special-use command input is switched from off to on, and
confirmation can be made using the BUSY output.
Please be aware that this input cannot be used as data in a program.
1. Point movement command with absolute (ABS-PT)
When the coordinates for the origin point are set to 0, the robot's speed is selected by
DIS (DI7, 8) and its position is specified by the data in DIO to DI7 (DIO to 6) (see
Section 3-2-1.3, “General-Use Input”).
2. Point movement command with incremental (INC-PT)
Starting from the current position, the robot moves at the speed selected by DIS (DI
7, 8) to the position specified by the data in the point numbers indicated by DIO to
DI7 (DIO to DIG).
* Current position is not necessarily the actual position of robot. It is the data of the
position that is saved internally in the controller. On each execution of a movement
command, the point that was the target position changes to the current position.
Therefore, when the robot is moved manually to another position, it does not make
a relative move based on this position. Instead, it makes a relative move based on
the previous target position of a robot movement command. Once reset is executed
(including when the program is changed manually), the robot, in current position,
15 cleared to 0. (The robot will not move.)
The current position and robot position differ when:
* The reset is executed (including when the program is changed);
+ The axis 1s moved manually;
* The axis is move manually in the servo OFF state (including emergency stop
state); and
* When emergency stop or interlock (STOP) is applied during axis movement.
* The DIO to DI8 status must be confirmed before ABS-PT or INC-PT is executed.
Always refer to the timing chart in 3-5-6.
24
LLP LILLE PLE LLL RL LLL LLL LLL LLL PAD ALELLA LILLE
3. Automatic Run Start command (AUTO-R)
The program 1s run continuously, starting from the current step.
4. Step Run Start command (STEP-R)
The program 1s run step by step, starting from the current step.
5. Return to origin command (ORG-S)
This command returns the robot to its origin position and must always be executed
immediately after the power is turned on.
Once executed, origin return does not need to be re-executed unless the power is
turned off.
6. Reset command (RESET)
The program step returns to the No. | step of the lead program and DOO to DO4 are
all turned off. If the servo 1s turned off prior to initiating reset the emergency stop
condition 1s canceled and the servo goes on.
Note that if the RESET execution condition selection parameter (PRM40) 1s set to 1,
LOCK will be input, and execution of only servo ON will be possible without reset-
ting the program. (Refer to Table. 3-2)
ale
is
The lead program refers to the program selected the last time the program is changed
from the DPB or personal computer.
Operation at RESET input
Table. 3-2 Operation at RESET input
PRM40 Status at RESET input Controller process details
'EMGinput ~~ LOCKinput |
0 OFF - Both ON/OFF Program reset is executed
ON Both ON/OFF Servo 1s turned ON and program 1s reset
] OFF OFF Nothing 1s executed
ON Program 1s reset
ON OFF Servo 1s turned ON
ON Servo 1s turned ON and program 1s reset
EMG input OFF: Emergency stop state, ON: Non-emergency stop state
LOCK input OFF: Interlock state, ON: Lock released state
25
5. General-Use Input (DIO to DI8)
(1) This 1s input which can be freely utilized as data in programs written by the user. It
should be used when sensors and switches are connected. Of course, it can also be
connected directly to the PLC output circuit (See 3-4 I/O Connection Diagram).
(2) This 1s also used as the point number setting input or speed setting input when the
point movement commands (ABS-PT, INC-PT), which are custom input command,
are executed.
Table. 3-3 Point Number and Speed Setting Input
PRM7* (%) | Number of point No. setting inputs Number of speed setting inputs
1 to 100 8 points (DIO to DI7) 1 point (DIS)
0 7 points (DIO to DI6) 2 points (DI7, DIS)
1. When PRM 7 = 1 to 100%
Only DIS is used to set the speed of the point movement commands. The speed becomes
100% when DIS is OFF and 1s set to the level indicated by the PRM7 when DIS is ON.
(The default setting 1s 30%.)
With the DIO to DI7 inputs, point numbers from 0 to 254 can be specified in binary code,
as shown 1n the table below.
Table. 3-4 Example of Point Numbers
DI No. | РГ DIS DIS DI4 DI3 DI2 DIT &iexcl; DIO
PO OFF | OFF | OFF | OFF | OFF | OFF | OFF OFF
Pl OFF | OFF | OFF OFF | OFF | OFF . OFF | ON
P3 OFF | OFF | OFF | OFF | OFF OFF ON ON
P7 OFF OFF | OFF. OFF OFF ON : ON ON
P15 OFF = OFF | OFF | OFF ON ON ON ON
P31 OFF OFF ' OFF ON ON ON ON ON
P63 OFF | OFF | ON ON ON ON ON | ON
P127 | OFF ON ON ON ON ON ON ON
P254 | ON ON | ON ON ON ON ON | OFF
2. When PRM7 =0
The speed setting can be changed by using DI7 and DIS.
Table. 3-5 Speed Setting when PRM7=0
DIS DI7 Movement speed (%)
OFF OFF 100
OFF ON PRM41 (10)
ON OFF PRM42 (30)
ON ON PRM43 (70)
Digits in parentheses are the default setting of each parameter.
DI7 does not affect the point number setting, so the valid point numbers will be PO to
P127.
For details on the input timing, refer to &quot;3-5-6 When point movement commands are
being executed” in &quot;Timing chart”.
1. Emergency Stop Input 1 and Emergency Stop Input 2
(EMG1, EMG2)
An emergency stop should be used to initiate an emergency stop of the robot from an
external safety device (for example, a safety fence or a manual switch). The relay contact
used should have a current capacity of at least 50 mA. When an emergency stop is initi-
ated, the contact point between EMG 1 and EMG? is turned off, and at the same time the
servo turns off because its power supply is cut off.
26
AAA F&Eacute;ES A a a a ee A Fo TAL SLIT AAS, S
To restart operation, close (turn on) the contact between EMG1 and EMGZ, and then
Turn on the reset input.
When the DPB 1s connected to a ERC Controller, operation can be restored from the
emergency stop state using the DPB or personal computer.
РИ РЕСИН EEE EEE EEE а ОН ООО ОЕ ОЙ ОЕ И ФРИ я
5 . External +24V Supply Input
The ERC requires an external 24V power supply to handle I/O signals. Unlike the SRC
Series, the ERC does not include a 24V power supply, so an external 24V supply must
always be input. If not, the I/O functions do not work and even the servo motor does not
turn on. For connections to an external 24 power supply, refer to &quot;3-4 I/O Connection
Diagram”.
PLL LED LE ILL LLL LLE LLL ELLE ELE
5-2-2 Output Signals
There are three special signals for output, READY, BUSY and END, as well as five
general-use output signals. In this section, we will use the terms “ON” and “OFF” to
refer to turning the output transistor on and off.
A AI EL LLP LL LLL LLL
]. Special Output
This output 1s used for signal interaction between the ERC Controller and a device such
as a PLLC.
1. “Preparation completed” output (READY)
This output 1s kept on as long as the controller system is functioning normally. It 1s
turned off if any of the conditions noted below occurs, in which case the motor enters
“free” status.
* Emergency stop status
* A non-emergency stop alarm occurs.
2. “Command execution in progress” output (BUSY)
This signal 1s on during execution of special-use command input or when commands
from the DPB or a personal computer are being executed. Because it is turned on
when a special-use command input 1s received, special-use command input should be
turned off when this BUSY signal goes on. The signal will go oft again when com-
mand processing ends and all special-use command input has been turned off.
Special-use command input cannot be accepted when this signal is on. Therefore, the
DPB should not be operated while commands from the 1/0 interface are being ex-
ecuted.
3. “Execution ended” output (END)
This signal goes off when the special-use command input is received. It goes back on
when command execution has ended normally. This signal does not turn on when an
error occurs during execution or during an Interlock status. When the reset or move-
ment command (specifying a very small amount of movement) is used, the execution
time 1s very short (1 ms or less). Hence the period that the END signal remains off, is
very short (1 ms or less).
Note that the signal will not change when operating with the DPB or the personal
computer.
27
2. General-use Output (DO0-DO4)
~ This 1s output that is available to the user and can be turned on and off within the pro-
gram. In combination with a external 24 V power supply, it can be used to drive the load
for electromagnetic valves, lamps, and other components. It can also be connected di-
rectly to the input circuit of the PLC.
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M ee ee EEE EE EE A SE I I I I CR EU RE RE ni VI ER Si I
I/O Circuits
The specifications of the input and output circuits of the ERC Controller, and some
examples of how the circuits should be connected are listed below. Please refer to this
material when connecting external equipment such as a PLC.
пот тете ао EA PFEFFER AS ue
I/O Circuit Specifications
Input Circuit (excluding emergency stop input. See Note below)
Isolation method:
Input terminal:
Input response:
Input current:
Input sensitivity:
Photocoupler isolation
Relay contact or NPN open collector transistor connected
between input terminal and 0 V terminal.
30 ms max.
5 mA/24 VDC
Current on: 3 mA min.
Current off: 1 mA max.
Note 1: Input Circuit specifications for emergency stop input
Input terminal:
Input response:
Input current:
Output Circuit
Isolation method:
Output terminal:
Output response:
Relay contact connected between emergency stop inputs |
and 2.
5 ms max.
33.3 mA/24 VDC
Photocoupler isolation between internal circuit and output
transistor array
NPN open collector output of all collective output com-
mon terminals (0 V side)
| ms max.
Max. output current: 0.1 A/24VDC per output
Residual ON voltage: 1.5 V max.
28
PLL LLL LLL LLL LLL PLL LLL LLL LLP -
I/O Circuit and Connection Examples
Input Circuit and Connection Examples
Single-axis controller input PLC output
| | ) )
i
i Хх | External 24V |
i
E J IN == power MA LOUT
OV
Fig. 3-2a Input circuit and external connection |
Single-axis controller input
| Ех!егпа! 24\/
= power supply
О
&gt; Relay contact
&Agrave;, Г
Fig. 3-2b Input circuit and external connection 2
29
Output Circuit and Connection Examples
Single-axis controller input
mma | Mg
— 28 IN HM y
PLC input
—_ External 24V
T power PUPPY
Fig. 3-3a Output circuit and external connection I
(when an external power supply is used as the PLC driving power supply)
Single-axis controller output
Built-in DC power supply PLC input
. IN wo — pi
|
| | A У =
_ OUT NAM oa |
о 24v
Fig. 3
(when a PLC has a built-in DC power supply)
Single-axis controller output
-3b Output circuit and external connection 2
&gt; = 24V
Fig. 3-3c Output circuit and external connection 3
(when an external power supply is being used as the load driving power supply)
30
PLL IEEE ELE LLL LLL LLL LLL LLL LALALA EEE :
Cuutior
Lee TT TT TT &sect; &sect; &sect; 3 1 3 1 &sect; &sect; &sect; &sect; |
|. Do not short circuit the output terminal to the DC24V terminal because a fault
could result.
2. When using an inductive load (such as a solenoid valve) as the output load, connect
a high-speed diode as a surge killer in parallel and near to the load to reduce noise.
3. When using a 2-wire type proximity sensor as an input signal, malfunctioning could
occur 1f the residual voltage during ON/OFF changes is great. Confirm that the
sensor is within the standards of the input signal specifications.
4. Keep the wires separated from the drive lines of other machines or shield the wires
to prevent noise.
31
3=4. 1/0 Connection Diagram
3-4-] 1/0 Connection Diagram
Emergency Stop switch
EASTER III TI DUI DDD TZ A EE EE
RIO 1 n
AG EMG OO
B127 EMG2 ;
Ad x +24V )
85 97 e—
| 1 | = Externai 24V
AS Lov | = power supply
Ва LOCK AA eo |
ла ORG-S a 1 1
AS O ——e
B3 7 RESET o e
An AUTO-R a. e
B2 в STEP-R — - —e
AL 1. ABS-PT _ _ +
Bi. INC-PT ——e
ane DI 8 )
'A10— DE с ——e
B9 - Di 7 | _ E. _ +
AB &Eacute; re DI 6 __ — e
вв = DIS e
Single-axis controller a7 -,.... D'4 - e
: _ : DI _ !
ERC B7 C— 3 — ———e
‘A6 jo D112 a
pa DIA o Po
B6 7 a _ —oe
LAB m. DIO Ce) | |
ma BEA —
A16 READY LOAD | &copy;
B16&quot; BUSY LOAD oo —e
| o o |
A150 i END -— LOAD ?
B15 D2 --— LOAD] e
| ;
AMI 98 LOAD. &deg;
| Po] i
вла Ой [LOAD ——e
N DO 1 -
AB _LOAD —— —e
. Г,
RAN TO
B13--.— 200 “LOAD ———————
— UT !
Interlock LOCK &gt; Preparation completed READY
&copy; A
Return to Origin command ORG-S 5 = (Alarm) |
— — - |
3 a ‘ ; 1 |
=, Reset command RESET == Command execution in BUSY
= &amp; &copy; progress |
о Auto Run Start command AUTO-R A | E |
SL ı . :
| 1 END
7 Step Run Start command STEP-R | Execution ended normally | E
o |
&copy; : eneral-use output, 5 points DOO to DO4
2 Point movement command ABS-PT G € output, &gt; p
&amp; | with absolute
Point movement command INC-PT
With incremental |
General-use input, 9 points DIO to DIS
32
AY51 type output unit
LLL ALL LLL LLL LLL LLL LLL LLL LE LE LEE E
Connection to the Mitsubishi” PLC Output Unit
Single-axis controiler
ERC
Y23
Y27 ‚
v28
Y29 |
von |
vee
va
Y2D |
A
Y2E |
Y2F
&iexcl;AS DIO
Y22 |
24 |
Y25 |
| 56 1
A6 2
| B7 3
| A7 4
98 5
— AS 6
| B9 7
| A10 8
| B4 LOCK
LAS ORG-S
15&deg; RESET
| A2 AUTO-R |
| B2 STEP-R
LAT ABS-PT
87 INC-PT
| A4,B5 ogy
24 power supply _=
- Lu
Y30
LAT EMG 1
CREVG 1 B12 EMG&gt;
Single-axis controller
ERC
ТВ 1 |
kg
B13 |
DO 0 :
O
А
T
oO -—{
READY &copy;
BUSY
END
—
AX41 type input unit
X00
X01
X02
X03
X04
X05
X06
ХО
+24V
FP
ные :
NN
i
|
i
|
|
|
0 O————
24V power
supply
|
—— ]
Photocoupler
Internal
circuit
34
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=
ANEP IRTE RES
3-5 1/0 Circuit Timing Charts
The illustrations below show examples of timing charts. These examples should be ref-
erenced when writing PLC programs.
Pai JF J J J fe J EE TO IL II EII E EI E EI IPP EP EI EI EPI ie dm ee ie ie Im a a me de OM ie de a a Ee Be Be BB Be Be ee a I он BT ES a dn A BR Be
5-35-71 Execution of a special-use command excluding the Reset Commands
For special-use command processing, excluding the Reset Commands the completion is
indicated by the BUSY signal being turned off. If the end of command execution is
normal at that point, the END signal is turned on, whereas if execution has not ended
normally, the END signal remains off.
(1) When a special-use command with a long execution time is carried out and execu-
tion ends normally, the special-use command input is turned off (contact open) and
the END signal remains off while the command is being executed.
UP: ON DOWN: OFF |
Special-use
command | —
BUSY
&lt;&gt; T2 &gt; &lt;&lt; T3
T T1 € 30ms, T2 &pound;1 ms, T3 &pound; 1 ms
END
1 At the rise of the special-use command input, the END signal goes off and the BUSY
signal goes on.
2 Turn off (contact open) the special-use command input after the BUSY signal goes on.
3 When the BUSY signal is turned off, execution has ended normally if END goes on.
CAUTION
NE E SU A A A JU a o A &sect; _&sect; НЫ АННЫ &sect; 3 &sect; &reg; &sect; &sect;B N EB J} |
1) With the Auto Run Start command, the END signal goes on and the BUSY signal
goes off 1f the program ends or the STOP owner's is executed.
2) When the power 1s turned on or the special-use command has not been normally
executed, the END signal Iceeps off.
35
PLL LLL LLL LLL LLL LLL LLL LLL LLL A AE
(2) Whena special-use command with a short execution time 1s run, and execution ends
normally, the END signal has already been turned on when the special-use com-
mand input goes off.
Conditions that result in a short execution time are:
* When executing movement commands with an extremely short movement distance
* When carrying out step execution of commands other than MOVA, MOVI, MOVF,
TIMR, and WAIT
|
| UP:ON DOWN: OFF |
Special-use
command 1 |
oY
BUSY 3
Y 4
END Wu Na
&gt; &lt;— 739
T1 &pound; 30ms, T2 &pound; 1 ms, T3&pound; 30 ms
| Attherise of the special-use command input, the END signal goes off and the BUSY
signal goes on.
2 Turn off (contact open) the special-use command input after the BUSY signal goes
on.
3 The BUSY signal is turned off at the point where the special-use command input
goes off, because the END signal has gone on and command execution has ended.
4 At this point, the END signal 1s turned on, indicating that execution has ended nor-
mally.
36
A LL LLL LLL LL LLE EEE
(3) For the reasons listed below, command execution is impossible from the start.
* A movement command (AUTO-R, STEP-R, ABS-PT, INC-PT) was executed with-
out a return to origin being completed first.
* A point number was specified for which no data has been registered, and a movement
command (AUTO-R, STEP-R, ABS-PT, INC-PT) was executed.
* The operator attempted to run a program that contains no programming code.
| UP:ON DOWN: OFF |
Special-use
command
BUSY
END
о
he
&gt; &lt; T3
T1 &pound; 30ms, T2 € 1 ms, T3 &pound; 30 ms
I At the rise of the special-use command input, the END signal goes off and the BUSY
signal goes on.
2 Turn off (contact open) the special-use command input after the BUSY signal goes
on.
3 The BUSY signal is turned off at the point where the special-use command input
goes off, because command execution was impossible.
4 At this point, the END signal remains off.
37
(4) For the reasons listed below, command execution becomes impossible before the
command is fully executed.
* A jump to an unregistered program is indicated during automatic running.
* A movement command (MOVA, MOVI, MOVF) specifying an unregistered point
number 1s executed during automatic running.
| ОР: ОМ DOWN: OFF |
Command
execution
Special-use Impossible
command
1
BUSY
END
JL
A
\/
1 The BUSY signal is turned off because command execution is no longer possible.
2 At this point, the END signal remains off.
38
]
| UP: ON DOWN: OFF
Reset command
END
| 1, T2 | |
&lt;&gt;&lt; —&gt;— T3
[1 | |
&lt;—&gt;
T4
T1 &eacute; 30ms, T2 € 1 ms, T3 &Eacute; 30 ms, T4 1 ms
I At the rise of the RESET signal, the END signal goes off and the BUSY signal goes
on.
2 Turn off (contact open) the RESET input after the BUSY signal goes on.
3 The BUSY signal is turned off at the point where the RESET command input goes
off, because the END signal has gone on and command execution has ended.
4 At this point, the END signal is turned on, indicating that execution has ended nor-
mally.
39
oC LLL LLL LLL LILLE
‘
5-5-3 Interlock (LOCK) signal is received during execution
of a Special-Use Command
| УР: ОМ DOWN: OFF |
LOCK
Special-use | | 1
command |
В , | a
END | | 2
T1 : Differs according to execution command.
I The BUSY signal 1s turned off because an interlock signal was received during com-
mand execution.
2 At this point, the END signal remains off.
40
3-5=141 An Emergency Stop or Alarm Occurs During Special-Use
Command Execution
| UP: ON DOWN: OFF |
Emergency stop Y
EMG
Special-use | | | 1
command
&copy; BUSY | Na
END |
2
т
READY N
A
T1 &lt; bms, T2 &lt; 1 ms &lt;&gt;
T1
1 The READY and BUSY signals both go off because an emergency stop (or alarm
stop) has been initiated during command execution.
2 At this point, the END signal remains off.
41
3=5=5 When the Power Supply is Turned On
| UP: ON DOWN: OFF 1
&lt;——&gt; T1 &lt; 500 ms
| When the power supply 1s turned on, the READY signal should be turned on before
special-use commands is input.
Ng то IEEE gh J BS ae Re ge en М а ms J J pe em me ee mm ee PP dr EE dP ae i ee ar nr щен що ода вы ммм ооо оно оо
ENF EEF EEE EF EEE EEE TLE TELLS TLE LTE L RELL ET SEL ALBEE TEFEN EEE EE EEE RIFE EEF FERTIL T EN
| UP: ON DOWN: OFF |
(ABS-PT, INC-PT)
BUSY | |
Actual robot operation
1
Point data
Ra DIO Dis) | нее of data input&gt;
Point movement 2
command 3
и N
Robot movement ›
END | |
&gt; T1 &lt;30ms
T1
Among the special-use input commands, point movement commands require that the
data input be determined before the command is input.
| The point data and speed data are set, using the general-use input DIO to DIS. These
input conditions should be kept until the BUSY signal goes on.
&Agrave; delay of 30 ms or longer is introduced, and then the point movement command is
input. |
3 Turn off (contact open) the point movement command after the BUSY signal goes
on. Then the data (DIO to DI8) can be changed for next movement.
ho
42
CHAPTER Wms
3 NCB
The DPB 1s a specially designed operation box that is connected to the ERC Controller and used for functions
such as the editing and execution of programs.
Operation 1s handled through a menu-driven interaction with the screen displays, so that even persons using the
unit for the first time will find it easy to operate.
This chapter covers the basic operation of the DPB.
43
A eo LL oo A a Fd A A ALL
4-7 Connecting the DPB to the ERC Controller and
Detaching It
Items that require special attention when connecting the DPB to the ERC Controller, or
detaching it, are listed below.
A EEE
4-1-7] Connecting the DPB to the ERC Controller
1) When the power supply to the controller ~
1s turned off, connect the DPB connector [MENU]
to the connector labelled “DPB” on the
front panel of the controller and turn on
the power to the controller. A beep sounds
for approximately 1 second and then the
screen shown in right appears. This screen \_
will be referred to as the “Initial screen”
from this point on.
Select menu
&gt;
2) The DPB can also be connected to the ERC Controller if the power supply to the
controller is on. However, the program pauses when the DPB 1s connected during
execution of the program.
CAUTION
ES HE &sect; &sect; 2 8 &sect; &sect; 5 8 &sect; &sect;8 &sect; 8 &sect;8 &sect;8 8 &sect; 3 НЕ &sect; &sect; &sect;B BB |
(1) The power to the controller should be turned off if any of the following messages
are displayed on the DPB “PRM DATA DESTROY,” “PNT DATA DESTROY,”
“PGM DATA DESTROY,” or “OVER LOAD.” Then turn on the power again while
holding down the Emergency Stop switch of the DPB. In this state, the servo of the
robot remains off, but the initial screen appears on the DPB, so that data initializa-
tion can be executed. If the message displayed 1s “Over Load” the data may have
been damaged (see Chapter 11-2, “Handling Alarms.)
(2) If the power 1s turned on and the message “BATT LOW-VOLTAGE” 1s displayed
on the DPB, turn off the power to the controller. Then turn on the power again while
holding down the Emergency Stop switch of the DPB. In this state, the servo of the
controller remains off, but the initial screen appears on the DPB, so that backup of
the data can be performed. Back up the data, and then replace the lithium battery in
the controller. (See Chapter 12-3, “Battery replacement methods”.)
(3) If the message “SIO ERROR” 1s displayed on the DPB, check whether the ГО
special-use command input 1s on. If the special-use command input 1s on, the DPB
cannot be used, so always set the special-use input to a pulse input (turn the special-
use input off when busy turns on.)
(Refer to section 3-2, “Description of the VO Signals”.)
(4) To connect the DPB directly to the ERC Controller, use the connector provided as
an accessory. Do not alter the cable in any way or connect any relay units to it.
44
A A LLL LLL ELLE E ELLE DL ELLA AE
4=&quot;)=2 Detaching the DPB From the ERC Controller
The DPB can be disconnected any time whether the power is ON or OFF. There will be
no problem even during operation.
45
DEE ELE IE E ie Ee Ue ie ge le me J le ie me ee о ae i I IE A er и ое оо de Be I и i de Sr a ie i am er Ae PA
Basic Operation
This Chapter describes the basic operational procedures when using the DPB.
Key Layout and Functions
(F1 |to [F&eacute;]
These keys select the modes.
The currently selectable modes are
shown on the 4th line of DPB liquid
crystal display.
ESC
This key returns operation to the
previous mode.
This key also performs error reset
when an error occurs.
DIO
This key monitors DI and DO sta-
tus for OPRT and EDIT modes.
RUN
This key starts program execution.
STOP
This key halts program execution.
BIS
This key cancels the immediately
prior, numerical key entry.
0 to 9 - MOVE
MOVA L ? MOVIE |?
These keys are for data entry (nu-
merical key). They are also used
—
| YAMAHA DPB
“ann.
&copy;
A 8 95
TIMR L &lt;&gt;
4 | 5 У- || У+
CALL || WAIT
JMP |[ JMPB ff JMPF DOWN
Of &reg; || —
MOVAJ| MOVI J| MOVE
during program editing and for selecting robot owner's.
Xx
pI Gun
for moving the cursor left and right.
&gt;
Enter key.
46
L-_-_-
These keys move the robot manually. They are also used during program editing and
RROLLO POS AAA EDAD LDL ой ый ый ый &copy;:
4-2-2 Basic Key Operation A
1) The selection of modes is displayed on [MENU]
the 4th line of the liquid crystal display Select menu
on the DPB.
In Example A (showing the initial screen),
the following modes can be selected: EDIT OPRT sYS AMON
SEDITCOPRT ESYS &amp; В
&yen; EDIT
OPRT Sea) TEse
4 SYS В .
4 MON FOPRT]
The numbers listed in front of the modes Select menu
correspond to function keys to
JORG ZSTEP 3AUTO
2) Each time one of the function keys on the
screen shown in &Agrave; 1s pressed, the next J T
deepest level 1s accessed (A -B— C—
D). [OPRT-STEP] 100 No 7
To return to the previous level, press the
001:MOVA 254, 100
key.
(See 4-2-4, “Branching Menu Diagram”.)
NO
J
1SPD 2RSET 3CHG
— J
LFz] Tess
[OPRT-STEP] 100 No. 7
PGM No = _
(program No) 0—31
47
PINE ee EE EEE EEE PEER EEE EE EE AE AE AE I EE EE EE A de EE I RE ee et i de be ae he ae de de Ee a щен ea a a
4)
|)
RED
If an error occurs during operation, a
buzzer will sound for approximately 1
second and a message as that shown in
Example E will appear on the 3rd line of
the screen. If this happens, check the con-
tents of the message and then press the
ESC key to continue operation. To take
care of errors, please refer to the message
tables in Chapter 10.
If an alarm occurs on the controller side
during operation, an alarm message will
be displayed on the 3rd line of the screen,
and further operation will be inhibited.
Turn off the power and take steps to solve
the problem, referring to Chapter 11-2,
“Handling Alarms.”
Program execution screen
1 2 3
[OPRT-AUTO]
32:0rigin incomplete
\
( \
[OPRT- STEP]
\
\
\ \ ~
100 No3i
L- 062:MOVA 200,100
[ 0. 00] —|
SPD ARSET&Eacute;CHG
Mode
Execution speed
No. of program being executed
Step no. being executed
Current position
48
[OPRT-AUTO ]
running...
01:OVER LOAD
LLL ELLA EL ILLA EL LALALA
2) Program edit screen
\ 2
7 &Ntilde; 7 `
[EDIT-PGM] No31
3 ——— 062 :MOVA 200, 100
”
1. Mode
2. No. of program being edited
3. No. of step being edited
3) Point edit screen (teaching playback)
\ 2 3
( \ \ 7 \
[EDIT-PNT-TCH] (1) 100
4——— P254 = 123. 45 [mm]
1. Mode
2. Type of movement parameter
3. Movement parameter
4. Point no.
5. Current position
49
4) DIO monitor screen
я &copy;
[MON]
DI 10000000 10000000
DO 10000000 O:1 S:1
_ J
DI: From left side
General-use input 7 (1)
General-use input 6
General-use input 5
General-use input 4
General-use input 3
General-use input 2
General-use input 1
General-use input 0 (2)
Interlock (LOCK)
0: Locked state (robot movement not possible)
|: Unlocked state (robot movement possible)
Return to Origin Command (ORG-S)
Reset Command (RESET)
Automatic Run Start Command (AUTO-R)
Step Run Start Command (STEP-R)
Point movement command with absolute (ABS-PT)
Point movement command with incremental (INC-PT)
General-use input 8
DO: From left side
READY
BUSY
END
General-use output 4
General-use output 3
General-use output 2
General-use output |
General-use output 0
O: Origin sensor status
0: Off (Closed)
|: On (Open)
S: Servo status
0: Servo off
1: Servo on
50
D'LA SIA LL LILLO LEAL E LLL LLL EL
41
POWER —
ON
-2-+ Branching Menu Diagram
MOD (Step Edit)
INS (Step Insert)
DEL (Step Delete)
CHG (Program Change)
— EDIT ———— PGM (Program Edit)
— MDI (Manual Data Input)
— TCH (Teaching Playback)
— PNT (Point Edit) ———
—— DEL (Delete)
COPY (Program Copy)
— UTL (Utility) — DEL (Program Delete)
LIST (Program List)
— ORG (Origin Return)
CHG (Program Change)
CHG (Program Change)
— PRM (Parameter Set)
SAVE (Save)
SPD (Execution Speed Change)
— OPRT———— STEP (Step Run) — RSET (Program Reset)
SPD (Execution Speed Change)
— AUTO (Auto Run) —— RSET (Program Reset)
CHG (Point Change)
CHG (Point Change)
SPD (Speed Change)
S_SET (Speed Set)
DO (General-Use Output Control)
TRC (Point trace)
— DTCH (Direct Teaching) — ОО CHG (Point Change)
DO (General-Use Output Control)
Г PGM (Program)
—— SYS —— B.UP (Backup) LOAD (Load)
FMT (Format)
ID (Contra! No.)
PGM (Program)
PNT (Point)
PAM (Parameter)
ALL (All Data)
— INIT {Initialization)
—— МОМ (ОЮ Monitor)
51
PNT (Point)
— PRM (Parameter)
ALL {Ail Data)
MEMO
52
CHAPTER 2377770000
The ERC Controller uses a software servo system, so that no adjustments of hardware components such as
potentiometers or DIP switches are required. Instead, parameters are used whose settings can be easily changed,
using the DPB (or a personal computer).
This chapter contains a detailed description of each of the parameters, and explains how to use the DPB to
change and specify parameter settings.
SAFETY
Errors such as motor overload are detected by the software, so the controller parameters must be set correctly to
match the connected robot model. The parameters are initialized to match the robot when the robot is shipped,
so confirm these before starting use. If there is any trouble, please contact your Distributor or YAMAHA
ROBOTICS.
53
Description of Parameters
The 43 parameters are described in order below.
PRM 0: Robot Type
The type of robot being used is indicated by a robot initialization number.
(See Chapter 13, “Specifications”.)
This 1s the one parameter that can be only read and not written. To change the
robot type or when the memory has been destroyed for any reason, this pa-
rameter must be initialized. (See Chapter 8-1 “Initialization”.)
PRM 1: (+) soft limit
The + side robot movement range is set.
Set a suitable number for safety purposes.
Input range: -9999 to 9999 (mm)
or -360 to 360(&deg;)
Default value: Depends on robot type.
PRM 2: (-) soft limit
The - side robot movement range 1s set.
Set a suitable number for safety purposes.
Inputrange: -9999 to 9999 (mm)
or -360 to 360(&deg;)
Default value: Depends on robot type.
CAUTION
EE HS Ho E o a o o &sect; &sect;0 &sect; _&sect;8 &sect; _&sect;8 &sect;8 &sect; A &sect; 3 &sect; &sect; &sect; &sect; BRB EF |
The soft limit will not function if the origin return has not been completed.
PRM 3: Transport weight
Input the workpiece weight plus the tool weight.
Input range: Oto 80 (kg)
Default value: Maximum transfer weight of that robot
NOTE
M HR MM НИ ОН НН НОЯ НИ ПОЛОН &sect;B &sect; _&sect; &sect; 8 8 &sect; &sect; A &sect;B &sect; &sect; &sect; &sect; &sect; I
Always set the correct weight for safety purposes. If the setting is not correct, the robot
and controller may malfunction.
54
PRM 5:
PRM 6:
PRM 7:
PRM 8:
Pu oF JF oF FR ph i J gm ATI II II CEI EPI III III IPP i a a a a dn я диоды er ом ом о я de Be ae eee
Acceleration
The optimum acceleration will be automatically set according to the robot
type and end weight. Change this parameter when the acceleration is to be
decreased beyond this state.
Input range: 1 to 100 (%)
Default value: 100
Origin return direction
When this parameter is set to 0, the return to origin is performed on the motor
side.
When the parameter is 1, the return to origin is performed on the side oppo-
site the motor.
Positioning completed pulse
When an axis movement command is executed, this parameter specifies the
number of pulses at which positioning should end before reaching the target
position. Thus allowing execution of the command.
Input range: I to 4000 (pulses)
Default value: 20
Point trace speed
Input range: 0 to 100 (%)
Default value: 30
(1) 110 100 (%)
PRM 7 sets the movement speed when general-use input 8 is on and a point
trace 1s executed.
* The actual speed will be the value obtained by multiplying the execution
speed displayed in the AUTO or STEP mode (see 4-2-3 Reading the Screen).
Example: When the execution speed display in the AUTO or STEP mode is
50 and this parameter is set to 30, the actual speed will be
3000rpm x 50/100 x 30/100 = 450rpm.
(2) When set to &quot;0&quot; (Setting can be changed by the DPB for the DPB ROM
version V 1.15 or later version.)
The number of speed setting inputs is 2 points (general-purpose inputs 7
and 8) during point trace. (Point setting is performed with general-pur-
pose inputs DIO to DI6.) For the point trace speed at this time, use the
parameter values listed in the table below.
DIS DI7 Movement speed (%)
OFF OFF 100
OFF &Oacute;N PRM4 1
ON OFF PRM42
ON ON PRM43
No. of conditional input points
When the robot language JMPF instruction is executed, this indicates the
number of effective points for the No. 3 data conditional input (i.e., PRM 8 =
4, the status of DI4 to DIS is ignored.)
Input range: | to 8 (points)
Default value: 4
55
PRM 10:
MOVF speed
This sets the speed for execution of the program language MOVF command.
Input range: 1 to 1000 (mm/sec)
Default value: 10
Return to origin speed
Input range: 1 to 100 (mm/sec)
Default value: 20
CAUTION
Cf 2 _&sect; A A &sect; &sect; &sect; &sect; НН A НИ &sect; &reg; &reg; F A o IN A
If the origin returns speed is increased, an alarm may occur at the origin return depend-
ing on the robot. Keep the initial state when possible.
Parameters PRM 11 through PRM 43 are set automatically for each robot type when
parameter initialization 1s carried out. Normally the settings do not need to be changed
and they are not displayed on the DPB LCD. (However, this excludes PRM20: OUT
valid position, PRM 22: Message type and PRM 35: Origin shift.) When making
changes for special reasons, turn on the power while pressing on the DPB.
With normal operations, the following parameters can be changed.
CAUTIO
O&Ugrave;
INN DANE RUN DENN ME VE НН BEDE DEEN АНН EN ONE DENN OS EE BENE DENN НН NE ADS DRED MSE ME UUW UNDE Aaa
The robot or controller may malfunction or the safety of the robot movement may be
adversely affected if some of these parameters are changed carelessly. Should changes in
these parameters be required, please call your Distributor or YAMAHA ROBOTICS.
PRM 11:
PRM 12:
PRM 13:
PRM 14:
PRM 15:
PRM 16:
No. of encoder pulses (after being multiplied four times)
This varies depending on the robot type.
Unit: pulses/rev
Lead length
This varies depending on the robot type.
Unit: 0.01 mm (FROP 15 0.01deg.)
Origin return method
This varies depending on the robot type.
0: Sensor detection method
1: Stroke end detection method
Overload current
This varies depending on the robot type.
Overioad time
This varies depending on the robot type.
Current limit
This varies depending on the robot type.
56
PRM 21:
PRM 22:
PRM 23:
PRM 24:
PRM 25;
PRM 26:
PRM 27:
PRM 28:
TOTO ODER ITURBE IIA NSE
NN NE E IE EEE TIE CELE EI E IE PIE IP IN INIA DASS D0
: Speed ratio gain
This varies depending on the robot type.
: Speed integration gain
This varies depending on the robot type.
: Position ratio gain
This varies depending on the robot type.
: OUT valid position
When executing the axis movement command, this parameter indicates
whether to regard the command as completed several millimeters (degrees)
before the target position. Thus, the next command can be executed before
the moving axis enters the positioning completed pulse. (DO command, etc.)
However, 1f the next command 1s an axis movement command, it cannot be
executed until the moving axis enters the positioning completed pulse (PRM
6).
If the position completion range 1s larger than the OUT valid position range,
the axis will not be regarded as having entered the positioning completed
pulse range until it reaches the OUT valid position.
Input range: 1 to 9999 (mm)
1 to 360 (&deg;)
Default value: 1
Switching between millimeters/degrees
0: Millimeters
|: Degrees
Switching between English/Japanese
Set the language for the response messages displayed on the DPB and RS-
232C.
0: English
1: Japanese
Acceleration coefficient depending on transport weight
The value calculated from PRM 0 and PRM 3 is set for this parameter.
Teaching frequency data (DPB entry)
Not used
Teaching movement data
Unit: %
Default value: 100
Teaching movement data 1 (for DPB)
Unit: %
Default value: 100
Teaching movement data 2 (for DPB)
Unit: %
Default value: 50
57
PRM 29:
PRM 30:
Teaching movement data 3 (for DPB)
Unit: %
Default value: 10
Maximum program speed
Unit: %
Default value: 100
The speed data defined by the MOVA or MOVI instruction in the program is
multiplied by this value to determine the maximum speed when the robot is
actually moving. This is then used to lower the speed of the overall program.
Any speed changes in the AUTO and STEP modes will also change this value
when using the DPB.
Max. speed (%) = No. 2 data (%) of MOVA command x PRM 30 (%)
PRM 31:
100
Broken wire detection level
This parameter sets the sensitivity for detecting a broken wire. The upper
limit is 255, and the larger the value is the duller the sensitivity will be.
Input range: 0 to 255
Default value: O
58
O AAA EME EAN SEE PEER PRIEST E
PRM 32: Alarm no. output selection
0: No output
1: Output
Default value: O
When an alarm 1s issued, PRM 32 selects whether the alarm number 1s to be
output to the general-use output. The alarm number is output as 5-bit binary
data, to DOO to DO4.
Alarm No. Alarm Message DO4 | D03 | DO2 | DOI | DOO
01 OVERLOAD OFF | OFF | OFF | OFF | ON
02 OVERCURRENT OFF | OFF | OFF | ON | OFF
03 OVERHEAT OFF | OFF | OFF | ON ON
04 POWER DOWN OFF | OFF | ON | OFF | OFF
OS BATT. LOW VOLTAGE OFF | OFF | ON | OFF | ON
06 WIRE TROUBLE OFF | OFF | ON ON | OFF
07 P.E. COUNTER OVER OFF | OFF | ON ON ON
08 PNT DATA DESTROY OFF | ON | OFF | OFF | OFF
09 PRM DATA DESTROY OFF | ON | OFF | OFF | ON
10 PGM DATA DESTROY OFF | ON | OFF | ON | OFF
11 SYSTEM FAULT OFF | ON | OFF | ON ON
12 NOT USED OFF | ON ON | OFF | OFF
13 NOT USED OFF | ON ON | OFF | ON
14 FEEDBACK ERROR 1 OFF | ON ON ON | OFF
15 FEEDBACK ERROR 2 OFF | ON ON ON ON
16 ABNORMAL VOLTAGE ON | OFF | OFF | OFF | OFF
17 SYSTEM FAULT 2 ON | OFF | OFF | OFF | ON
PRM 33: Origin return completed output selection
Selects the operation to be executed simultaneously with the completion of
origin return. A signal can be output to the general-use output indicating that
return to origin has been completed, or the program can be reset.
Input range: Oto 3
Definition: ~~ 0: Nothing 1s executed
1: DO4 15 turned on
2: Program reset 1s executed
3: DO4 turns on after program reset
Default value: O
* If program reset 1s executed after origin return, or if DO4 is executed with
the program command, DO4 will turn off even in the origin reset completed
state.(But, in the case of ROM versions 4.53 and subsequent versions, when
program reset is only executed, DO4's condition will be lcept.)
PRM 34: Not used
59
PRM 35:
PRM 36:
PRM 37:
PRM38:
PRMS9:
PRM40:
PHM41:
PRM42:
PRM43:
Origin shift
Normally, the coordinate value of where the origin return is completed and
the robot stops is Omm (0&deg; for FROP). However, by setting this parameter, the
coordinate can be changed to a random value.
Even when re-teaching is required due to mechanical position deviation, re-
covery may be possible without re-teaching by changing this parameter.
Input range: -9999 to 9999 (0.01mm)
or -360 to 360 (0.019)
Default value: О
Broken wire resistance
This varies depending on the robot type.
QP band width
Pulse width that compensates the frictional resistivity during deceleration.
Input range : 100 to 1000
Speed delay compensation gain
This differs according to the robot type.
No. of motor poles
This differs according to the motor.
RESET execution conditions selection
When the I/O RESET dedicated command is executed, the validity of the
LOCK input can be selected.
The 1/0 RESET input uses both the servo ON and program reset. If the pa-
rameter 15 0, the program will always be reset regardless of the LOCK input
state. If the parameter is set to 1, resetting of the program can be prohibited
according to the LOCK input state.
Thus, by setting the parameter to 1, the program can be executed from mid-
way even after an emergency stop is reset. Refer to the RESET command in
the section 3-2-1 &quot;Input signals” for details.
Input range: Oto 1
Meaning: 0: LOCK invalid
1: LOCK valid
Default value: 0
Point trace speed 1
This 15 valid only when PRM7=0.
Input range : 1 to 100 (%)
Initial value : 10
Point trace speed 2
This 1s valid only when PRM7=0.
Input range : 1 to 100 (%)
Initial value : 30
Point trace speed 3
This 1s valid only when PRM7=0.
Input range : 1 to 100 (%)
Initial value : 70
60
5=2 Setting Parameters Used by the DPB
1)
2)
3)
4)
5)
Press (SYS) on the initial
Screen.
Then press (PRM).
The current setting for PRM 0 (robot type)
1s displayed on the screen.
STEP
and DOWN
STEP
Use the | E
keys to scroll
the parameters until you find the setting
you want to change.
When the desired parameter 1s displayed,
use the numerical keys to input the new
value and then press &gt;.
Dv
If processing ends normally, the screen
shown in Step 3 is displayed.
61
rd
[ MENU]
Select menu
[SYS]
Select menu
[ SYS-PRM]
PRMO = 10
Robot type
read only
[ SYS-PRM]
РЕМ1 = 450_ [mm]
(+) Soft limit
range -9999—9999mm
[SYS-PRM]
PRM1 = 450 [mm]
(+)Soft limit
range -9999-&gt;9999mm
Japanese / English Display Switching
The DPB display switches to English immediately after parameters are set to default
values. The following describes the procedure for switching between the English-Japa-
nese displays for DPB messages.
1) Press (SYS) on the initial
Screen.
2) Then press (PRM).
3) The current setting for the PRM O (robot
type) 1s displayed on the screen.
scrolls the screen and
Pressing E
PRM22 15 displayed.
4) Input data with the numerical keys and
when finished press the = key. Input 0
tor English and 1 for Japanese display.
The display is normally in English only
for the PRM22 display.
62
и
[ MENU]
Select menu
1EDITAOPRTESYS 4
[SYS]
Select menu
APRNT
[ SYS-PRM]
PRMO = 10
Robot type
read only
N
[SYS-PRM]
PRM22 = 1
message type
O:english 1:japanese
CHAPTER
oo a a Е a AA EE
In this chapter, we will try programming some operations. First, you will learn how to input a program using the
DPB programming device. Then we will explain the commands used in the robot language and what they mean.
The ERC Controller uses a simple robot language developed by YAMAHA, so that it is easy to write programs.
At the beginning of the chapter, you will find a convenient table of robot language instructions. At the end of the
chapter there 1s a sample program that can be used as a reference.
63
A EEE EE a a LLE LLL LA E? ALP ERE ELLE
6-1] Basic Contents
LIL LLL LL LEE LL??? 2? EE
5-|-&quot;| Table of Robot Language Instruction
Instruction | Description and Format
MOVA Moves to point data position.
- MOVA &lt;point no.&gt;, &lt;max. speed&gt;
MOVI | Moves from current position by amount of point data.
- MOVI &lt;point no.&gt;, &lt;max. speed&gt;
MOVF Moves until specified DI input is received.
MOVF &lt;point no.&gt;, &lt;DI no.&gt;, &lt;parameter&gt;
JMP Jumps to a specified label in a specified program.
JMP &lt;label no.&gt;, &lt;program no.&gt;
JMPB Depending on the ON/OFF status of the specified input, Jump
is executed to the specified label.
JMPB &lt;label no.&gt;, &lt;DI no.&gt;, &lt;l or 0&gt;
JMPF Depending on an input condition, jumps to a specified label in
a specified program.
- JMPF &lt;label no.&gt;, &lt;program no.&gt;, &lt;input condition&gt;
L Defmes the destination for a JMP or JMPF owner's.
L &lt;label no.&gt;
CALL Executes a separate program.
CALL &lt;program no.&gt;, &lt;no. of times&gt;
DO ~ Turns general-use output on and off.
DO &lt;DO no.&gt;, &lt;parameter&gt;
WAIT . Waits until specified DI input 1s received.
WAIT &lt;DI no.&gt;, &lt;parameter&gt;
TIMR , Waits the specified amount of time before advancing to the next
step.
TIMR &lt;time&gt;
P Defines a point variable.
P&lt;point no.&gt;
P+ Increments a point variable.
P+
P- | Decrements a point variable.
&gt;
SRVO Turns a servo on and off.
SRVO &lt;parameter (0 or 1)&gt;
STOP Temporarily interrupts program execution.
STOP
ORGN ~ Executes return to origin.
| ORGN
64
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Ie
a a OOO OOOO EEE NN SAS SSA
6-1-2 Robot Instructions and Point Data
The ERC Controller uses a command language very similar to BASIC, so that it is very
easy to create program. With these robot instructions, data relating to the position of the
robot (absolute position, amount of movement) is not expressed in terms of direct nu-
meric values in the program. Instead, point numbers are used to express information
indirectly. Data concerning the point numbers and the positions corresponding to them
are stored separately from the program, as point data. Therefore, changing a position in
a program can be done simply by editing the point data, without rewriting the program.
Example
Program Point Data
005 : MOVA 0, 100 PO = 50
006 : MOVI 1,50 PI = 100
In the above example, the robot first moves to a position 50 mm from the origin point,
and then moves to another point 100 mm away from that one.
6-1-3 DPB and Robot Instructions
In the DPB, 2 methods are available for selecting robot instructions during program
editing.
1. Selecting with the function key
During program editing when the
screen displays the robot language FI F2 F3 F4
selection, the lowest level of the liq- |
MOVA IMPF IMP | &lt;
uid crystal display shows the robot |
command. Three commands are | CALL WAIT DO |
shown on one display and each one |
can be selected with the matching | TIMR L Р |
function keys to [РЗ]. +
When 15 pressed the next LP Py E |
commands are displayed. (Displayed | SRG STOP MOVE
commands differ depending on the |
DPB's ROM version.) [ MPB |
2. Selecting with the numerical keys
Frequently used robot commands are О
printed on the lower part of the nu- MOV A
merical keys. Pressing the numerical
key during the robot language selec-
tion display selects the robot com-
mand for that key.
FELL Lrg dd dS SL EE ET TR EE SE ай RE NE EE EE EE EE SE EE EE EE
5-&quot;|-21 Memory Capacity
The ERC Controller has the following memory capacity:
Total no. of programs: 32
Max. no. of steps per program: 255
Max. no. of steps in all programs together: 1024
Max. no. of points: 255
65
5-2 Editing Programs
“Program editing” refers to operations such as creating a program after initializing the
values, creating new programs, changing an existing program, and deleting or copying a
program. In this section, you will learn the basic components of program editing using
the DPB.
“Creating a new program following initialization” refers to creating a program for the
first time after purchasing the equipment, and after initializing all values, before any
programs have been created (see Chapter 8-1, “Initialization.”).
“Creating a new program” is completed when at least one program has already been
created and you are creating or editing another new program.
“Editing an existing program’ means correcting, adding, deleting, or inserting steps in a
program to change only part of it.
In this chapter, in addition to describing all of the above program editing functions, we
will explain how to determine the number of steps left in a program, as well as other
information.
6-2-1 Creating Programs After Initialization 67
6-2-2 Creating a New Program 68
6-2-3 Correcting a Step 70
6-2-4 Adding a Step 72
6-2-5 Deleting a Step 73
6-2-6 Inserting a Step 74
6-2-7 Copying a Program 75
6-2-8 Deleting a Program 76
6-2-9 Viewing the Program Information 77
66
TESORO LRD REE ый ЗЕ
Creating Programs After Initialization
1)
3)
4)
On the initial screen, press the
(EDIT) key.
Next press the (PGM) key.
No programs have been created follow-
ing the initialization, so an error message
1s displayed on the screen.
Press the key to reset the error.
Program No. 0 1s selected automatically
and a confirmation message 1s displayed.
To select Program No. 0 and proceed with
editing, press (YES). To select a
program other than No. 0 and edit it, press
F2) (NO).
If you selected in Step 4, input
the number of the program to be edited,
using the numerical keys, and press the
==) | key. The screen returns to that shown
————
in Step 4. If the program number 1s the
correct one, press (YES).
67
/
[MENU]
Select menu
[SYS]
Select menu
[EDIT]
Select menu
43 :cannot find PGM
[EDIT]
PGM No = &copy;
New entry OK ?
[EDIT-PGM]
PGM No = _
(Program No) 0-31
6) Use to to select the ro- [EDIT-PGM) мод
bot owner's.
When (NEXT) 1s pressed, the dis- 001:
played robot owner's are switched to the
next display. 1МОМАЗОМРЕЗОМР “next
When the key 1s pressed, the dis-
play switches back to the previous screen.
7) When Fl (MOVA) 1s selected the cursor
moves to Command Data 1. N
Use the numerical keys to input the data. [EDIT-PGM] №0
|
(Do not press the == | key yet.) 001:MOVA 0 ‚ 100
х Su (point No) 0-254
Use the | —. and keys to move the
cursor and input different command data. J
8) When all of the command data has been
entered, press the &gt; key. [EDIT-PGM] No0 a
001:MOVA 1 ,80_
”
9) Ifthe input process 1s completed normally, N
the cursor moves to the robot owner's. [EDIT-PGM] No0
To edit the next step, press | 5 | and 001 :MOVA 1 ‚ 80
scroll the steps. Then repeat the process
from Step 6.
6-2-2 Creating a New Program
1) On the initial screen, press the E 9
(EDIT) key.
68
[ MENU]
Select menu
{EDIT&Eacute;OPRT3SYS MON
AAA ELSE EE EEE FEF FFE FEE SFL SEES ERE ETT LTE ATE ESET ATSB BEET EEE EEE EEE EEE EEF FETTER EIEN EK
4)
6)
Next press the (PGM) key.
The program number and last step ex-
ecuted are displayed on the screen. Press
(CHG).
(For instructions on how to interpret the
editing screen, see Chapter 4-2-3.)
Input the new program number with the
| e
numerical keys and press the — key.
A confirmation message 1s displayed. If
the program number is correct, press
(YES).
Proceed with program editing, starting
with Step 6 in “6-2-1 Creating Programs
After Initialization.”
69
[EDIT]
[EDIT-PGM] No.13
017:MOVA 254, 100
SDEL 4CHG
[ EDIT-PGM]
PGM No = _
(Program No) 0-—31
[EDIT]
PGM No = 14
New entry OK ?
Correcting a Step
|)
2)
4)
On the initial screen, press the
(EDIT) key.
Next press the (PGM) key.
The program number and last step ex-
ecuted are displayed on the screen. If the
program to be edited 1s different, press
(CHG).
If the displayed program 1s the one you
want to edit, proceed with editing begin-
ning at Step 6.
Input the number of the program to be ed-
ited with the numerical keys and press the
meer
PA
&gt; key.
Input the number of the step to be edited
with the numerical keys and press the
LL &gt;.
pkey.
70
[MENU]
Select menu
[EDIT]
Select menu
[EDIT-PGM]
017:MOVA 254,
Nol3
100
[ EDIT-PGM]
PGM No = —
(Program No.
)
0—&gt;31
[EDIT-PGM]
PGM No = 13
STEP No = _
(REG.steps)
50
a NE
6)
7)
5)
9)
10)
Press (MOD).
Select the robot owner's, using the
to keys.
Pressing (next) will display the
next screen of robot instruction.
When the key 1s pressed, the dis-
play switches back to the previous screen.
If the robot instruction is not to be
XxX |
changed, press the Lee .
The cursor moves to command data 1. Use
the numerical keys to input a value. (Do
not press the — key yet.)
Press the | &copy;.
X :
nn ‚ keys to move the
| and
cursor and correct other command data.
When all of the desired changes have been
mp
made to the command data, press the
key.
If the editing process has been completed
normally, the cursor moves to the robot
instruction. To edit another step, use the
sre | and | сом | keys to scroll the steps,
and repeat the process starting with Step
6.
71
[EDIT-PGM] Nol3
017:MOVA 254, 100
4 CHG
ua
&ntilde;
[ EDIT-PGM] Nol3
017:MOVA 254,100
&laquo; 1МОМАЗОМРЕЗОМР “next
/
[EDIT-PGM] Noi3
017:JMPF 0 , 13 ,1
(labelNo) 0&gt;255
\
4
[ EDIT-PGM] Nol3
017: JMPF 10, 31, 5_
(condition) 0255
Ne
a
[EDIT-PGM] Nol3
017:JMPF 10, 31, 5
6-2-4 Adding a Step
The process for adding a step is the same as that for “6-2-3 Correcting a Step,” up to
|)
Step 4.
2) Input the last step number with the nu- /
Po
merical keys and press the = Кеу.
3) Press the | SEE” | key.
[ EDIT-PGM]
PGM No = 13
STEP No = _
(REG.steps) 50
4) Continue the process, starting with Step
7 of “6-2-3 Correcting a Step.”
72
[EDIT-PGM] No13
050 :WAIT 3 , 1
iMOD *INS 3DEL аснс
[EDIT-PGM] Nol3
051:
A a a EEE
5-2-5 Deleting a Step
1)
2)
4)
The process for deleting a step is the same as that for “6-2-3 Correcting a Step,” up
to Step 4.
Input the number of the step to be deleted / N
with the numerical keys and press the | EDIT-PGM]
Za PGM No = 13
&gt; e
STEP No = _
(REG steps) 50
u &copy; /
в
Press (DEL). ( [EDIT-PGM] No13
017:MOVA 254, 100
A confirmation message is displayed. To / &gt;
[EDIT-PGM ] Nol3
delete the step, press (yes). To
cancel the deletion and leave the step as it 017:MOVA 254, 100
1S, press (no). delete OK ?
N J
When the deletion has been completed / N
| [EDIT-PGM | Nol3
normally, the screen returns to that shown
in Step 3. 017:WAIT 3, 1
73
5=2-5 Inserting a Step
The process for inserting a step is the same as that for “6-2-3 Correcting a Step,” up
|)
to Step 4.
2) Input the number of the step where the
insertion is to be made with the numeri-
cal keys and press the =&gt; key.
3) Press (INS).
4) Continue with Step 7 of “6-2-3 Correct-
ing a Step.”
74
~
[EDIT-PGM]
PGM No = 13
STEP No = _
(REG steps) 50 |)
/
[EDIT-PGM] Nol3
017:MOVA 254, 100
IMOD ZINS BDEL 4CHG
[EDIT-PGM] Noi3
01720
a A a a НЕСЯ ЕЕ а ИИ у =
5-2-7 Copying a Program
1)
2)
‘о
)
4)
5)
On the initial screen, press
(EDIT).
Press (UTL).
Press (COPY).
Input the program number from which
the step 1s to be copied, using the nu-
merical keys. Then press the &gt; key.
Input the program number to which the
step 1s to be copied, using the numerical
key.
—_— ——— ——l
75
[MENU]
Select menu
[EDIT]
Select menu
7
[EDIT-UTL]
Select menu
1COPYZDEL 3LIST
gd
[EDIT-UTL-COPY ]
Copy from PGM No =
N
(7
[EDIT-UTL-COPY ]
Copy from PGM No = 0
Copy to PGM No =
N
6) If the number of the program to which the
step 1s to be copied already exists, a con-
firmation message will be displayed, ask-
ing tif 1t 1s all right to overwrite the exist-
ing program.
To overwrite the program, press
(yes). To cancel the copy process without
copying anything, press (no).
7) If the copying process has been completed
normally, the screen returns to that shown
in Step 3.
RSS rd rrr Lr rrr rrr rrr rrr rr Err rE SS FF EFF
Г [EDIT-UTL-COPY]
Copy from PGM No = 0
No 1 Overwrite OK ?
( N
[EDIT-UTL]
Select menu
1COPYZDEL BLIST р
томно III III PI EI II EIFFEL EII IEEE
1) The process for deleting a program is the same as that for “6-2-7 Copying a Pro-
gram,” up to Step 2.
2) Press (DEL).
3) Input the number of the program to be
deleted with the numerical keys and press
the =&gt; key.
76
N
[EDIT-UTL]
Select menu
JCOPYZDEL &Uacute;LIST
J
&ntilde; N
[ EDIT-UTL-DEL]
delete PGM No = _
Ny 7
PLATEA EI IE E A М МР ge EII LIL II IE mm EF EF i a OF I dE OF rE PE dE EE dF ae a ae an a ae Be Be ne EEE
a HI EA EN ELLE LESSEE TLL TEES EELS TFET LESLIE IEF EAE WEFT HEE EEE EE EERE FET HFEF RETR EEE EE СЕ
4) А confirmation message will be dis- / EDIT_UTIL-DEL
played, asking if it is all right to delete —UTL- ]
the program. delete PCM No = 2&deg;
To delete the program, press delete ?
(yes). To cancel the deleting process with-
out deleting anything, press &laquo; i 3: ,
(no).
[EDIT-UTL]
5) If the deleting process has been completed
normally, the screen returns to that shown
in Step 2.
Select menu
&quot;INDIA III EEE EE IEEE EEE EE E III UE dm me me en i El a Ed a Or aE a a OE ar RE UE UE a de i a ie a Or I a Ee BN a a rd Ie an am ae a
5-2-9 Viewing the Program Information
1) The process for viewing program information is the same as that for “6-2-7 Copy-
ing a Program,” up to Step 2.
2) Press (LIST). a в
[EDIT-UTL]
Select menu
3) The program number is displayed on the 7 &gt;
; A [EDIT-UTL-LIST]
screen, along with the number of existing
steps and the number of free steps remain- free 678 steps
ing.
No 0 57 steps
Press the | &deg;F&quot; | and | jin | keys to scroll
No 1 255 steps
the screen and move to other program
numbers, where the number of existing
steps for those programs can be viewed.
* In addition to the number of existing steps, steps equivalent to the number of programs
are consumed internally as the program control steps. For example, if two programs
are registered, and there are 50 steps and 100 steps existing respectively, the number of
free steps remaining will be as follows.
1024 - 2 - 50 - 100 = 872
77
TEE ETA III III III IIIEIPILLEINA PP En
Editing Point Data
There are three ways to input point data: Manual Data In (MDI), Teaching Playback, and
Direct Teaching. Manual Data In consists of using the numerical keys of the DPB and
directly inputting numeric values. Teaching Playback uses manual operation to move the
robot to the desired position and then stores that position as point data. Direct Teaching
is basically the same as Teaching Playback, except that the robot is moved by hand.
HF FFE FFE LESSEE EERE AA Lal al a a WHA ALLE EEL AT EEE
Manual Data In
1) On the initial screen, press
(EDIT).
2) Press (PNT).
3) Press (MDI).
4) The currently selected point number in the
program being executed is displayed on
the screen.
If the point number to be edited is differ-
|
ent from that displayed, press the | SIE
| i *
апа pou | keys to scroll the point num-
bers. |
To switch directly to a certain point
number, press the GE | (CHG) key.
78
[ MENU]
Select menu
EDITA 3SYS AMON
[EDIT]
Select menu
APGM ZPNT SUTL
[EDIT-PNT]
Select menu
MDI 2
3DTCH4DEL
[EDIT-PNT-MDI]
PO = 0. 00 mm)
input data [_ :
CHO
LLEVE IEEE LL LLL LLL LLE EEE КЕ
5) Input the point number to be edited with / &gt;
[EDIT-PNT-MDI |
. ; | 7 |
the numerical keys, and press the &gt; Pn in =
key.
(pointNo)0—&gt;254
N J
6) Input the point data with the numerical / &gt;
[EDIT-PNT-MDI |
keys, and press the &gt; key. P199 = -19.27 [mm]
input data[21. 76_ |]
+ CHG
&gt; J
7) The input data is registered as point data. / ~
[EDIT-PNT-MDI]
P199 = 21.76 [mm]
input datal_ ]
&Icirc;CHG
— В
LLL ELL LLL AL LED LLL LLL LLL LEE
5-3-2 Teaching Playback
1) The process for Teaching Playback 1s the same as that for “6-3-1 Manual Data In,”
up to Step 2.
&gt; N ( &gt;
2) Press (TCH). [EDIT-PNT]
Select menu
iMDI ZTCH 3DTCH4DEL
N
3) Thecurrently selected point numberinthe / В
4. [EDIT-PNT-TCH] (1) 50
program being executed 1s displayed on
the screen. PO = 0.00 [mm]
If the point number to be edited 1s differ-
[ 0.00 ]
€ STEP e mette nat, ce
ent from that displayed, press the y | ICHG 25PD 35 SETA next
апа | вом | keys to scroll the point num-
bers.
To switch directly to a certain point
number, press the (CHG) key.
79
5)
6)
7)
Input the point number to be edited with
the numerical keys, and press the ==
key.
Move the robot to the position where
teaching 1s to take place, using the ==
or — keys. Each time the or |
LL. —
or key 1s pressed, the robot moves a fixed
amount in that direction and then stops.
Holding down the &amp; or =| key
moves the robot continuously in that di-
rection at a fixed speed until the key is
released.
Г [EDIT-PNT-TCH]
Pn : n = _
(pointNo) 0254
\ J
/ в
[EDIT-PNT-TCH] (1) 50
P199 = -19.27 [mm]
[ 0.00 ]
&laquo; 41CHG 2SPD 3S_SET4 next
The amount of movement that the robot moves in fixed-amount movement, and the
speed of continuous movement, are shown as a proportion at the upper right side of
the screen (this 1s the speed parameter). In the example at the right, the movement
. . X- | Х+
parameter 1s 50, so that if the (lor &gt; key 1s pressed once, the robot will move
0.5 mm, which 15 calculated as follows:
50 x 0.01 mm (constant) = 0.5 mm
CX xe
If the | &AElig; ‘or key 1s held down, the robot will move at a speed of 50 mm/sec, as
demonstrated by the following calculation:
50 x 1 mm/sec (constant) = 50 mm/sec
To change the value set for the movement parameter, press (S_SET). (See
Step 6.)
Three different speed settings, SPEED (1), SPEED (2), and SPEED (3), can be
assigned to the movement parameter. Each time (SPD) 1s pressed, the
settings change in the order of 1 &gt;2— 3— 1.
Input the movement parameter with the
, aN
numerical keys, and press the ==) key
to return to Step 5.
In this way, move the robot to the teach-
. _. ZN
ing position and press the ==&gt; key. The
current position is input as point data.
80
[ EDIT-PNT-TCH]
SPEED(1) = -
(speed)1-—&gt;100
[EDIT-PNT-TCH] (1)100
P199 = 167.24
[mm]
EAA AANA FEF FEF FEE FEELS EEE FFE FEELS EFFEC HEELS LSE LSPA SSR LATEST ESSA SS
9-3-3 Direct Teaching
1) The process for Direct Teaching is the same as that for “6-3-1 Manual Data In,” up
to Step 2.
2 &gt;
2) Press (DTCH). ( CEDIT-PNT]
Select menu
{MDI 2TCH 3DTCH&Acirc;DEL
N J
3) As instructed by the message, press the (7 N
[EDIT-PNT-DTCH]
Emergency Stop switch on the DPB.
Press EMG. button
4) The currently selected point number inthe (7 N
: e [ EDIT-PNT-DTCH]
program being executed 15 displayed on
the screen. PO = 0.00 [rom ]
If the point number to be edited 1s differ-
ent from that displayed, press the | STE i a
and | Sown | Keys to scroll the point num-
bers.
To switch directly to a certain point
number, press the (CHG) key.
5) Input the point number to be edited with /~ N
| [EDIT-PNT-DTCH]
the numerical keys, and press the ==
— Pn : n =
key. _
(pointNo) 0&gt;254
Nu J
6) Move the robot to the teaching position / \
by hand. | [EDIT-PNT-DTCH]
P199 = 19.27 [mm]
[ 0.00]
CHG 2 DO
\ J
81
7) When the &gt; key 1s pressed, the cur-
rent position 1s input as data. When all of
the points have been edited in the same
way, press the key.
8) As structed by the message, release the
Emergency Stop switch on the DPB.
9) &Agrave; confirmation message asking if it is all
right to turn the servo on appears on the
screen. To turn the servo on, press
(yes). To leave the servo off,
press (no).
10) The screen returns to that shown in Step
2.
82
[EDIT-PNT-DTCH]
P199
300.27 [mm]
[ 300.27]
[ EDIT-PNT-DTCH]
Release EMG. button
[EDIT-PNT-DTCH]
Servo on OK?
[EDIT-PNT]
Select menu
3DTCH4DEL
A A LILLE ALE LLL LL LE LLL ELL LALA
*
&yuml;-3-4 Manual Control of General-Use Output
C
When using Teaching Playback and Direct Teaching with systems that use the general-
use output of the I/O interface to operate the grippers and other components, the position
should be confirmed by moving the workpiece to the position being taught.
For this reason, the ERC Controller 1s designed to allow manual control of general-use
output from the DPB.
1) The procedure for manual control of the general-use output is the same as that for
“6-3-2 Teaching Playback” up to Step 5 or “6-3-3 Direct Teaching” up to Step 6.
* Hereafter, Teaching Playback screens will be used to illustrate the steps.
2) When the robot has arrived at the point / Let ~
where the general-use output is to be ma- [EDIT-PNT-DTCH] (1)
nipulated, stop the operation and press the Р199 = 19.27 [mm]
(DO) key. [ 0.00]
1CHG &Aacute;SPD 3S_SETADO
LCHG 2 3 |
3) The status of the current general-use out- / EDIT-PNT-TCH] N
put is shown on the screen. To change the : ia
status of the output (i.e., ON=1, OFF=0), DO9=0 DO1=0 DO2=0
press the function key where the DO
number to be controlled appears.
ressing the key allows you to &laquo;
select DO3 and DO4.
DO3=0 DO4=0
83
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Fry
o=o-
Deleting Point Data
1) The process for deleting point data is the same as that for “6-3-1 Manual Data In,”
up to Step 2.
2) Press (DEL).
3) Input the number of the point where the
deletion 1s to begin, with the numerical
keys, and press the =&gt; key.
4) Input the number of the point where the
deletion is to end, with the numerical keys,
and press the &gt; key.
5) A confirmation message will be dis-
played, asking if it is all right to delete
the data.
To delete the data, press (yes).
To cancel the deleting process without
deleting anything, press (no).
6) Ifthe deleting process has been completed
normally, the screen returns to that shown
in Step 2. |
84
[ EDIT-PNT]
Select menu
[ EDIT-PNT-DEL]
DEL range P -P
(point No) 0&gt;254
[ EDIT-PNT-DEL]
DEL range Pl23—_
(pointNo) 0&gt;254
[ EDIT-PNT-DEL]
DEL range P123-P200
delete OK ?
{ EDIT-PNT
Select menu
IMDI 2TCH 3DTCH&Egrave;DEL
ra 4}.
ra
ct
9
Tracing points
The robot moves to the absolute position indicated by the deta in the point register.
1) The procedure for tracing points is the same as that for “6-3-2 Teaching Playback”
up to step 3.
2) Press (next) to switch the func- /
| | [EDIT-PNT-TCH] (1) 100
tion display. Then press (TRC).
PO
fo
Ne
3) The screen will switch, and the coordi- /
: [EDIT-PNT-TCH] (1) 100
nate values of the movement destination
and the movement speed will be dis- PO = 350.00 [mm]
played. When the robot 1s to be moved,
wlll move at 10% speed
press (yes) and if not press |
(no). The movement speed will XL EYES “40 J
be 10% of the number (speed parameter)
displayed at the upper right of the screen.
4) When the movement is completed, the ( [EDIT-PNT-TCH] (1) 100
screen will change to that displayed in
step 2. PO = 350.00 [mm]
[ 350.00]
{ro STRC 8
85
Robot Instructions
With the ERC Controller, programs are written in a simple language that closely resem-
bles BASIC. This makes it easy to program even complex peripheral robot operations.
The instructions used in this language are described below.
6-4-1 MOVA
Function: Moves to the point specified by the number (absolute position of the ori-
gin point reference).
Format: MOVA &lt;point no.&gt;, &lt;Max. speed %&gt;
Example: MOVA 51, 80
Moves to P51 at speed 80.
Explanation: This command moves the robot in relation to an absolute coordinate that
sets the origin position as O.
(1) Point numbers
Point numbers range from 0 to 254. Character “P” can be used as a
variable and a number can be set by the “P” owner's.
(2) Maximum speed
When the execution speed parameter 1s 100 and the speed setting in
the robot will move at the maximum RPM setting for that unit.
5-4-2 MOVI
Function: Moves from the current position by only the point data specified by the
number (incremental position of the current position reference).
Format: MOVI &lt;point no.&gt;, &lt;speed&gt;
Example: MOVT 10, 80
Moves from the current position by only the point data defined in P10, at
speed 80.
Explanation: This command moves the robot in relation to a relative coordinate that
sets the current position as O.
(1) Point numbers
Point numbers range from 0 to 254. Character “P” can be used as a
variable and a number can be set by the “P” owner's.
(2) Maximum speed
When the execution speed parameter is 100 and the speed setting in
the robot will move at the maximum RPM setting for that unit.
Note: The MOVI statement allows movement relative to &quot;0&quot; immediately after
performing any operation which resets the program. Use the MOVI state-
ment after executing an absolute position movement command such as
MOVA statement.
86
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с) = =в
Function: Moves until the specified DI number input is received.
Format: MOVF &lt;point no.&gt; &lt;DI no.&gt; &lt;parameter&gt;
Example: MOVF 1, 2, 1
This command moves the robot towards Point 1 until DI2 goes on, at
which time the program advances to the next step.
Explanation: This is used when searching for a target position using sensors or other
devices.
(1) Point numbers
Point numbers range from 0 to 254. Character “P” can be used as a
variable and a number can be set by the “P” owner's..
(2) DI number
This indicates one of the eight (0 to 8) general-use inputs.
(3) Parameter
“17 indicates “on” while “0” indicates “off”.
Other: PRM 9 sets the speed of MOVE movement. (Refer to “5-1 Description of
parameters”) Note that this will not be affected by the OPRT mode execu-
tion speed. PRM9 15 set in mm/sec.
5-4-4 JMP
Function: Jumps program execution to a specified step.
Format: JMP &lt;label no.&gt;, &lt;program no.&gt;
Example: JMP 10, 8
Jumps to label 10 in program 8.
Explanation: This command is used to control the flow of program execution.
(1) Label number
The label number is a number defined by the “L” owner's, (see Chap-
ter 6-4-6), and indicates the destination to which program execution
1s to jump.
(2) Program number
The program number is used to specify an individual program among
the 32 available programs, ranging from O to 31.
Other: If the program number is changed by means of the JMP instruction, it can
be reset during execution to return to the original program number when
program execution begins.
87
Function:
Format:
Example:
Explanation:
If the conditional jump input matches the set value, program execution
jumps to the label of the designated program number.
JMPF &lt;label no.&gt;, &lt;program no.&gt;, &lt;input condition value&gt;
JMPF 12, 3,5
If the conditional jump input is 5, execution jumps to label 12 of program
3. If the jump input 1s not 3, execution advances to the next step.
This command is used to control the flow of program execution in re-
sponse to the conditional jump input.
(1) Label number
The label number is a number defined by the “L” owner's, (see Chap-
ter 6-4-6), and indicates the destination to which program execution
is to jump.
(2) Program number
The program number is used to specify an individual program among
the 32 available programs, ranging from 0 to 31.
(3) Input condition value
A number from 0 to 255 1s input, and the conditional jump input which
mitiates a jump 1s set.
Conditional input can be selected from among 1-8 points by changing
Parameter 8 (see Chapter 5-1). As an example, Table A at the left
illustrates the relation between the status of the general-use input and
the input condition value when the Number of Conditional Input Points
1s 4. Table B at right shows the relation between the number of condi-
tional input points and the input condition value, as well as the gen-
eral-use input being used.
Table A Status of the General-Use Input whenthe — Table B- Number of Conditional Input Points, Input
Number of Conditional Input Points is 4
Conditional Value and General-Use Input
General-use DI Input Input No. of Input General-Use
DI3 DI? DH DIO Condition Conditional Condition Input Used
(2&deg;) (2&deg;) (2h (2&deg;) Value Input Points Value
OFF | OFF | OFF | OFF 0 Oto] DIO
OFF OFF OFF ON less than 2 0 to 3 DIO to DH
OFF OFF ON OFF &gt; less than 3 0 to 7 DIO to DI?
OFF OFF ON ON 3 less than 4 0 to 15 DIO to DI3
OFF ON OFF OFE 4 less than 5 0 to 31 DIO to DI4
OFF ON OFF ON 5 less than 6 0 to 63 DIO to DIS
OFF ON ON OFF 6 less than 7 0 to 127 DIO to DIG
ON ON ON ON 7 less than 8 0 to 253 DIO to DI7
ON OFF OFF OFF 8 CAUTION
ON OFF OFF ON 9 VIS DS ME ПОНИ RE EN НН НИ НИЕ BRB N N &sect; &sect; &sect; &sect; |
When selecting the Number of Conditional Input Points, the ac-
ON OFF ON OFF 10 tual number of input conditions to be used should be considered.
ON OFF ON ON 11 This will insure that the Number of Conditional Input Points se-
ON ON OFF OFF 12 lected will be large enough to accommodate all of the necessary
| | points. If an error is made in setting the Number of Conditional
ON ON OFF ON | Input Points, there will be a discrepancy between the input condi-
ON ON ON OFF 14 tion value required by the program and that recognized by the
ON ON ON ON 15 controller. This could keep the program from working properly.
88
FEA OOOO OO AD EEN EEE ARTS
Function: Defines the jump destination for JMP, JMPF and JMPB instructions.
Format: L &lt;label no.&gt;
Example: L 100
Explanation: This command is used to define the destination to which program execu-
tion jumps on JMP, JMPF and JMPB instructions. The label number may
be any number between 0 and 255. Label numbers may be duplicated
within different programs.
Function: — Calls and executes another program.
Format: CALL &lt;program no.&gt;, &lt;no. of times&gt;
Example: CALLS, 2
After program 5 1s executed twice, execution advances to the next step.
Explanation: When repeating an operation a number of times, a separate program can
be created as a subroutine and the subroutine can be executed when nec-
essary.
(1) Program number
The program number 1s used to specify an individual program among
the 32 available programs, ranging from O to 31.
(2) Number of times
This 1s the number of times that the program is to be repeated, witch
can be specified from 1 to 2535.
Other: * The nesting level 18 6 (1.e., Only 6 successive call statements can be
used within a call statement).
* When the end of the program is detected (initiated by the CALL in-
struction), execution advances to the step following the CALL instruc-
tion in the main program.
* If the program summoned by the CALL instruction is the same pro-
gram containing the CALL statement, an error occurs, and execution
will stop.
* If the program number is changed by means of the CALL instruction, it
can be reset during execution to return to the original program number
when program execution begins.
89
Function:
Format:
Example:
Explanation:
Fr ar ol oF IF oF oF FEE FF Pir Fr Fr Far dF EE EE
Function:
Format:
Example:
Explanation:
Fr rr FF PEF Pr rE rr Flr rrr rrr rere ses
5-2-1710 TIMR
Function:
Format:
Example:
Explanation:
Caution:
Executes ON/OFF control of general-use output.
DO &lt;DO no.&gt;, &lt;parameter&gt;
DO 3, 1
This turns on general-use output 3.
This command turns the general-use output available to the user on and
off.
(1) DO number
This specifies the general-use output 0, 1, 2, 3, or 4 (5 points alto-
gether).
(2) Parameter
“1&deg; turns the output on, and “0” turns it off.
ASS SPLIT
Waits until the specified DI number input is received.
WATT &lt;DI no.&gt;, &lt;parameter&gt;
WAIT 5, 1
Waits until general-use input 5 goes on.
This command controls program execution in response to the status of the
general-use input available to the user.
(1) DI number
Specifies one of the general-use input numbers from 0-8.
(2) Parameter “1” means the input on, and “0” means the input is off.
Waits for the specified amount of time before advancing to the next step.
TIMR &lt;time&gt;
TIMR 100
This advances execution to the next step after waiting one second.
This command is used when it is necessary to adjust time within the pro-
gram itself. Time may be specified in lengths from 1 to 65535, in units of
10 milliseconds; thus, time may be specified from 0.01 seconds up to
655.35 seconds. Units are in 10s of milliseconds.
The TIMR should not be used in place of a wait statement. The location
of liner slide, rotary actuator or gripper should always be monitored by a
sensor tied directly to the ERC.
90
ол a gr J J Pl I J JF JR JR BS ee ge Jr ee J J II III III III III IF II rr, Y? TI IT TT TI a a ad a a BT EB er at BB Ie a ee Ae BE дада дд he me kr a he Be ar br N= Er am
Function: Sets a point variable.
Format: P &lt;point no.&gt;
Example: P 200
Sets a point variable to 200.
Explanation: The point variable can be set to any point data register, 0 to 254. By using
a MOVA statement, MOVI statement or MOVF statement and a P+, P-
statement, the number of program steps might be reduced.
(See Chapter 6-5 Sample Programs.)
Other: The contents of point variable “P” are held even when the controller power
1s turned off, but when the program is reset or when the program reset is
applied by switching the execution program, etc., the point variable”P”
will be initialized to 0.
Function: Increments a point variable (P = P + 1)
Format: P+
Example: P+
Function: Decrements a point variable (P = P- 1)
Format: P-
Example: P-
IE EII II USE EII NE DA IT FFPFFPPPFPPPFFPFPFPFFFETrFPFPFPFPPP&Auml;PPPPAPPPPFPPPRPRPPPRPPPPPPHPPPPAD ADD
TENERSE SSP SNS SNS EII III TILL LITE IBAI EE au a dE a
Function: Turns the servo on and off.
Format: SRVO &lt;1 or 0&gt;
Example: SRVO]
This turns the servo on.
SRVO O
This turns the servo off.
Explanation: When the position of the robot is locked mechanically, this instruction is
used to prevent an overload status on the motor.
91
Function:
Temporarily interrupts program execution.
Format: STOP
Example: STOP
Explanation: This is used to interrupt execution of a program, and can be used at any
point in the program. Execution will be restarted at the step following the
STOP instruction.
Other When the end of a normal program 1s detected, the execution step No.
will be set to &quot;1&quot;, and the program will return to the lead.
59-11-15 JMPB
Function: Jumps to the specified label when the specified DI number input is ON or
OFF.
Format: JMPB &lt;label no.&gt;, &lt;DI no.&gt;, &lt;1 or 0&gt;
Example: JMPB 12, 8, 1
Will jump to label 12 when DIS input is ON.
If DIS 1s OFF the robot will proceed to the next step.
JMPB 21, 3,0
Will jump to label 21 when DI3 input is OFF.
If DI3 1s ON the robot will proceed to the next step.
Explanation: Controls the flow of the program according to the general-use input.
(1) Label number
The label number is a number defined by the “L” instruction, (see
Chapter 6-4-6), and indicates the destination to which program ex-
ecution 1s to jump.
(2) DI number
This indicates one of the nine general-use inputs, O to 8.
(3) Тог О
“1” indicates “on” while “0” indicates “off”.
5-24-17 ORGN
Function: Return to origin movement is executed.
Format: ORGN
Example: ORGN
Explanation: This command executes return to origin operation based on the specifica-
tion parameters.
Note: Execute return to origin at least one time after the power is turned on.
Unless the main power supply is turned off, there is no need to execute
return to origin again, even if the servo was off due to emergency stop
condition etc.
92
[№00]
001: L
002: MOVA
003: MOVA
004: TIMR
005: IMP
Label definition
Moves to Pl
Moves to P2
Enters a delay of | second
Returns to LO
50mm | 50mm
50mm |: 50mm
PO | Start position
Pi Distance 50 mm
[NOO]
001: L
002: MOVA
003: MOVI
004: MOVI
005: MOVI
006: MOVI
007: MOVI
008: IMP
0,100
1,100
1,100
1,100
1,100
1,100
0,0
93
Label definition
Moves to PO
Moves 5 times, 50 mm each time
Returns to LO
Inputs and Outputs
III I J gt IT TI PE TEE EI ge E III CEEI wm gm gm ge Dw I J I I a a i a a ol i a I I Ed I ie kh BS ES eh ae A ae щие щи ще
Fixes the positions of two points and outputs job commands for a PLC or a similar unit
at each position.
Position where Job 1 takes place
Position where Job 2 takes place
DI1 | Job 1 End — 1: Ended, 0: Not Ended
DI2 | Job 2 End — 1: Ended, 0: Not Ended
DO1 Job 1 Command — 1: Output, 0: Cancel
DO?
Job 2 Command — 1: Output, 0: Cancel
[NOO]
001:
002:
003:
004:
005:
006:
007:
008:
009:
010:
O11:
012:
DO
DO
MOVA
DO
WAIT
DO
MOVA
DO
WAIT
DO
JMP
1,0
2.0
1,100
1,1
1,1
1,0
2,100
2,1
2,1
2,0
1,0
94
Cancels Job 1 command
Cancels Job 2 command
Defines Label |
Moves to PI
Outputs Job 1 command
Waits for Job 1 to end
Cancels Job | command
Moves to P2
Outputs Job 2 command
Waits for Job 2 to end
Cancels Job 2 command
Returns to LI
К
La таит м о J Je J le i eg J gh ye J Je ge ge ge ge ge eo А М де ge J J ge J gu Je III а gh тои III III rr III TT TIT IT TIT TT IT vm me TEE TE
AAS OA ETA EF AF EFS SS SF SA SEE ETE TSA FEL FEF SGD po
5-5-4 Pick 8 Place
Sets the robot in standby status at PO and moves the workpiece supplied at P1 to P2.
YAMAHA Single axis robot
Ascendend LU!
Limit switch (DIO) |:
Descendend IL
en Ascending -&laquo;—&raquo; AC servo
1 Air cylinder (DOO)
Descending
Limit switch (DH) m— Gripper (DO1)
Workpiece sensor
switch (DIR) ||
РЯ
РО
Р2
SSS SSS SS SSS SSS SS
“ОМ
3) Return to standby position
JU) Move from standby position to supply position and pick up workpiece
2) Move to mounting position and set down workpiece
PO | Robot standby position Horizontal direction | Servo motor
P1 | Workpiece supply position Vertical direction Air cylinder
P2 | Workpiece mounting position Grip Gripper
DIO
Ascend end limit switch 1: ON 0: OFF
DOO | Air cylinder 1: Descend 0: Ascend
DI
Descend end limit switch 1: ON 0: OFF
=
DO1 | Gripper 1: Close 0: Open
Di2
Workpiece sensor switch 1: YES 0: NO
95
001:
002:
003:
004:
005:
006:
007:
008:
009:
010:
O11:
012:
013:
014:
015:
016:
017:
018:
MOVA
WAIT
MOVA
DO
WAIT
DO
TIMR
DO
WAIT
MOYA
DO
WAIT
DO
TIMR
DO
WAIT
JMP
0,100
2,1
1,100
0,1
1,1
1,1
100
0,0
0,1
2,100
0,1
1,1
1,0
100
0,0
0,1
1,1
Label definition
Moves to standby position
Waits for workpiece
Moves to workpiece supply position
Cylinder descends
Cylinder waits at descend end
Gripper closes
Enters a delay of 1 second
Cylinder ascends
Cylinder waits at ascend end
Moves to workpiece mounting position
Cyhnder descends
Cylinder waits at descend end
Gripper opens
Enters a delay of 1 second
Cylinder ascends
Cylinder waits at ascend end
Returns to LI
96
ff —
&laquo;ri —
Grips
workpiece
Sets down
workpiece
Workpieces coming in from previous-stage conveyor are sent to three next-stage convey-
ors 1n sequential order.
&ccedil; [TOP VIEW]
NS
Work
LA
CH
(O |__— Previous-stage conveyor
Next-stage conveyors
[] В
O No.1 No.2 No.3
О Г O
| |
YAMAHA Single axis robot
N
|
|
[SIDE VIEW]
_ Ascend &laquo;— —&raquo; AC servo
Ascend end 1
Limit switch (DI2) Air cylinder (DOO)
fr wm En mw em oe mum =o
Descend end Г.
Limit switch (DI3) — Gripper (DO1)
Close solinoid valve
(1)
+
switch (DIO,DI1)
LLO
SSS SSS SSS SSS SSS SSS SS
Workpiece sensor 2) |
PE
1) Move to supply position and pick up workpiece
(2) Move to mounting position and set down workpiece
a pan
Horizontal direction | Servo motor
Vertical direction Air cylinder
Grip Gripper
97
DIO
DI]
Identifies 3 types of work
00: WORK A OL: WORK B 10: WORK C
DOO
DO!
Air cylinder 1: Descend 0: Ascend
Gripper 1:Close 0: Open
D12
Sensor of the ascendant end 1; ON 0: OFF
DO2
PLC and handshake output
D13
Sensor of the descendant end 1: ON 0: OFF
DI4
PLC and handshake input
DIS
Sensor of the close side 1; ON 0: OFF
D16
Sensor of the open side 1: ON 0: OFF
PO
Workpiece supply position on previous-stage conveyor
Pl
Workpiece mounting position on No.1 next-stage conveyor
P2
Workpiece mounting position on No.2 next-stage conveyor
РЗ
Workpiece mounting position on No.3 next-stage conveyor
INOO]
001:DO 2,0
002:L 0
003: WAIT 4,1
004:DO 2,1
005: WAIT 4,0
006:DO 2,0
007:3MPF 1,0,0
008:JMPF 2.0,1
009:IMPF 3,0.2
010:JMP 0,0
O1E:L ]
012:CALL 3.1
013:MOVA 1,100
014:CALL 4,1
015:JMP 0.0
016:L 2
017:CALL 3,1
018: MOVA 2,100
019:CALL 4,1
020:JMP 0,0
021:L 3
022:CALL 3,1
023: MOVA 3,100
024:CALL 4,1
025:JMP 0,0
INO3]
001: MOVA 0.100
002:DO 0,1
003: WAIT 3.1
004:DO 1.1
005:DI 5, 1 100
006:DO 0,0
007: WAIT 2,1
[NO4]
001:DO 0,1
002: WAIT 3,1
003:DO 1,0
004:DI 6, 1 100
005:DO 0,0
006: WAIT 2.1
98
Default values for general-use outputs
Label definition
If work is type &Agrave;, jump to LI
If work is type B, jump to L2
It work 1s type C, jump to 1.3
Return to LO
Label definition
Execute “PICK” subroutine
Execute “PLACE” subroutine
Label definition
Execute “PICK” subroutine
Execute “PLACE” subroutine
Return to LO
Label definition
Execute “PICK” subroutine
Execute “PLACE” subroutine
Return to LO
Execute “PICK” subroutine
Cylinder descends
Wait for the Cylinder at descendant end
Gripper close wait for Gripper close
Cylinder ascends
Wait for the Cyhnder at ascendant end
Execute “PLACE” subroutine
Cylinder descends
Wait for the Cylinder at descendant end
Gripper open wait for Gripper open
Cylinder ascends
Wait for the Cylinder at ascendant end
With the ERC, there 1s no Special Use Input reserved for switching programs. When
switching programs from the I/O side, the program selection signal should be used as
conditional jump input, and the program switching handled as described below.
The following example describes switching between 16 types of programs.
DIO | Program Selection 0
DIT | Program Selection 1
DI2 | Program Selection 2
DI3 | Program Selection 3
DIS | Program Selection Determined
[РОО | Program Selection Start |
Since the number of programs being selected is 16, PRM 8 (the number of conditional
Input points) 1s set to 4.
Caution: PRM 8 and the general-use input being used may change in response to the
number of programs being selected, as shown in the table.
No. of Programs | No. of DI Points Used | DI No.
2 or less | point DIO
4 or less 2 points DIO, DII
8 or less 3 points DIO-DI2
16 or less 4 points DIO-DI3
32 or less 5 points DIO-DI4
99
[NO. 0]
L
WAIT
DO
WAIT
DO
JMPF
JMPF
JMPF
JMPE
JMPF
JMPF
JMPF
JMPF
JMPF
JMPF
JMPF
JMPF
JMPF
JMPF
JMPF
JMPF
JMP
INO. 1]
L 1
0
8,1
0,1
8,0
0,0
1,1,0
1,2,1
1,3,2
1,4,3
1,5,4
1,6,5
1,7,6
1,8,7
1,9,8
1,10,9
1,11,10
1,12,11
1,13,12
1,14,13
1,15,14
1,16,15
0,0
Defines Label 0
Waits for Program Selection End to go ON
Program Selection Start goes ON
Waits for Program Selection End to go OFF
Program Selection Start goes OFF
If input 1s 0, jumps to L1 of Program No. |
If input is |, jumps to L1 of No. 2
If input 1s 2, jumps to LI of No.
If input 1s 3, jumps to L1 of No.
If input 1s 4, jumps to L.1 of No.
If input 1s 5, Jumps to Ll of No.
If input 1s 6, jumps to L1 of No.
If input 1s 7, jumps to L.1 of No.
If input 1s 8, jumps to L1 of No.
If input 1s 9, jumps to L1 of No. 10
If input is 10, jumps to L1 of No. 11
If input is 11, jumps to LI of No. 12
If input 1s 12, jumps to LI of No. 13
If input 1s 13, jumps to L1 of No. 14
If input is 14, jumps to L1 of No. 15
If input is 15, jumps to L1 of No. 16
nh Bs WW
== Сб 00 4 ON
Defines Label |
- (Acta operation program)
IMP 0,0
[NO.2]
L 1
Returns to LO of No.0
(Defines Label 1)
(Actua operation program)
JMP 0,0
[NO. 16]
L 1
+...
Returns to LO of No.0
(Defines Label 1)
Returns to LO of No.0
100
DEEE PE EEE JEU PEN JS UE EE LLL LLL ELL LLE ;
&lt;Explanation of Program&gt;
Before executing the program with the JMPF owner's, general-use input is used one
point at a time (in this case, DI&sect; and DOO) to carry out a handshake. The purpose of this
1s to synchronize the program of the external equipment such as a PLC with the ERC
Controller program.
If this step 1s omitted, when program selection is executed with the JMPF instruction, the
program selection input may be switched, and there 1s a chance of an erroneous program
being selected.
When the execution of each program selection has been completed, execution will return
to the begmnmg of the program (LO of Program No. 0).
“Program section ——Progran selection delemined) ——— Program selection delemined)
(DI3 to DIO)
ве — | a
DOO || |
— ешо of selected program) ——— Execution of selected program) ce
101
5-6 Tuning function
The speed when rotating the motor at a low speed may not be stable depending of the
effect of the temperature drift of the motor control sensor. If this is a problem, carry out
the following measures.
(1) When running with the program
Carry out tuning by turning the servo OFF/ON once per cycle.
+ Insert the SRVO 0, SRVO 1 command in the program.
[NO 0]
L 1 A
SRVO O 1/1 cycle
SRVO 1
JMP 1,0 Y
(2) When carrying out point movement with designated point No. using general-pur-
pose inputs (DIO to DI7)
Carry out tuning by turning the servo OFF/ON once per cycle.
* Create the following program
[NO 0]
SRVO O
SRVO I
STOP
* Select [NO 0] as the execution program
* Execute the dedicated command automatic operation start command (AUTO-
R) once per cycle.
Note: It will take 0.2 to 0.3 sec. to carry out tuning, and the servo will be in the
free state during that time. If any force is applied on the robot, the position
will change. Carry out tuning at a position where an external force is not
applied or where there is no problem if the position changes slightly.
102
CHAPTER SA
This chapter will explain how the robot 1s actually operated. 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. With step operation, the program is executed one
step at a time, with a step being carried out each time the RUN key is pressed on the DPB unit. This is used
when you want to check the program as it is being carried out. With automatic operation, the entire program is
executed wıthout stopping, from beginning to end.
This chapter also covers how to initiate and recover from an emergency stop.
103
Returning to the Origin
The origin return operations are described in this section. Origin return must be executed
once after the controller power is turned on. After being executed once, origin return
does not need to be re-executed unless the power is turned off.
1 Pres OPRT) on the initial / &gt;
) ` ( ) on the initi MENU
creen.
Select menu
A FEDIT&Eacute;OPRTISYS 4MON
_ ”
: N
2) Next, press (ORG). ( [OPRT]
Select menu
ORG ESTEPFAUTO
N 7
3) To carry out a return to origin, press (/ D)
[OPRT-ORG]
(yes). To cancel the operation,
. OK?
press (no). ORG search
Yes 2 В
4) This isthe screen displayed during an ori- (&copy; OPRT-ORG&quot; N
gin position return. Pressing | STOP
during the operation brings the robot to a Searching
halt and displays a message.
Pressing the key returns execu-
tion to Step 2. N J
5) If the return to origin ends normally, the / OPRT-ORGI N
machine reference is displayed at the N
lower right. Pressing the key Origin complete
returns execution to Step 2.
machine ref. 50%
Nu ”
104
AEF AA SE FSS SSS FETE FESS FFF EELS ELEAF LLL ALLELES EEL TLL LLL LE LLL ERLE LFS PRL LE TN
Using Step Operation
1) Press (OPRT) on the initial
SCTCEN.
2) Then press (STEP).
3) If the program number displayed on the
screen 1s not the one to be run, press
(CHG).
(See Chapter 4-2-3 for information on
how to read the program screen.)
4) Using the numerical keys, input the
number of the program to be executed,
5) The first step of the selected program is
displayed on the screen. To change the ex-
ecution speed, press (SPD).
105
( [MENU ]
Select menu
Ng
7
[OPRT]
Select menu
и
[OPRT-STEP] 50 №517
001 :MOVA 2,100
[ 0.00]
SET&Ecirc;CHG
x.
&iacute;
[ OPRT-STEP]
РСМ № = _
(programNo) 031
ul
4
[OPRT-STEP] 50 No29
001 :MOVA 31,50
[ 0.00]
SPD ERSETSCHG
7)
8)
9)
10)
Input the execution speed using the nu-
merical keys, and press the &gt; key.
The screen returns to that shown at Step
5. Pressing at this point ex-
ecutes the first step.
This 1s the screen displayed while the pro-
gram 1s being executed.
Pressing ISTOR| during execution
brings the robot to a halt and displays a
message on the screen. To return to Step
7, press the key. Press
again to execute the inter-
rupted step.
When execution 1s finished, the second
step 1s displayed. Each time
1s pressed from this point on, the next step
1s executed. When the last step has been
executed, the message “program end” is
displayed. To return to Step 1 from the
program end, press the
key.
106
[OPRT-STEP] 50 No29
SPEED = _
(speed)1—100
[OPRT-STEP] 100 No29
001:MOVA 31,50
N
a
[OPRT-STEP]
Running ...
N
A
[OPRT-STEP]100 No29
001:MOVA 31,50
[ 164.89]
ERSETCHG
7
[OPRT-STEP]
70:program end
PLLLILI LEILA LL LLL LEAL EEE EEE
11) To return to Step 1 from any other step
and initiate execution again, press
(RSET).
12) The screen returns to that shown at Step
5, and the process is repeated from that
point.
107
/
[OPRT-STEP]
042 :TIMR 100
100 No29
48.08]
[OPRT-STEP]
001:MOVA 31,50
4SPD
100 No29
48.08]
1) Press (OPRT) on the initial
Screen.
Press (AUTO).
If the program number displayed on the
screen 1s not the one to be run, press
(CHG).
(See Chapter 4-2-3 for information on
how to read the program screen.)
108
Using Automatic Operation
[ MENU]
Select menu
EDITO 3SYS AMON
[OPRT]
Select menu
SAUTO
[OPRT-AUTO] 50 Nol7
001:MOVA 2,100
&quot;FAILED NE IN NL E II PI ILL II J J Je pt de ge ge ge nv JY Ur mm en Le J J EY J JE JR OR J EE EE J EE EEE PEE EE Ee rr de de EE a ae
FESS ELL TIS FEST BLT SFA FTES AS LSA SET SS EERE PEERS EA FEET EEE TE EELS LESSEE EERSTE SEEN FAST TL SETI IITT ISS LHS BIBT TI ABBE FTI ATAEISR SE
4) Using the numerical keys, input the / PRT-AUTO вх
number of the program to be executed, ОРЕТ- |
BEN PGM No =
and then press — _
(program No) 0-31
Ne J
5) The first step of the selected program is (7 OPRT-AUTOI 50 No29 X
displayed on the screen. To change the ex- | &quot; ! &copy;
ecution speed, press (SPD). 001:MOVA 31,50
[ 0.00]
1SPD ZRSETACHG
N и
6) Input the execution speed using the nu- / N
[OPRT-AUTO] 50 No29
merical keys, and press the =&gt; Кеу.
y Р P| key SPEED = _
(speed) 1—100
7) The screen returns to that shown at Step / x
. , , [OPRT-AUTO] 100 №29
5. Pressing at this point ex-
ecutes the first step. 001:MOVA 31,50
[ 0.00]
8) This is the screen displayed while the pro- @ в
gram is being executed. [OPRT-AUTO]
Running...
109
10)
FI)
Pressing &iexcl;STOP! during execution
brings the robot to a halt and displays the
message “program end”. Press the
key to display the step where
execution was interrupted.
Pressing will cause execution
to resume from the step where 1t was in-
terrupted. When the last step has been ex-
ecuted, the message “program end”is dis-
played. Pressing the key re-
turns the screen to that shown in Step 7.
To return to Step 1 from any other step
and initiate execution again, press
(RSET).
The screen returns to that shown at Step
5, and the process 15 repeated from that
point.
110
[OPRT-AUTO]
70 :program end
[OPRT-AUTO] 100 No29
042: TIMR 100
[ОРЕТ-АОТО] 100 №29
001:MOVA 31,50
[ 453.09]
PLL LILLE EE LL ALL ELL LL LLE
7 =
Emergency Stop Function
With the ERC Controller, there are two ways to input an emergency stop: one 1s by using
the push-button on the DPB, and the other is to use the I/O emergency stop input. In
either case, for safety reasons, a B contact input is used (when the contact is cut, an
emergency stop 1s initiated).
The ERC Controller 1s designed so that recovery from an emergency stop status can be
done without turning off the power. Origin return does not need to be executed.
We will describe, in this section, how to initiate and recover from an emergency stop.
BS Ar
Initiating an Emergency Stop
During DPB operation, to initiate an emergency stop of the robot for any reason, press
the Emergency Stop switch on the DPB. The switch locks in the depressed position, and
can be released by turning it to the right.
In an emergency stop status, the robot assumes free status, and commands initiating
robot movement (for example, the origin return command) cannot be executed.
PLE LL LEAL LLL ELL LEE LLL LLL E SEE
7-4-0
7-4-2
Recovering From an Emergency Stop
When recovery 1s required during DPB operation, the procedure 1s automatically dis-
played on the DPB itself. Follow the displayed instructions to recover from the emer-
gency stop status.
Recovery through DPB operation will be necessary in the following cases:
|) When a return to origin is to be carried out;
2) When step operation 15 to be used;
3) When automatic operation 1s to be used;
4) When carrying out point editing using Teaching Playback; and
5) When exiting the Direct Teaching Mode.
An example of recovery is given on the next page.
111
The example at the right illustrates recovery
from an emergency stop status when step op-
eration 1s to be used. As can be seen in the ex-
ample, the emergency stop status can be
canceled simply by releasing the Emergency
Stop switch and servo on operation.
112
[OPRT-STEP] 100 No7
001:MOVA 254,100
Nu
a X
[OPRT-STEP] 100 No7
Release EMG. button
\ J
Release the Emergency
Stop switch lock.
x
[OPRT-STEP] 100 No7
Servo on OK?
4 “no
&laquo; a D
Press (yes) to
turn on the servo.
у
[OPRT-STEP] 100 №7”
001 :MOVA 254,100
[ 0.00]
1SPD ZRSETACHG
Ny J
a a LLP И ИИ LLL
7-5 Changing P
-5 anging Programs
&Agrave; lead program is the very first program to be executed right after the program 1s reset in
auto operation or step operation. The ERC Controller sets up the first edited program as
the lead program right after reset (default value) 1s performed. Therefore, program switch-
ing 1s necessary if the customer has edited programs other than the lead program.
Lead program switching is carried out with the DPB. The procedure 1s explained below.
CAUTION
If the program 1s switched, the reset will be applied forcibly, so all general-use outputs
will be turned off.
1) Press (OPRT) ( MENU &gt;)
Select menu
dOPRT&Eacute;FDITS
2) Press (STEP) or ( [OPRT] В
(AUTO).
Select menu
ORG ZSTEPSAUTO J
x 7 ( )
3) Press (CHO). [ORPT-AUTO] 100 No7
001:L. O
TSPD ZRSETICHG
e
113
4) Input the lead program number with the / N
[OPRT-AUTO] 100 No7
. _ a
numerical keys and finally press ==
у y press Y PGM No = _
(program No)0—31
5) Changing of the lead program is complete. /
[OPRT-AUTO] 100 No0
001:DO 0 ,0
NOTE
M MS RE EN DURE НН НИ VUE MS &sect; X N &sect; N A EF &sect; &sect;&reg; X X X X &yen;Y YOR
This item explained changing the lead program while in operate mode but edit mode
program switching is also provided in the DPB (refer to “Chapter 6-2-3” Correcting a
Step). Please note that even if this edited program is switched the lead program is not
changed.
114
CHAPTER $ &quot;
The DPB has many convenient functions in addition to those already covered. For example, memories can be
initialized, and options such as memory cards and printer card can be used. This chapter will describe these
additional functions.
115
О
Initialization of programs and points means that all programs and points currently stored
Initialization
in the controller will be erased.
Initialization of parameters resets the initial values for all of the parameters.
|)
On the initial screen, press
(SYS).
2) Next, press (INTI).
4)
Select the data to be initialized.
Pressing (PGM) selects program
data.
Pressing (PNT) selects point
data.
Pressing (PRM) selects param-
eter data.
Pressing (ALL) selects all pro-
gram, point and parameter data.
If (PRM) or ГРА (ALL)
was selected in Step 3, the robot type must
be input.
Use the numerical keys to input a number,
[7 |
For &agrave; table of numbers corresponding to
the robot types, see the “ERC Controller”
in Chapter 13-1.
and then press the
116
Eo a ЕСИ НИИ ИИ Иа ИИ ааа
7
[MENU]
Select menu
q 1EDITAOPRT&Eacute;SYS &Aacute;MON
Тай
[SYS]
Select menu
PRNT
7
[SYS-INIT]
Select menu
[SYS-INIT]
robot type:
Refer to
robot type table
6)
A confirmation message is displayed on
the screen.
To execute the initialization, press
pes)
To cancel the initialization, press
(no).
When the mitialization process ends, the
screen returns to that shown at Step 3.
117
[SYS-INIT]
[parameter data]
initialize OK?
[SYS-INIT]
Select menu
=2 DIO Monitor
The data indicating whether the I/O signals are on or off can be displayed on the screen.
The operation procedure is outlined below.
o SSS SS a a a A SD DTD DELL LTDA
3-2-] Monitor Operation
I On the initial screen, press в
(МОМ).
Select menu
2) The ON/OFF status of input and output / MON
1s shown on the display. (See Chapter 4- |
2-3 for owner's оп how to read the screen.)
DI 00000000 10000000
DO 10000000 0:1 5:1
N
3) To return to the initial screen, press the / X
| [ MENU]
key.
Select menu
20PRT3SYS AMON — )
118
1) Hold down the key on the / OPRT-AUTO] N
SCTCEN.
Running...
N 7
2) The ON/OFF status of VO signals con- / OPRT- AUTO N
tinues to be displayed on the screen as LOPRT- {|
long as the key is held down. Running
DI 00000000 10000000
DO 10000000 O:1 S:1
\ J
3) When the key is released, the screen re- (7 a
ne с [OPRT-AUTO]
turns to the original screen.
Running
N ”
CAUTION
MS ME ME НИ НИ EN GS AS PE 8 3 RE AS AS 2 &sect; EN RS NS EE BR A BB &sect; |
The DIO Monitor key does not function during system operation or terminal operation.
119
e)
=
Viewing the System Version Number
|
2)
On the initial screen, press the
key.
The version number of ROM of control-
fer and DPB, and robot types are dis-
played. The screen returns to the initial
screen after approximately two seconds.
120
[MENU]
Select menu
С [INFORMATION]
Controller V 4. 50
DPR V 1. 15
Robot type 10
—
PLL ILL LLL LLL LLL LEAL LALA &Euml;
9-4 Using Memory Card
A memory card 1s made available to store backup ERC data set in DPB mode. With one
8K card enough data for 1 ERC units can be stored. With one 64K card enough data for
10 ERC units can be stored.
PLLILI VILLE LILLE ALL LLL LLL EE EE
3-:1- Saving Controller Data to a Memory Card
|)
2)
3)
4)
Insert the memory card in the DPB.
On the initial screen, press
(SYS).
Next, press (B.UP).
Press (SAVE).
Specify the save area in the memory card.
Use the numerical keys, and press the
= key.
121
[ MENU]
Select menu
[SYS]
Select menu
[SYS-B. UP]
Select menu
ASAVEZ
[SYS-B. UP-SAVE|
Select card AREA
[0-9]
7)
8)
9)
10)
H the data 1s stored in the selected card
area, a confirmation message 1s displayed,
asking if 1t 1s all right to overwrite previ-
ously existing, data.
Press (YES) for erasing. Press
(NO) to cancel.
This creates an ID number for the data
being saved. Using the numerical keys (0-
9), the “-” (minus) key, and the *” (pe-
riod) key, enter a number of up to eight
[A |
characters and then press the key.
A confirmation message asking if the data
is to be saved as appears on the screen is
shown to the right. To save the data, press
(yes). To cancel the procedure
without saving the data, press
(no).
This screen 1s displayed while the data is
being saved.
When the saving procedure has been com-
pleted normally, the screen returns to that
shown at Step 3.
CAUTION
Never eject the memory card while data is being saved.
Do not store the DPB with the memory card set.
The life of the backup batteries will be shortened.
122
(SYS-B. UP-SAVE]
AREA 7 already saved
initialize OK?
AYES ZNO
J
| N
[SYS-B. UP-SAVE]AREA7
Make Identification
ID = _
Effective key [0—9-.] y
[SYS-B.UP-SAVE] ARFA7
Save OK?
ID = 92.03.24
J
E
[SYS-B.UP-SAVE|AREA7
Saving...
7
N
[SYS-B. UP]
Select menu
A a LLL LLL LL LL LL LLL LLL EE LL E LEE
C2
-:1-2 Downloading Data From a Memory Card
1) “Operations for downloading data are the same as those for “8-4-1 Saving Control-
ler Data to a Memory Card,” up to Step 3.
N
2) Press (LOAD). С [SYS-B. UP]
Select menu
J
3) Specify the load area in the memory card. / с AD N
Use the numerical keys, and press the [SYS-B. UP-LOAD]
= key. Select card AREA
— AREA_ [0-9]
AID
wu В
4) Select the data to be loaded. ( (SYS-B. UP-LOAD|ARRA3 &gt;
Pressing (PGM) selects program
data. Select menu
Pressing (PNT) selects point
data.
Pressing (PRM) selects param- /
eter data.
Pressing (ALL) selects all pro-
gram, point, and parameter data.
123
6)
7)
5)
If either (PGM) or
(PNT) was selected in Step 4, a confir-
mation message is displayed. This mes-
sage asks ıf it Is all right to overwrite pre-
viously existing data.. If (yes)
15 pressed, the program and point data that
will not be overlapped by new data will
remain as they are.
If (no) 1s selected, ail of the con-
troller data will be initialized before the
data is loaded. If (ALL) is se-
lected in Step 4, the controller data will
also be initialized.
A confirmation message is displayed on
the screen, asking if it is all right to load
the data. Press (yes) to load the
data. To cancel the operation without load-
ing the data, press (no).
This screen is displayed while the data is
being loaded.
If the loading process is completed nor-
mally, the screen returns to that shown at
the right.
CAUTION
[SYS-B. UP-LOADJAREA3
Overwrite OK ?
[SYS-B. UP-LOAD] AREA3
[SYS-B. UP-LOAD] AREA3
Loading
(
\
Never eject the memory card while loading data.
Do not store the DPB with the memory card set.
The life of the backup batteries will be shortened.
124
[SYS-B. UP]
Select menu
ISAVEZLOADSFMT 4
PIECES IAE EE E Je J De J JR JA JR Re le i ee J RE eR Rm BEE EEE PEE EE EEE rE dE EE rr I EE a i I BL Ee ee
EN EEE EROS ADA RSS SST ATTE III III EA
3-4-5 Formatting a Memory Card
1) Operations for formatting a memory card are the same as those for “8-4-1 Saving
Controller Data to a Memory Card,” up to Step 3.
2 3 )
2) Press (FMT). ( [SYS-B. UP]
Select menu
3) A message like that at the right appears / ~
[SYS-B. UP]
on the screen. To format the card, press
(yes). Format OK?
To cancel the operation without format-
ting the card, press (no).
N
4) This screen 1s displayed while the memory 7 X
pee [SYS-B. UP]
card 1s being formatted.
Formatting
NE 7”
5) If the formatting process is completed nor- / N
&gt; &copy; [SYS-B. UP]
mally, the screen returns to that shown at
the right. Select menu
CAUTION
Never eject the memory card while formatting it.
Do not store the DPB with the memory card set. The life of the backup batteries will be
shortened.
125
LW a VILLA Fr rr PEER
e
= 41 Ta
ES
Eg —
Viewing the ID Number for Memory Card Data
1) Operations are the same as those for “8-4-1 Saving Controller Data to a Memory
Card,” up to Step 3.
2) Press (ID).
3) (Only the AREA O control number 1s dis-
played when the 8 kilobyte memory card
is used. When the 64 kilobyte memory
card 1s used, pressing | E” (displays the
control numbers in sequence, from 3 on-
wards.
126
/
[SYS-B.UP]
Select menu
[SYS-B.UP-ID]
AREA O : 92.03.24
AREA 1
AREA 2 : 92-02-24
CHAPTER
With the ERC Controller, a personal computer can be used instead of the DPB for program and point data
editing and robot operation,
This chapter describes how to set the communication parameters required in order to carry out communications
between the personal computer and the ERC Controller. The terms used in communication are also covered.
127
PEEL IEEE EII EE LIL III III ETE III EIIIEFIEIEITIILLPPEFI PI -PLLE-FIPEZEPEED ERE нон в
CNE ISLE
Communication Cable Specifications
Setting the Communication Parameters
The communication parameters on the personal computer side should be set as follows:
* Baud rate
* Stop bit length
* Parity setting
* Parity check
* Data bit length
* Communication method
* X parameter
* Return key transmission
* CR code reception
A) Connector Model
Applicable connector no.:
Applicable connector cover no.: J-C25-2V
B) Connections
SINGLE-AXIS CONTROLLER SIDE
9600 bps
1 bit
Odd
On
8 bits
Full duplex
Effective
CR code
For CR/LF reception: Return + line feed
For CR reception: Return
JBZ-25P-90 (made by J.S.T.)
(made by J.S.T.)
COMPUTER SIDE (IBM PC-AT)
CAUTION
ven! | Pin No. Pin No. | Signal
F.G 1 | Р.С
TXD 2 2 TXD
RTS 4 4 RTS
D. G 7 7 D. G
6 DSR
8 DCD
20 DTR
Cn НОМ НМ НН N N N N SR N A X X X X FB X NES ANNEE OU AE NS GE RO
Pins 10, 12, 18 and 21 of the RS-232-C are used for DPB connection. To prevent acci-
dents, do not wire these pins.
128
Communication Commands
With the ERC Controller, a command interface that resembles the BASIC programming
language 1s provided as standard, to facilitate easy communication with a commercial
personal computer.
Communication commands are divided into the following four categories:
1) Robot movements
2) Data handling
3) Utilities
4) Special codes
Basically, all of the commands begin with the start code “€” (=40H) and end with the
code c/r (=0DH) I/f (=0AH). These two codes signal the controller that the owner's be-
tween them constitute one command line. (The special codes are the only ones that do
not require a start or an end code.)
The character codes used in the ERC, are the JISS unit system codes (ASCII codes with
katakana characters added).
Format:
@ [Command] [ _ ] &lt;Extension 1&gt; &lt;Extension 2&gt; &lt;Extension 3&gt; &cent;/r 1/f
Co ------------- 40H, start code
[|] Space
Command : --- See Table 9-1 Commands.
Option : -------- See Table 9-1 Commands. (May be omitted depending on the
command.)
c/r 1/f; ---------- OAH, end code
The code to distinguish Extensions 1s &copy;,’ (2CH).
129
Table. 9-1 Command List
Category | No. | Command Extension 1 Extension 2 Extension 3 Command details
1. &iexcl;ORG/ORGN Executes origin return
2. |RESET Program and &iexcl;/O reset
3. |RUN Automatic run start
4. | SHUN Step run start
5 | SRVO 0 | Servo off execution
Servo on execution
6. | X+/X- Axis jog movement
(including inching)
7. | XINC/XDEC Axis jog movement
Robot 8. [MOVD Coordinate values (mm) , Speed Executes direct movement to a
Move- specified position (Coordinate)
ment 9. |MOVA Point number , Speed Executes movement to an absolute
position at a specified speed
10. | MOVI Point number , Speed Executes movement at an increment
at a specified speed A
11. | MOVF Point number , Dinumber |, O or 1 | conditional move to a specified point unless or unt
the specified state of a specified input occures
12. |DO General-use output number |, O General-use output off
, 1 General-use output on
13. | WAIT General-use input number — |, Oor1 General-Use input on
General-Use input off
14. | TIMR Time Wait for specified time
15. IP Point variable Point variable P definition
|16. | Р+ Point variable P increment
17. |P- Point variable P decrement
130
131
Category | No. | Command Extension 1 Extension 2 Extension 3 |Command details
1. |?POS Reads current position
2. 1?NO Reads current program number
3. 17SNO Reads current step number
4. |17PNO Reads current point number
5. 1?STP Program number Reads total number of
steps in specified program
6. |?MEM Reads number of steps
that can be added
7. |?VER Reads ROM version number
8. |?EMG Confirms emergency stop status
9. 1?SRVO Confirms servo status
10. |7ORG Confirms status of return to origin
11. |?MODE Confirms movement mode
12. |?PVA Reads current point variable P
13. |?DI General-use input number Reads general-use input status
Data 14. |?DO General-use output number Reads general-use output status
Handling) 15. |?PRM Parameter number Reads specified parameter data
Parameter number ,Parameter number Reads specified multiple
parameter data
16. |?Р Point number | Reads specified point data
Point number , Point number Reads specified multiple
point data
17. | READ Program number , Step no. , number of | Reads specified program data
PGM step Reads specified all
PNT program data
Reads all point data
PRM Reads all parameter data
ALL Batch reads all program,
point and parameter data
DIO Reads input/output information
INF Reads program register information
18. | WRITE &iexcl;PGM Writes program data
PNT Writes point data
PRM Writes parameter data
ALL Batch writes all program,
point and parameter data
Category | No. | Command Extension1 Extension 2 Extension 3 &iexcl;Command details
1. [INIT PGM Initializes program data
PNT initializes point data
PRM Initializes parameters
2. |SWI Program no. Switches no. of program to
be run
Utility |
3. SINS Program no. , Step no. Inserts one program step
4, |SDEL Program no. , Step no. Deletes one program step
5. |SMOD | Program no. , Step no. Modifies one program step
6. [COPY Original program no. | Destination Copies program
program no.
7. DEL Program no. Deletes specified program
8. PDEL Point number , No. of points Deletes point data
Category | No. Code Command details
Special 1. |1AC (=03H) Interrupts RUN, SRUN, ORG, etc.
codes |2. |7Z (=1AH) | Ends data transmission
(1)
@ORG or @ORGN
This executes a return to origin movement.
If execution ends normally, the machine reference amount is output.
Transmission example: @ORGc/r Vf
Response example 1:
Response example 2:
QRESET
OK c/r 1/f
50%с/г ИЕ
OKc/r 1/f
NGe/r 1f
31: running c/r 1/f
The robot 1s running. Execute the command after stop-
ping the robot.
This returns the program execution step to the first step of the program selected
with the “@SWI’ statement, and turns all general-use outputs (DOO to DO4) off.
The “current position in the program”, used as a reference for the relative move-
ment command (MOVI), and the point variable “P” are also cleared to O.
Transmission example: @RESETc/r ИЕ
Response example 1:
Response example 2:
@RUN
OK c/r 1/f
NGc/r 1/f
31: running c/r 1f
The robot is running. Execute the command after stop-
ping the robot.
This executes a program all the way to the last step.
Transmission example: @RUNc/r ИЕ
Response example 1:
Response example 2:
STOP c/r ИЕ
60: program_end___ c/r Uf
The last step of the program has been executed.
NGe/r 1/f
32: origin_1ncomplete____c/r 1/f
A return to origin has not been carried out. Execute the
command again after returning the robot to its origin po-
sition.
Note: There will be no response if an endless program (program that uncondition-
ally returns to program head at last step) is executed.
132
PELE IEA LL LLL LLL LLL LLL LAA
(4)
@ SHUN
This executes only one step of a program.
Transmission example: @SRUNc/r I/f
Response example 1: OKc/r ИЕ
Response example 2: STOP c/r МЕ
60: program_end___c/r 1f
The last step of the program has been executed.
Response example 3: NGc/r 1/f
32: origin_incomplete dr If.
A return to origin has not been carried out.
Execute the command again after returning the robot to
lts origin position.
e SRVO &lt;parameter&gt;
This 1s used to turn the servo on and off.
Parameter: O turns the servo off, while | turns 1t on.
Transmission example: @SRVO_Oc/r ИЕ
This turns the servo off.
Response example: ОКс/т ИЕ
@X+, (@X-)
This moves the robot to the + or - side, based on the following equation.
Movement distance = PRM26 x 0.01 (mm)
PRM26: Teach movement data
Transmission example: @X + c/r Vf
The axis moves in the + direction by the distance equal to
the movement amount specified above.
Response example: OKc/r Uf
Note: If the robot is a rotary axis, the unit 1s (deg).
@ XINC, @ XDEC
@ XINC moves the robot to the + side and XDEC to the - side, at the movement
speed calculated by the equation below. The robot continues moving until the ~C
code 1s input or the robot arrives at the soft limit.
Movement speed = PRM 25 x PRM 26 (mm/sec)
Transmission example: EG XINC c/r 1/f
The axis keeps moving in the + direction at the speed speci-
fied above.
Response example: OKc/r Vf
Note: If the robot 1s a rotary axis, the unit 1s (deg).
The soft limit will not function unless a return to origin has first been carried out.
133
@ MOVD &lt;coordinate value (mm data)&gt; , &lt;speed&gt;
This moves the robot to a specified coordinate position.
Coordinate value:
Speed:
Transmission example:
Response example |:
Response example 2:
E MOVA &lt;point no.&gt;
The position to be moved to 1s directly specified. If the
robot 1s a rotary axis, the unit is (deg).
A 100-step speed from 1 to 100 can be set, but if PRM30
(program execution speed) 1s set to 100, 100 will be the
maximum rpm.
@MOVD_50.37,100c/r If
Moves the robot to the position at 50.37 mm, at 100%
speed.
OKc/r 1/f
NGe/r 1/f
30: soft_limit_over ___c/r 1/f
The soft limit has been exceeded. Change the point data
or the soft limit parameter.
, &lt;speed&gt;
This moves the robot to the position indicated by the data of the specified point
number.
Point no.:
Speed:
Transmission example:
Response example 1:
Response example 2:
This 1s a number assigned to any of the 255 points from 0
to 254. These points are edited with “€ WRITE_PNT”.
The point variable “P” can also be used.
A 100-step speed from 1 to 100 can be set, but if PRM30
(program execution speed) 1s set to 100, 100 will be the
maximum rpm.
@ MOVA_123,100c/r Vf
Moves the robot to Point 123 at 100% speed.
ОКс/г ИЕ
NGc/r МЕ
30: soft_limit_over___c/r1/f
The soft limit has been exceeded. Change the point data
or the soft limit parameter.
134
(10)
Q MOVI &lt;point no.&gt; , &lt;speed&gt;
This moves the robot from the current position by only the distance specified by
the point number data.
Point no.: This is a number assigned to any of the 255 points from 0
to 254. These points are edited with O WRITE_PNT”.
The point variable “P” can also be used.
Speed: A 100-step speed from 1 to 100 can be set, but if PRM30
(program execution speed) 1s set to 100, 100 will be the
maximum rpm.
Note : No matter where the robot is, the current position immediately after RESET
1s executed will be (0.00). The current position immediately after stop (*C)
1s applied will not always be the same position as where the robot is me-
chanically located. Thus, always use the MOVI statement after an absolute
position specified movement command such as MOVD or MOVA state-
ment 1s executed.
Transmission example: @ MOVI_123,100c/r Vf
Moves the robot by the distance defined by the data of
Point 123, at 100% speed. (If the current position is 100.00
and P123 = 50.00, the target position is 150.00.)
Response example 1: OKc/r ИЕ
Response example 2: №Сс/г ИЕ
30: soft_limit_over_ c/rif
The soft limit has been exceeded. Change the point data
or the soft limit parameter.
@ MOVF &lt;Point no.&gt;, &lt;DI no.&gt;, &lt;parameter&gt;
The robot continues movement to the specified point position until the specified
DI input enters the parameter state. Even if the specified DI input does not enter
the parameter state, the command will end correctly when the specified point is
reached. The movement speed is set with PRM9 (MOVF speed), and is not af-
fected by PRM30 (program execution speed).
Point no.: This 1s a number assigned to any of the 255 points from 0
to 254. These points are edited with “O WRITE_PNT”,
The point variable “P” can also be used.
DI no.: One of the general-use inputs O to 8 1s indicated.
Parameter: | indicates on and O indicates off.
Transmission example: @MOVF_2,5 Ic/r,l/f ... Moves to point 2 until DIS
becomes |.
Response example: OKc/r If
@ DO &lt;general-use output no.&gt; , &lt;parameter&gt;
This is used to turn the general-use output on and off.
General-use output number: There are five general-use outputs, indicated by
numbers 0 to 4.
Parameter: 0 turns the output off, while 1 turns 1t on.
Transmission example: ODO 3,1c/r 1/f
This turns general-use output 3 on.
Response example: OKo/r If
135
(13)
Q WAIT &lt;General-use input no.&gt;, &lt;parameter&gt;
Waits until the specified general-use input enters the parameter state.
General-use input number: One of the general-use inputs O to 8 1s indicated.
Parameter: | indicates on and 0 indicates off.
Transmission example: @WAIT_1,lc/r Vf … Waits until DH becomes |.
Response example: OKc/r Vf
@ TIMR &lt;Time&gt;
Waits until the specified time.
Time: Set between 1 and 65535 in 10ms increments.
Transmission example: @TIMR_100c/r /f … Waits one second.
Response example: OKc/r Vf
EP &lt;Point variable&gt;
This sets the point variable P.
Point variable: A value between 0 to 254 can be specified.
Transmission example: @P_100c/r If... Set point variable P to 100.
Response example: OKc/r Vf
Note: The contents of point variable “P” are held even when the controller power
1s turned off, but when the program is reset or when the program reset is
applied by switching the execution program, etc., the point variable “P” will
be initialized to O.
@P+
Increments the point variable P. (P=-P+1)
Transmission example: @P+c/r l/f
Response example: ОКс/г ИЕ
@ P-
Decrements the point variable P. (P=-P-1)
Transmission example: @P-c/r If
Response example: ОКс/г ИЕ
136
WEIL EEE EE IN em gn ee ак дя А А о де ан о еще т д ат о ge em ee EH ue Pr dr FP IE OR EE I Re RS EE a
AE EEE ESSE ELLE FESS PLES PET PALL Err ITER REEF EEE FREE NEESER EERE EEE pe
(1)
e?POS
Reads the current position.
Transmission example: @?POSc/r 1/f
Response example: 321.05c/r ИЕ
ОКс/г МЕ
@ ?№
Reads the current program number.
Transmission example: @?NO c/r МЕ
Response example |: 31c/r /f … Program NO31 is being exccuted.
Response example 2: — 10/1c/rl/f ... The NOI program is the head program (pro-
gram selected with @ SW1 statement), and currently pro-
gram NO10 1s being executed with the IMP or CALL state-
ment, etc.
ОКс/г ИГ
@?SNO
Reads the current step number.
@RUN and @SRUN are executed from the step read here.
Transmission example: @?SNOc/r If
Response example: 170c/r МЕ
OKc/r 1/f
@?PNO
Reads the currently selected point number. This is used to find which point data is
being used for movement, or to find the point that caused an error when an error
occurs.
Transmission example: € ?PNOc/r Vf
Response example: Sich VE
OKc/r 1/f
E ?S IP &lt;program no.&gt;
Reads the total number of steps in the specified program.
Program no.: One of 32 numbers ranging from 0 to 31 which may be
assigned to a program.
Transmission example: @?STP10c/r Vf
Reads the total number of steps for Program No. 10.
Response example: 140c/r 1/f
OKc/r 1/f
137
(10)
@?MEM
Reads the number of steps that can be added.
Transmission example: @?MEMc/r Vf
Response example: 1001c/r 1/f
OKc/r 1/f
Note: In addition to the number of existing steps, steps equivalent to the number of
programs are consumed internally as the program control steps. For exam-
ple, if one program 1s registered having 50 steps exists, the number of free
steps remaining will be as follows.
1024 - 1 - 50 = 973
Q? VER
Reads the controller ROM version.
Transmission example: Q?VERc/r If
Response example: 4.50 с/х ИЕ
ОКс/г ИЕ
@?EMG
Reads the emergency stop status.
Transmission example: @?EMGc/r ИЕ
Response example 1: Oc/r ИЕ
ОКс/г МЕ
Emergency stop is off.
Response example 2: 1с/г ИЕ
OKc/r 1/f
Emergency stop 1s on.
Qe ?SRVO
Reads the servo status.
Transmission example: @?SRVOc/r Vf
Response example 1: Oc/r I/f
OKc/r 1/f
Servo is off.
Response example 2: Ic/r I/f
OKc/r 1/f
Servo 1s on.
@?0RG
Reads whether or not a return to origin has been completed.
Transmission example: @?0RGc/r ИЕ
Response example 1: Oc/r I/f
OKc/r Е
Return to origin not completed.
Response example 2: 1с/г /f
OKc/r Vf
Return to origin completed.
138
(11)
(14)
Qe? MODE
Reads the robot status.
Transmission example: @?MODEc/r I/f
Response example 1: Oc/r ИЕ
OKc/r 1/f
Robot 1s stopped.
Response example 2: lc/r If
ОКс/г ИЕ
Program from DPB or computer is being run.
Response example 3: 2c/r1/f
OKc/r If
Program from VO 1s being run.
Q ?PVA
Reads the point variable P.
Transmission example: @?PVAc/r I/f
Response example: Oc/r Ut
ОКс/г ИЕ
Note: The contents of point variable “P” are held even when the controller power
1s turned off, but when the program is reset or when the program reset is
applied by switching the execution program, etc., the point variable “P” will
be initialized to O.
E ?DI &lt;General-use input no.&gt;
Reads the general-use input status of the specified number.
General-use input no.: One of the nine general-use inputs from O to 8.
Transmission example: @?DI_lc/r МЕ
Response example 1: Oc/r1/f
OKc/r 1/f
Input status off
Response example 2: 1c/rl/f
OKc/r 1/f
Input status on
e ?DO &lt;general-use output no.&gt; (when ROM version is V1.08 or later)
Reads the general-use output status.
Transmission example: @?DO_2c/r ИЕ
Response example !: le/r1/f
ОКс/г ИЕ
Output 1s on.
Response example 2: Oc/r /f
OKc/r 1/f
Output 1s off.
(15-1) @?PRM &lt;Parameter no.&gt;
Reads the specified parameter data.
Parameter no.: Characteristic number from 0 to 37 assigned to each
parameter.
Transmission example: @?PRMI crl/f
Reads the parameter 1 data.
Response example 1: 350с/г ИЕ
OKc/r Vf
Response example 2: с/т ИЕ
ОКс/г ИЕ
When parameter is not registered.
139
(15-2) E?PRM &lt;Parameter no.&gt;, &lt;Parameter no.&gt;
Reads multiple data from the first parameter number to the latter parameter number.
Non-registered parameters are not displayed.
Parameter no.:
Transmission example:
Response example:
(16-1) E?P &lt;Point no.&gt;
Characteristic number from 0 to 37 assigned to each
parameter.
@”’PRMI,Scrl/f
Reads the data from parameters | to 5.
РКМ 1=350с/г ИЕ
PRM2=0c/r 1/f
PRM3=30c/r 1/f
PRM4=100c/r 1/f
PRM5=0c/r If
ОКс/г ИЕ
Reads the specified point data.
Point no.:
Transmission example:
Response example |:
Response example 2:
Characteristic number from 0 to 254 assigned to each point.
@7P254crl/f
Reads the point 254 data.
-0.0Sc/r 1/f
OKc/r 1/f
c/r 1/f
OKc/r 1/f
When point data 1s not registered.
(16-2) @?P &lt;Point no.&gt;, &lt;Point no.&gt;
Reads multiple point data from the first point number to the latter point number. If
&agrave; non-registered point exists, it will be skipped.
Point no.:
Transmission example:
Response example:
Characteristic number from 0 to 254 assigned to each point.
@”?P15,22crl/f
Reads the data from points 15 to 22.
P15=100.00c/r 1/f
P16=32.11c/r 1/f
P20=220.00c/r 1/f
P22=0.50c/r 1/f
OKc/r 1/f
140
FEELS LLLP AS
El A аи II MIDI EE E EI EI E PEPINO
WA a a EI EI GE I IE PANAS SS SISTE ADAN EA
(17-1) EREAD &lt;program no.&gt; , &lt;step no.&gt; , &lt;no. of steps&gt;
Reads the specified step number data for the specified program number.
If the No. of steps from the designated step to the last step is smaller than the No.
of steps designated with the command, the program will be read out to the last step
and then will end.
Program No.:
Step No.:
No. of steps:
Transmission example:
Response example 1:
Response example 2:
(17-2) @READ PGM
Characteristic No. of &Ocirc; to 31 assigned to each program.
Characteristic No. of | to 255 assigned to each step.
&Agrave; random number from 1 to 255 can be designated.
@READ_3,50,1
Reads one step of data from step 50 in Program No. 3.
MOVA_29,100c/r 1/f
“Z(=1 AH)
OKc/r МГ
NGe/r 1/f
42: cannot_find_step c/r Vf
The specified step number has not been registered.
Reads all of the program data.
Transmission example:
Response example:
(17-3) @ READ PNT
Reads all point data.
Transmission example:
Response example:
(17-4) @READ PRM
@READ_PGMc/r I/f
NOOc/r МЕ
MOVA_0,100c/r ИЕ
JMPF_0,31,13c/r 1/f
NO31c/r Vf
STOPc/r ИЕ
^7(=1АН)
OKc/r 1/t
@READ_PNTe/r ИЕ
PO=0.00c/r ИЕ
P1=350.00c/r 1/f
P2=196.47c/r 1/f
P254=-0.27c/r 1/f
&quot;Z(=1 AH)
OKc/r 1/f
Reads all parameter data.
Transmission example:
Response example:
@READ_PRMc/r I/f
PRM0=20c/r If
PRM1=350.00c/r 1/f
|
|
PRM31=100c/r 1/f
^/(=1АН)
OKc/r 1/f
141
(17-5) @ READ ALL
Batch reads all data (parameters, programs, points). The data groups (parameters,
programs, points) are distinguished only when there 1s a carriage return.
Transmission example: @READ_ALLc/r ИЕ
Response example:
(17-6) @READ DIO
PRMO0=20c1r 1/f
PRM1=350c/r 1/f
|
|
PRM37=100c/r I/f
c/r Vf
NOOc/r Vf
МОУА_0, 100с/г ИЕ
MOVA_1, 100c/r МЕ
NO10c/r Vf
CALL_0, 10c/r 1/f
STOPc/r Vf
c/r Vf
P0=0.00c/r 1/f
P1=550.00c/r ИЕ
NZ (=1AH)
ОКс/г МЕ
Reads the ON/OFF status for DIO.
Refer to the DIO monitor screen in section [4-2-3 Reading the screen 4) for defini-
tions of the displays.
Transmission example: @READ_DIOc&cent;/r ИЕ
Response example:
(17-7) @READ INF
DI_00000000_00000000c/r 1/f
DO_10000000_O:1_S:1_c/r 1
ОКс/т МЕ
Reads the status registered for the program.
A registered program No. and the No. of steps in that program are displayed.
Transmission example: @READ_INFc/r I/f
Response example:
NOO-_43_stepsc/r 1/f
NO1-_52_stepsc/r If
|
|
NO31-_21_stepsc/r 1f
“Z(=1 AH)
OKc/r 1f
142
PLL LLL LLL LLL a a a LLL ALE LLL ALLE APS ;
(18-1) @WRITE PGM
Writes the program data. The controller will transmit READY when this command
1s received. Confirm that READY 1s received, and then transmit the program data.
Always transmit AZ (=1 AH) at the end of the data.
Transmission example: Send Receive
@WRITE_PGMc/r If
READY c/r Vf
NOOc/r I/f
MOVA_0,31,12c/r 1/f
JMPF_0,31,12c/r 1/f
NO31c/r 17
STOPc/r 1/f
&quot;Z(=1AH)
OKc/r 1/f
Note: When WRITE_PGM 1s executed, previous data is left as it is as long as the
program number being written does not overlap a previous program number.
(18-2) @ WRITE PNT
Writes the point data. The controller will transmit READY when this command is
received. Confirm that READY is received, and then transmit the program data.
Always transmit *Z (=1 AH) at the end of the data.
Transmission example: Send Receive
@ WRITE_PNTe/r МЕ
READY c/r I/f
PO=0.00c/r Vf
P1=350.00c/r 14
P254=-0.27c/r Vf
^7(=1АН)
OKc/r Vf
Note: When WRITE_PNT 1s executed, previous data 1s left as it is as long as the
point number being written does not overlap a previous point number.
(18-3) @ WRITE PRM
Writes the parameter data. The controller will transmit READY when this com-
mand 1s received. Confirm that READY is received, and then transmit the program
data. Always transmit AZ (=1 AH) at the end of the data.
Transmission example: Send Receive
@WRITE_PRMc/r If
| READYc/r It
PRM 1=550c/r МЕ
PRM?=10c/r 1/f
AZ(=1 AH)
OKc/r 1/f
143
Eo ЕО ОИ LLL oh AP dd dS A TA SASS SAHA
(18-4) @ WRITE ALL
Batch writes all data (parameters, programs and points). The controller will trans-
mit READY when this command is received. Confirm that READY is received,
and then transmit the program data. Always transmit NZ (=1 AH) at the end of the
data.
Transmission example: Send Receive
@WRITE_ALLc/r If
READY c/r VE
PRM0=20c/r 1/f
PRM1=350c/r 1/1
с/т Vf
NO10c/r 1/f
CALL_0, 20c/r 1/f
STOPc/r МЕ
с/г ИЕ
P1=550.00c/r 1/f
^/(=1АН)
OKc/r ИЕ
Note: Always leave one or more blank space to distinguish the data groups (pa-
rameters, programs, points). There is no specification in the data group row.
There can be data groups that are not written in. When WRITE_ALL is
executed, if the write block is not duplicated with the previous program
number and 1f the previous program number and write point number are not
duplicated, the previous data will not be lost.
144
PLLLILLLI LLE LL? PLL LLL LLL LLL LL LEIA ;
9-43 Utilities
(1-1) @INIT PGM
Initializes all program data.
Transmission example: @INIT_PGMc/r ИГ
Response example: OKc/r 1/f
(1-2) @INIT PNT
Initializes all point data.
Transmission example: @INIT_PNTe/r ИЕ
Response example: OKc/r I/f
(1-3) @INIT PRM &lt;robot type no.&gt;
Initializes parameter data.
Transmission example: @INIT_PRM20c/r ИЕ
Parameter data 1s initialized for the LT standard type.
Response example: ОКс/г ИГ
@ SWI &lt;program no.&gt;
Switches the execution program number. When program reset 1s executed hereaf-
ter, the first step of the program selected here will be returned to. The program will
be reset when the “@SWI' command 1s executed.
Transmission example: @SWI_31c/r МЕ
Response example: OKc/r 1/f
@ SINS &lt;program no.&gt; , &lt;step no.&gt;
Inserts data in a specified step of a specified program. The data following the speci-
fied step will be shifted behind the inserted data. If the step following the last step
1s specified, a new step will be added. If the first step of a program that does not
exist 1s specified, a new program will be created. The controller will transmit
READY when this command is received. Confirm that READY 1s received, and
then transmit the insertion data.
Transmission example 1: Send Receive
@SINS_19,4c/r Vf
READYc/r It
TIMR_50c/r ИЕ
OKc/r 1/f
Transmission example 2: Send Receive
@SINS 19 4c/r If
NGe/r UT
43: cannot_find_PGM c/r 1/f
145
PLL LLL LLL eH Id
(4)
@ SDEL &lt;program no.&gt; , &lt;step no.&gt;
Deletes a step.
Transmission example: ESDEL_ 31,99 c/r 1/f
Deletes Step 99 of Program No. 31.
Response example 1: ОКс/г МЕ
Response example 2: NGc/r I/f
The specified step number has not been registered.
42: cannot_find_step c/r 1/f
@ SMOD &lt;program no.&gt; , &lt;step no.&gt;
Modifies data in a specified step. The controller will transmit READY when this
command 1s received. Confirm that READY 1s received, and then transmit the
modification data.
Transmission example 1: Send Receive
@SMOD_0,5c/r ИЕ
READYec/r If
TIMR_50c/r ИЕ
OKc/r 1/f
Transmission example 2: Send Receive
ESMOD_0,5c/r 1/f
NGce/r If
43: cannot_find PGM c/r If
@ COPY &lt;original program no.&gt; , &lt;destination program no.&gt;
Copies a program. If a program exists in the copy destination, the program will be
rewritten.
Transmission example: @COPY_0,1c/r ИЕ
Copies Program No. 0 to Program No. 1.
Response example I: OKc/r I/f
Response example 2: NGc/r ИР
43: cannot_find_PGM с/т МЕ
The program to be copied has not been registered.
@DEL &lt;Program no.&gt;
Deletes a program.
Transmission example: @DEL_10c/r Uf
Deletes Program No. 10.
Response example |: OKc/r 1/f
Response example 2: NGe/r 1/f
43: cannot_find_PGM c/r 1/f
The program to be deleted has not been registered.
@ PDEL &lt;point no.&gt; , &lt;no. of points&gt;
Deletes point data Deletes the specified number of points starting with the point
number specified.
Transmission example: @PDEL_16,10c/r If
Deletes 10 points starting from Point 16 (up to Point 25).
Response example 1: ОКс/г ИЕ
146
CHAPTER
PEPE LE EE ILLA oo LLL LLL EEE
This section lists all of the messages that can be displayed on the DPB or sent to the personal computer to
inform the operator of an error in operation or to relate a current status. For a list of the alarm messages
displayed if your equipment breaks down, please refer to Chapter 11.
147
10-1
Error Messages
Message transmission format:
[Error No.] : [Error message] cr/If
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 cr/If will be 22 characters.
Table. 10-1 Error Messages Related to Commands
Error No.
20 | Message | no start code
Cause The start code (@) has not been added at the beginning of the com-
mand.
Remedy Always made sure the command begins with a start code (@).
Error No.
21 | Message | illegal type
Remedy Use the correct command.
Error No.
22 | Message | line buf over
— — — — === — — — — оо — о о— = == == — — o = ее оо — — — O — O mem === == == — — = - aed
Remedy Limit the number of characters per line to 30 or less.
Error No.
23 | Message | data error
— — — = == O RO TT ен E AL rem =&quot; = smn RED DL E #—— ——— —————…—— me
— = — TT TT ET TT TA LEE LL E em mm A EE mmm о ЩО
Remedy Correct the data.
148
A A ELLA ELLA ELL LL PEE
Table. 10-2 Error Messages Related to Operations
Error No. 30 | Message | soft limit over
Cause When a command is executed, the robot’s position exceeds the soft
limit set by the parameter.
OD dd nn — A
Remedy Review the point data or soft limit parameter.
Error No. 31 | Message | running
ben 8 — A
Cause Another command is already being executed, so the command cannot
be accepted.
Remedy Wait until execution of the current command finishes before input-
ting another command.
Error No. 3
|-&gt;
&lt;
(D
&oacute;n
LA
oo
ya
D
Message | origin incomplete 1111111)
Cause The command cannot be executed because a return to origin has not
yet been completed.
Remedy Complete a return to origin first.
Error No. 33 | Message | emergency stop
Cause The command cannot be executed because an emergency stop 15 in
effect.
poms A к mam A AR AD sm AL же E E ны ен ее = == = == = = = = = = = mem me Ш 2. EE 8 mmm wee A ee ere a —
Remedy Cancel the emergency stop.
Error No. 34 | Message | servo off
Remedy Turn the servo on.
149
PD lt ol I ol ol J J J I J J J J GR J JR pe ge ge gn ge J gm ge eg DOr Re J ge de J gd pm gh dm gh Le ge ge ge gm gu Le ge gw hm mm me Dm um Gb fe av mm wm de Be BY de a ll Be me ar I DB de BN a ae A NE Ae me me mt am bm an me
ma RE EE EE EE EE E SSPD
Table. 10-3 Error Messages Related to the Program
Error No. 40 | Message | stack overflow
| Cause | More than six successive call statements have been used within a call
statement.
| Remedy | Call statements can only be used up to 5 times within a call statement. |
Error No. 41 | Message | cannot find label
Cause | The specified label cannot be located. |
‘Remedy | Create the required label. 7]
Error No. 42 | Message | cannot find step
| Cause | The specified step cannot be located.
| Remedy “| Check whether the step number is the wrong one. |
Error No. 43 | Message | cannot find PGM
Cause | The specified program cannot be located. |
| Remedy | Check whether the program number is the wrong one. |
Error No. 44 | Message | PGM memory full
Cause The total number of steps in all of the programs has exceeded 1024. —
Remedy | Delete unnecessary programs or steps. TS
Error No. 45 | Message | step over
Cause | The total number of steps in one program has exceeded 255.
| Remedy | Delete unnecessary steps or split the program into two parts. |
150
вое Je JR gs ge gn ee Jn ge ae ee ge Je gm а&quot; gn Je Ju J ge ee gw gm in JN Ju Ju gm gw JN JN JF J J JN J J J J J J Je i J J et BS ah ge ge ie ge le gm J Jr Je ge ae Sm Ln ae mm J J J EE NE OF EE EE EE EE PR RR ie a re Ee Ee i a ar ar Be ae Be Rt Ba a md
Table. 10-4 Error Messages Related to the System
Error No. 50 | Message | system error
Remedy Contact Yamaha and describe the problem.
Error No. 51 | Message | illegal opecode
Remedy Check the program.
Error No. 52 | Message | no point data
A er mm om em em em mm |
Remedy Register the point data.
Error No. 53 | Message | PRMO data error
Cause The robot type number has been set incorrectly.
| Remedy “| Check the robot type number table and correct the parameter initiali- |
zation.
Error No. 54 | Message | PRMS data error
Cause | The number of conditional input points is set to something other than |
1-8.
Remedy Correct the setting for the PRM $ parameter.
151
Table. 10-5 DPB Error Messages
Message SIO error
Cause | 1. Parity error in data received from controller. ___—&deg;
! 2. DPB was connected when special-use command input was on.
&quot;Remedy | |. Contact Yamaha for consultation. ~~
2. Turn all special-use command inputs off before connecting the DPB.
Message bad format
2 Cause | The memory card is not formatted. TT
| Remedy , Format the memory cad. О
Message save error
3 Cause | Error in writing to the memory card. |
&quot;Remedy — | Replace the memory card. ~~
Message load error
4 Cause | The memory card data is damaged. ST
Remedy — | Replace the memory card. ~~
Message checksum error
5 Cause | The memory card data is damaged. |
“Remedy — | Replace the memory card. ~~]
Message battery error
6 Cause | The memory card battery voltage dropped. &lt;&gt;]
Remedy — | Replace the memory card battery. 28
Message printer busy!!
7 Cause | The printer is not ready. ~~ О
&quot;Remedy — | Set the printer in the PRINT status. ~~ |
The above messages are displayed only during DPB operation.
152
Addl FFF FFF PA FE PELE FEEL TLE TESS ESTAR TELL LEELA LLL STALLS PEEL LELLE ELLEN FPL PEA PELE PAE ETERS EET
| 0-2 Stop Messages
Message transmission format:
[Error No.] : [Stop message] cr/If
The length of the [stop message] character string is 17 characters. (Spaces are added
until the message contains 17 characters.) Thus, the character string length containing
the cr/1f will be 22 characters.
Table. 10-6 Stop Messages
Message | program end
No-60 | Meaning | Execution has stopped because the program has ended. TT
| Message | stop key
No-61 Meaning | Execution has stopped because the Stop key on the DPB was pressed.
| Message | interlock
NO-02 | Meaning | Execution has stopped because an МО interlock was applied. |
Message | stop command
No.63 | Meaning” | Execution has stopped because the STOP command was received.
153
MEMO
154
CHAPTER 777770000000
1%=1 Breakdowns
The steps to be taken when a breakdown occurs are divided into two general categories,
depending on whether or not a controller alarm is output. When contacting Yamaha
regarding a breakdown, please include the following information, in as much detail as
possible.
Table. 11-1 Information Needed to Access a Breakdown
Item Content (Example)
What 1s the name of the model? * Controller model name: SRC-1-100...
* Robot type name: LT, BS, LS...
When did the problem happen? * Did the problem occur right after the unit was
purchased?
* How long was 1t used for, and under what
conditions, when the problem occurred?
+ Did it happen when the power was turned on?
One hour after the power was turned on?
Under what conditions did 1t happen? * During automatic operation
* While writing a program
* The position of the robot when the problem occurs
What happened when the problem occurred? | * The servo doesn’t lock.
* An alarm 1s output.
* The motor makes an unusual sound.
* A program disappeared.
How frequently does the problem occur? * The problem always occurs.
* It occurs once an hour.
* It can't be reproduced.
156
PEE INLET LI J E IE EI E ge gk er gm gc Ge le gem ще А о РРР недоедания о ще що ae
11-2 Handling Alarms
Whenever the READY signal goes off, if the equipment is not in emergency stop status,
an alarm is judged to have been output. If this happens, please leave the power on and
connect the DPB, in order to check the contents of the alarm. An alarm message will be
displayed on the DPB to let you know the content.
(Example)
Alarm No.———t- 01: OVER LOAD——— Alarm Message
The Table 11-2 lists the alarm number, the corresponding message, the probable cause of
the alarm, and indicates what to do in case of an alarm. After an alarm has occurred,
operation cannot be restarted until the power has been turned off and then on again.
Table. 11-2 Alarm and Solutions
Alarm No.| Alarm Message Meaning Probable Cause Remedy
01 OVER LOAD Excessive load on | (1) The current flowing to the motor | (1) Lower the operational load on the
motor has exceeded the rated value. robot.
Reduce the acceleration parameter.
(2) Defective motor (2) The armature resistance of the motor
is too low. If the motor feels
unusually heavy and resists being
turned by hand. replace it.
(3) Defective parameter (3) Initialize the parameter.
02 OVER Excessive current | (1) Shorted motor cable (1) Test the motor cables for
CURRENT to motor conductivity, and replace any that
have problems.
(2) Defective motor (2) Replace the motor if there are any
internal short circuits.
(3) Defective controller (3) If the resistance between motor
terminals U and V is less than 1 КО,
the output transistor is broken and the
controller should be replaced.
(4) Defective parameter (4) Initialize the parameter (check the
robot type).
03 OVER HEAT [Transistor has (1) Rise in ambient temperature (1) Correct the ambient environmental
heated to 90&deg;C or (within 40&deg;C) conditions.
above. (2) Excessive load on motor (2) Lower the operational duty on the
robot.
(3) Defective transistor (3) If the equipment is being used
correctly, the transistor may be
defective. so the controller should be
replaced.
157
Alarm No. | Alarm Message Meaning Probable Cause Remedy
04 POWER DOWN |Power supply (1) Insufficient capacitance of power |(1) Check the power supply capacitance
voltage has drop- supply line and increase it if necessary.
ped to less than (2) Wrong power supply voltage (2) Check the voltage specifications of
90% of rated value. being used the controller on the seal affixed to it.
05 BATT.LOW- Low voltage in (1) Battery life is up. (1) Replace controller.
VOLTAGE backup battery (2) Defective battery (2) Replace controller.
06 WIRE TROUBLE | Motor or encoder | (1) Motor cable is disconnected or (1) Check motor cable connections.
cable is improperly wired.
disconnected or (2) Encoder cable is disconnected or (2) Check encoder cable connections.
wired incorrectly, improperly wired. (3) Apply 24 V to brake line and check
(3) Defective or disconnected brake release.
electromagnetic brake (4) Confirm 1/0 wiring
07 P.E. COUNTER |Overflow in (1) Mechanical lock (1) Check whether mechanism in
OVER position deviation movable part of robot is locked.
(2) Motor cable is disconnected or (2) Check encoder cable connections.
improperly wired.
(3) Abnormal parameter (3) Initialize parameter.
08 PNT DATA Point data has (1) Defective backup circuit (1) (2)
DESTROY been damaged. (2) Power was turned oft while In emergency stop status, turn on the
writing data. power supply and check the point
data. If part of the data is defective,
correct it. If all of the data is
defective. initialize the point data and
then reload it. If there is no problem
with the data, any data can be used, so
substitute different data for the
damaged points.
09 PRM DATA Parameter data (1) Defective backup circuit (1) (2)
DESTROY has been (2) Power was turned off while In emergency stop status, turn on the
damaged. writing data. power supply and initialize the
parameters.
10 PGM DATA Program data has | (1) Defective backup circuit (1)(2)
DESTROY been damaged. (2) Power was turned oft while In emergency stop status, turn on the
writing data.
power supply and check the point
data. If part of the data is defective,
correct it. If all of the data is
defective, initialize the point data and
then reload it. If there is no problem
with the data, any data can be used, so
substitute different data for the
damaged points.
158
a LLL A LLE LILLE LLL
Alarm No.
Alarm Message
Meaning
Probable Cause
Remedy
11 SYSTEM FAULT | Software problem | (1) External noise or other factors (1) Check the environment for noise.
have disrupted software program.
(2) Reception buffer overtlow (2) Select XON/XOFF control
When communicating with a
personal computer, the XON/
XOFF control communication
parameter has not been selected
on the personal computer side.
12 BAD ORG- Origin sensor (1) Origin sensor wire breakage (1)
SENSOR defect (2) Origin sensor defect (2) Replace the origin sensor ass'y
(3) Incorrect origin dog adjustment (3) Readjust
13 BAD PZ Encoder Z-phase | (1) Encoder PZ-phase wire breakage |(1) Repair wiring or replace motor ass'y.
defect (2) Encoder defect (2) Replace motor ass'y.
14 FEEDBACK Reverse (1) Reverse connection of motor wire | (1) Check motor wire connection.
ERROR] connection of (2) Reverse connection of encoder (2) Check encoder wire connection.
motor and wire
encoder wires (3) Incorrect parameter (3) Initialize parameters.
15 FEEDBACK Breakage in (1) Motor wire breakage (1) Check motor wire connection.
ERROR2 motor or encoder | (2) Encoder wire breakage (2) Check encoder wire connection.
wire (3) Incorrect parameter (3) Initialize parameters.
(4) Drop in voltage at stopper origin |(4) Check power capacity.
Continuous (5) Collision against obstacle within | (5) Remove obstacle
generation of axis movement range
limit current
(approx. 0.2 sec.)
16 ABNORMAL Regenerative (1) Rise in regenerative absorption (1) Lower the robot rotation duty.
VOLTAGE circuit did not resistor temperature(over 120&deg;C). Install a forced cooling fan.
function and (2) Controller defect (2) If there is no problem in the usage. the
abnormal regenerative circuit is defective,
overvoltage Replace the controller.
occurred
17 SYSTEM Detection of (1) Internal LST is defective or (1) If the fault occurs after an emergency
FAULT 2 controller internal malfunctioning stop or servo ON/OFF, turn the power
LSI error
ON again. If the fault occurs
frequently, the LSI is defective so
replace the controller.
159
CAUTION
(1)
(2)
If an alarm listed on the previous page occurs when the power is turned on, try
turning on the power while an emergency stop is in effect. Alarm detection is not
carried out under these circumstances, so data can be checked, corrected, and ini-
tialized. Alarm detection will resume once the emergency stop is canceled and the
servo is turned on.
The one exception to the above is detection of low voltage in the backup battery.
Use the DPB operations or the I/O Reset signal to turn on the servo during an
emergency stop if this alarm occurs when the power is on. This alarm is the only
one for which detection 1s not carried out when the servo is turned on after canceling
an emergency stop.
160
PULL E LLL LLL A LLL LL ELLE
Handling Other Types of Breakdowns
If any problems develop while the equipment is being used, check the items below for
the appropriate way to handle them. If the problem cannot be corrected using the steps
listed below, please contact a Yamaha dealer or representative right away.
Table. 11-3 Breakdowns and Solutions Involving Robot Movement
Symptom
Probable Cause
Items to Check
Remedy
The servo of the robot
does not lock when
the power is turned on.
1) Power is not being
supplied.
Check whether the &quot;POWER&quot; lamp
on the controller panel is lighted.
2) An emergency
stop is in effect.
If the READY signal of the I/O
connector 1s off and no alarm has
been issued, an emergency stop is in
effect.
Check whether the Emergency Stop
switch of the DPB or the I/O emergency
stop input (between EMG1 and EMG2) 15
on.
3) The servo is off.
Turn on the servo using either the VO
Reset signal or DPB operation.
4) An alarm has
occurred.
Connect the DPB and check whether
an alarm 15 displayed.
Take the appropriate measures for
handling the alarm.
Abnormal noise or
vibration is occurring.
|) &Agrave; coupling has
not been tightened
properly.
1) Check parts that should be
tightened.
1) If any couplings are loose, tighten
them.
2) A screw 1s loose
in the cover.
2) Check the locations where the
cover is attached.
2) If screws are loose. tighten them.
161
No
Symptom
Probable Cause
Items to Check
Remedy
2 | Abnormal noise or 3) Surfaces where the | Measure degree of leveling. Correct if outside the tolerance limit.
vibration is occurring. robot 1s attached are
not flat and even.
4) Guide abnormality |Check for foreign matter, damage, or |Replace the guide.
deformation. Check to make sure guide is being used
properly.
5)Ballscrew Check for foreign matter, damage, or |Replace the ballscrew.
abnormality deformation. Check to make sure the robot is being
used properly.
6) Bearing Inspect for noise or vibration around
abnormality the axes.
7) Defective encoder | Try replacing the motor. H operation returns to normal, replace the
motor.
&amp;) Detective motor Measure to see 1f the resistance If the resistance value is too high, repair
case grounding between the motor case and the F any places where the robot cable is
terminal of the controller is 1€2 or less. [disconnected or not connected properly.
9) Defective Try using a different controller. If operation returns to normal, replace the
controller controller,
Check the controller model
3 When a position offset | 1) A coupling is not |Check the coupling that should be If loose, tighten.
occurs. at first leave
the power on and
execute a return to
origin. Depending on
the results of the
return to origin, there
are two possible
causes of the problem:
If the position offset is
not corrected by the
return to origin:
|
Mechanical offset-see
causes | to 3
If the position offset is
corrected by the return
to origin:
|
Electrical offset-see
causes 4 to 6
tightened correctly.
tightened.
2) A ballscrew is
loose.
—
3) Defective robot
attachment
Make sure there are no loose parts
where the robot is attached.
4) Defective encoder
Try replacing the motor.
If operation returns to normal, replace the
motor.
5) Erroneous
movement because
of noise
Check whether the motor case is
grounded.
Measure the resistance between the
motor case and the E terminal of the
controller to see if itis 1 Q or less.
Check whether the E terminal of the
controller is grounded.
Check connections or cable and
connectors.
Also, if using the equipment near a unit
that generates noise, such as welding
machines and electric discharge
machines, move it as far away as
possible. If the entire unit cannot be
moved, at least move the power supply
away. Noise filters and isolating
transformers can also be inserted.
6) Defective
controller
Try using a different controller.
If operation returns to normal, replace the
controller.
162
ЗОО ООО LLP LLL PLE PEA ELLE EEE
No Symptom Probable Cause Items to Check Remedy
4 |When a return to 1) Robot type Connect the DPB and contirm the robot
origin is carried out, mismatch type.
the alarm stops after
the robot bumps into | 2) Detective origin Remove the cover and check the sensor | If the LED does not respond, replace the
the stroke end point sensor operation by looking at the LED, origin point sensor,
(overload). Origin position: LED goes out.
* With the FT, BS, LT, Other positions: LED lights.
and LS types, no Confirm with the DPB DIO monitor
origin point sensor is that the origin sensor signals turns
used, so cause | ON/OFF.
cannot apply.
3) Defective encoder &iexcl;Check the zero signal of the encoder Tf PZ is not output, replace the motor.
or encoder cable (robot 1/O PZ signal) with an
oscilloscope.
Zero position:0 V
Other positions: 5 V
4) Erroneous or Sub-parameter PRM 13 should be set |If PRM 13 is abnormal, try initializing
defective setting of to |. the parameter.
parameter
5 |When the power is |) Motor cables have [Check connections of E, U, Y, W on | Make the connections correctly.
turned on, the robot been reversed. controller terminal base.
moves at high speed.
* The controller has a | 2) Defective encoder &iexcl;Remove the motor cover and check If SY and OY are normal but PA or PB is
built-in sensor to the encoder signals (PA, PB, 5V, 0V) &iexcl;not output, the encoder is defective. and
detect disconnected with an oscilloscope. the motor should be replaced. In any
cables. but the items other instances, see the following item.
at the right should
be checked anyway. | 3) Defective Check the encoder signals (PA, PB. {1 5V and OV are normal but PA or PB is
connection of SV. 0V) of the robot I/O connectors [not output, see the previous item. If SV or
encoder cable or with an oscilloscope. OV is abnormal, check for improperly
connector connected cables or connectors and
correct them.
6 |The robot speed is I) Erroneous setting If they do not match. initialize the
abnormally fast or
slow.
of parameter
parameter and input the correct value.
163
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Table. 11-4 Breakdowns and Solutions Involving МО Interface
Symptom
Probable Cause
Items to Check
Remedy
ed]
OUT signal cannot be
controlled.
1) Error in external
wiring
Check wiring,
Referring to the diagram in the instruction
manual, connect the wiring correctly.
2) Error in program
Connect the DPB and check the
program,
Change the program.
3) Output transistor
has broken down.
Measure the voltage at the PLC input
terminal.
ON: 0.5 V max.
OFF:+24
Replace the controller.
bo
The robot does not
move even though the
DI command signal is
input.
1) Return to origin has
not been completed.
Execute the return to origin properly.
2) Program cannot be
executed.
Connect the DPB and check the
conditions.
3) Signal pulse width
18 too narrow.
Input does not turn OFF until BUSY
turns &Oacute;N,
4) Interlock signal has
remained off.
Check the signal (PLC output LED,
ete. ).
5) Another DI
command signal is
on somewhere.
Check the signal (PLC output LED,
etc.).
164
CHAPTER SE
ATTE LEE FEEL EEE E LIL LI EEE LIL III III COPE III LI LIIIIIFIPESPIIILICLIPIIIIFISILIIEIEL—PEFELLLI &Eacute;SE PIES EFEPEIADRALAN EEE
robot.
12-1 Warranty
The following warranty is provided to cover any problems that may arise with the Yamaha
robot you have purchased.
Warranty Content:
Any breakdowns occurring as a result of genuine Yamaha parts used in the construction
of Yamaha robots, in the materials used in those parts, or in the construction of the robot
itself, will be repaired at no expense to the purchaser. (This is hereafter referred to as
“Guaranteed Repair™.)
Warranty Period:
This Warranty remains in effect until any of the following occur:
I) Eighteen months have passed since the date of shipping.
2) One year has passed since the date of installation.
3) 2400 hours of running time have passed.
Items Not Covered by Warranty
The tollowing items are not covered by the terms of this Warranty.
1) Problems occurring as a result of time passing or wearing down after extensive
usage (natural discoloration of the paint, plating, and other materials; deterioration
of consumable parts, etc.).
2) Minor and abstract phenomena which have no effect upon the quality or functions
of the robot (noise generated by the computer, motor rotation noise, etc.).
Repair of problems attributed to the following causes is not covered under the terms of
this Warranty.
1) Damage mcurred as a result of earthquake, typhoon, flood damage, lightning, and
other natural disasters; accident, fire, etc.
2) Improvement or additions not authorized by Yamaha or a Yamaha dealer or repre-
sentative
3) Use of parts other than genuine Yamaha parts or application of grease other than the
specified type of lubrication grease
4) Deficient or erroneous maintenance and inspection
5) Servicing by other than a specified dealer or agent
166
DLL PDF &Eacute;D IEEE EEE LLL LLL LLL LLL
12-2 Changing the Power Supply Voltage
Specifications
Power supply
switching
terminal
If the controllers power supply voltage specifications must be changed, refer to the fol-
lowing description.
Incorrect wiring could cause trouble, so take special care when wiring.
Remove the plastic cover on the left side as viewed from the front of the controller.
2. Two boards can be seen. Referring to the Fig. 12-1, change the power supply speci-
fications on the power board at the lower position.
The power supply switching terminals are located on the left side of the power
board (next to the cement resister marked R24). When changing to the 100V/115V
power supply specifications, connect the wire harness to the connector marked 100V.
When changing to the 200V/230V power supply specifications, connect the wire
harness to the connector marked 200V.
3. Reattach the controller plastic cover in the original position.
4. Remove the power supply adhesive label on the side of the controller and affix the
label indicating the correct power supply voltage.
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Fig. 12-1 Layout of ERC Controller Interior
167
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12=3 Battery replacement methods
Cover 3
Cover 1
The ERC backup battery 1s fixed with soldering, so special care is required during the
replacement process.
(Replacement method)
1.
2.
Lo
Remove covers |, 2 and 3. (Refer to Fig. 12-2)
Loosen the screw installing the PCB and cover 4, and slide the cover to remove it.
(Refer to Fig. 12-2)
Remove the control board from the power board.
Remove the battery (BT, refer to Fig. 12-3) on the control board using a solder
vacuum device, etc., and replace with a new battery. (Tilt the battery slightly.)
Install the PCB and cover.
Replace the battery within 30 minutes when possible. The internal memory could
be lost 1f the replacement takes too long.
Cover 4
Control board assembly
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Fig. 12-3. Controller exterior
168
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12-4, Replacing the ROM
Yamaha may request, on occasion, that you replace the ROM in your equipment. The
method for doing this is described below.
* When the ROM is replaced, it is possible that all data in the controller will be lost.
Please make sure data has been backed up on an IC card before replacing the ROM,
* Pull out the ROM shown in Fig. 12-3, from the socket with tweezers or similar tool.
When removing, take care not to damage the ROM and socket.
* When inserting the new ROM, pay attention to which way it is facing, and be careful
not to bend the pins.
After replacing the ROM, all data should be initialized.
169
MEMO
170
CHAPTER 19. NN
PLE ZII E IEEE LLL LL ELLE ETE
SAFETY
Considerations are made for the Yamaha robot controller for export to Europe so that the following safety
standards are complied with.
(DEN 292-2 :Set. 1991
Safety of machinery- Basic concepts, general principles for design
Part 2: Tecnical principles and specifications
2) 60204-1 :Oct. 1992 (IEC 204-1)
Safety of machinery- Electrical equipment of machines
Part 1: General requirements
3) 775 :Oct. 1992 (ISO 10218)
Manipulating industrial robots- Safety
(0) 150 9946 :1991
Manipulating industrial robots-Presentation of characteristics
171
13=&quot; ERC Controller
Table. 13-1 Sbared Controller Specifications
Specification item
Details
Power supply
Applicable motor capacitance
200V 100W max.
Max. power consumption
400VA max.
Used power supply voltage
Single-phase 100/115/200/230V, within 10%, 50/60Hz
Exterior External dimensions W242 x H87 x D148
Weight 1.5Kg
Axis control | No. of controllable axes I axis
Control method
Software servo PTP
Position detection method
Incremental pulse encoder with zero pulse
Speed setting
100-step setting possible per program step
Acceleration/deceleration setting
Automatically set according to robot type and transpor-
tation weight. 100-step setting is also possible with ac-
celeration parameter.
Servo adjustment
Handled with parameters (special). Servo gain, current
limit, etc.
No. of encoder pulses
Set with parameters (special). (8192P/R )
Lead length
Set with parameters (special). (Smm to 36mm)
Memory ROM 32Kbytes
RAM 8Kbytes with lithium battery backup (5-year life)
No. of program steps 1024 steps/total or less, 255 steps/program
No. of programs 32
No. of points 255 points
Teaching method MDI (coordinate value input), teaching playback, direct
teaching
Auxiliary memory unit IC memory is available as DPB option
I/O ГМО input General-use 9 points, special-use 7 points
I/O output General-use 5 points, special-use 3 points Open collec-
tor output
Brake output Relay output (24/300mA for brake)
Origin sensor input Connection of DC24V sensor is possible. Note that de-
pending on the motor specifications, origin search with
stroke end detection can be used with the parameters.
Emergency stop input Normal closed contact input (origin return not required
after emergency stop is released)
Serial interface One RS-232C channel (for communication with DPB or
general purpose personal computer)
General Ambient temperature 0 to 40 degrees
specifi- Storage temperature -10 to 65 degrees
cations Ambient humidity 35 to 85%RH (with no condensation)
Noise withstand level
[500V, lusec
172
Ho a EB LEAL LLL 13
Table. 13-2 Robot Type Number
Motor capacity 50W 60W 100W 200W
Robot model name | FROP-Ft | FTt | PS | BSt |IBPS| FSt | LSt | LTt | LRt | BFSt | FROP-St | BLSt)
Standard structure 16 10 1 10 | 12 | 13 | 28 | 20 | 20 | 22 25 17 26
-B 13 20 | 20 | 22
*) A 200W motor is used with power equivalent to a 100W motor
Speed limit is provided for the robots listed below. The speed of these robots will not
exceed this limit even 1f a higher speed 15 specified.(Refer to Table. 13-3)
Table. 13-3 Speed Limit
Robot model name
Speed limit (maximum speed of SRCA)
FSt 900mm/s (1000mm/s)
LSt/ LTt 900mm/s (1000mm/s)
LRt 900mm/s (1000mm/S)
BES! 1000mm/s (1200mm/s)
173
PLPLILI LLE a LLL LLL LLL DLL LILLE На
13-2 DPB
Table 13-4 DPB Specifications
Specification Item
Details
Keyboard
28 keys, membrane switch + Emergency Stop switch
Display
Liquid crystal, 20 characters x 4 lines
Auxiliary memory device
Memory card (8 KB/64KB SRAM, battery backup system)
Serial interface
RS-232C, one channel, for communications with controller
Power supply
Supplied by controller or AC adapter (9 V)
Power consumption
5V 200 mA max.
Ambient temperature
0&deg;C to 40&deg;C
Ambient humidity
35 to 85% RH (with no condensation)
External dimensions
W 107 x H 235 x D 47
Weight
590 g
Cable length
Standard 3.5 m
174
CHAPTER
&Eacute; PLELIVLLL PL LLL LLL LLL ELLE PILES ELLIS ELL LEI LIL LIL LLLL LLEIDA DSELILLE YI LLL LLL LLENA
m
14-7 Handling the Memory Card
The memory card is a device that can be connected to the DPB programming unit, which
1s used with the ERC controller, so that program data can be backed up.
With one 8K card enough data for 1 ERC units can be backed up. With one 64K card
enough data for 10 ERC units can be backed up.
1. Using the card
a) Insert the card in the DPB as shown in Fig. 14-1.
b) For the backup procedure, please refer to Chapter 8-4 “Using Memory Card”.
Terminal
DPB
Fig. 14-1 Memory Card
Holder Holder terminal
Fig. 14-2 Battery Holder (viewed from rear)
2. Precautions when using the card
a) Make sure the card 15 inserted all the way, until some resistance is felt.
b) Be careful not to insert the card facing the wrong direction. The YAMAHA seal
should be facing upward. (A pin 1s provided on the card to keep it from being
inserted the wrong way.)
c) The card should only be withdrawn while the power to the DPB is on.
d) Never eject the card while backing up data.
e) The card should be used under the following environmental conditions:
Ambient temperature range : -10 to 40&deg;C
Ambient humidity range : Relative humidity 85% max.
Storage temperature range : -20 to 60&deg;C
f) Do not leave the card stored inside the DPB, as this can shorten the life of the
battery.
The battery life 1s approximately 5 years at an ambient temperature of 25&deg;C.
If the battery voltage drops, a message appears on the DPB. Refer to Fig. 14-2 to
replace the battery.
176
Wi i Jr gr III TIT IET IE IET II EII II EMI ENS EI EEE PEI EI EI EII CEEI ELLO OA
14-2 Handling the I/O Checker
1. An overview
This device 1s connected to the I/O connector of the ERC Controller made by
Yamaha Motor Corporation. When connected, the unit functions as a monitor for
pseudo-input created by means of switches, and for LED monitoring input and
output.
2. Connecting the I/O checker
(1) Connector marked &lt;Fujitsu&gt;
Connect this to the connector marked &lt;I/O&gt; on the control panel.
(2) Connector marked &lt;JAE 34P&gt;
Connect this to the &lt;CN1&gt; connector at the right of the I/O board, and make sure
it locks.
(3) To the &lt;CN2&gt; connector on the left of the I/O board, plug in the connector that
will be joined to the &lt;I/O&gt; connector of the ERC Controller.
A voltage of 24V must be applied to CN2 from the PLC or external power supply.
СМ CNT
e
ВЕ
e
=
I/O connector
||
I/O checker ERC
PLC, external 24V power supply
Fig. 14-3 How to handle the 1/0 Checker
177
3. Operation method
(1) The LED monitor goes on (lights) and off (goes out) in conjunction with the input
and output.
(2) The pseudo-input switch is on when set to the upper side and off when set to the
lower side.
However, the &lt;INTERLOCK&gt; and &lt;EMG&gt; switches are opposite; they are on
when set to the lower side and off when set to the upper side.
Thus, if all of the switches are set to the lower side at first, the unit can be used for
pseudo-input and as an I/O monitor.
(3) The input selector switch can be either in the EXTERNAL (upper) or INTER-
NAL (lower) position. Signals from both I/O checker and external equipment
such as a PLC can be received.
CAUTION
deere As TUS НИ НН ОНИ АНИ HB IU GM A O A A A AA A
The standard 1/O checker for the SRC Series cannot operate the ERC. A modification to
the 1/O checker is necessary to operate the ERC. Please consult YAMAHA or YAMAHA
sales representatives for modification.
178
YAMAHA SINGLE-AXIS
ROBOT CONTROLLER
ERC SERIES
E OWNER'S MANUAL EH
November.1999
&copy;IM Company
A divisional operation of YAMAHA MOTOR CO.,LTD.
All rights reserved. No part of this publication may be
reporoduced in any from without the permission of
YAMAHA MOTOR CO. LTD.
GS YAMAHA
YAMAHA MOTOR CO., LTD.
IM Company
An In-house Company
of YAMAHA MOTOR CO., LTD.
882 Soude, Nakaku, Hamamatsu,
Shizuoka, 435-0054, Japan
Telephone (Sale promotion division)
81-53-460-6103
Telephone (Service division)
81-53-460-6140
Facsimile 81-53-460-6811
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