manuais Yamaha SRCP

Yamaha SRCP Manual do Utilizador (246 páginas)

Marca: Yamaha | Categoria: Hardware | Tamanho: 1.68 MB |

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Índice

User’s Manual

1

General Contents

3

Chapter 1 OVERVIEW

9

OVERVIEW

10

1-2 Setting Up for Operation

11

1-3-1 SRCP controller

12

1-3-2 TPB

15

1-4 System Configuration

16

1-5 Accessories and Options

17

INSTALLATION AND CONNECTION

19

2-1-1 Installation method

20

2-1-2 Installation location

20

2-2-1 Power supply

21

22

2-3 Grounding

23

2-5 Connecting to the Robot

24

Use the interconnection

27

Chapter 3 I/O INTERFACE

29

3-1 I/O Signals

30

3-2 Input Signal Description

31

I/O INTERFACE

32

3-2-4 Interlock (LOCK)

35

3-3 Output Signal Description

36

3-4 I/O Circuits

38

3-5 I/O Connection Diagram

40

3-6 I/O Control Timing Charts

42

3-6-5 When alarm is issued

47

BASIC OPERATION OF THE TPB

49

1EDIT2OPRT3SYS 4MON

50

4-2 Basic Key Operation

52

4-3 Reading the Screen

53

4-3-4 DIO monitor screen

54

Chapter 5 PARAMETERS

59

5-1 Setting the Parameters

60

5-2 Parameter Description

61

PARAMETERS

62

Chapter 6 PROGRAMMING

75

6-1 Basic Contents

76

6-2 Editing Programs

77

PROGRAMMING

78

6-2-2 Creating a new program

80

6-2-3 Adding a step

81

6-2-4 Correcting a step

83

6-2-5 Inserting a step

84

6-2-6 Deleting a step

85

6-3 Program Utility

86

6-3-2 Deleting a program

87

Chapter 7 EDITING POINT DATA

89

7-1 Manual Data Input

90

7-2 Teaching Playback

91

EDITING POINT DATA

92

7-3 Direct Teaching

93

7-6 Deleting Point Data

97

Chapter 8 ROBOT LANGUAGE

99

8-1 Robot Language Table

100

ROBOT LANGUAGE

101

8-2-2 Variables

102

8-3 Program Function

103

8-4-1 MOVA

104

8-4-2 MOVI

104

8-4-4 JMP

105

8-4-3 MOVF

105

8-4-5 JMPF

106

8-4-6 JMPB

107

8-4-8 CALL

108

8-4-9 DO

108

8-4-11 TIMR

109

8-4-19 TOFF

113

8-4-23 MOVM

117

8-5 Sample Programs

122

Chapter 9 OPERATING THE ROBOT

133

OPERATING THE ROBOT

134

9-5 Emergency Stop Function

142

9-7 Displaying the Variables

145

Chapter 10 OTHER OPERATIONS

147

10-1 Initialization

148

10-2 DIO Monitor Display

150

OTHER OPERATIONS

151

10-4 SERVICE mode function

152

[SYS-SAFE-SVCE-SET]

156

SERVICE mode = 1

156

0:Invalid 1:Valid

156

10-5 System utilities

159

10-6 Using a Memory Card

160

Formatting a memory card

164

COMMUNICATION WITH PC

177

2. Data handling

182

Robot movements

184

Data handling

193

Utilities

205

Chapter 12 MESSAGE TABLES

209

12-1 Error Messages

210

MESSAGE TABLES

211

Operation error message

211

Program error message

212

System error message

213

Multi-task error message

213

12-2 TPB Error Messages

214

12-3 Stop Messages

215

Chapter 13 TROUBLESHOOTING

219

13-1 If A Trouble Occurs

220

TROUBLESHOOTING

221

Alarm specifications

221

Alarm message list

222

If this occurs

226

Relating to the I/O

227

MAINTENANCE AND WARRANTY

231

14-1 Warranty

232

14-3 Updating the System

234

Chapter 15 SPECIFICATIONS

235

15-1 SRCP sereis

236

SPECIFICATIONS

237

Robot number list

237

LED display

237

15-2 TPB

238

Basic specifications

239

Dimensions

239

Chapter 16 APPENDIX

241

16-1 How to Handle Options

242

APPENDIX

243

POPCOM communication cable

244

User's Manual

246

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