Yamaha DRCX Manual do Utilizador Página 1

User’s ManualENGLISHEIM Operations882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.JapanURL http://www.yamaha-motor.jp/robot/index.htmlYAMAHA MOTOR CO

4CHAPTER1 Cautions To Ensure Safety1-4 Start-up and maintenance safety points!CAUTIONNever attempt to disassemble the robot or controller. When a rob

94CHAPTER2 PROFIBUS Unit(28) Addition of specified value to counter variable D ... Code 011CThe specified value is added to the counter va

95CHAPTER2 PROFIBUS Unit(29) Subtraction of specified valuefrom counter variable D ... Code 011D

96CHAPTER2 PROFIBUS Unit(30) Shift execution of position data ... Code 011EThe position data is shifted by t

97CHAPTER2 PROFIBUS Unit(31) Linear interpolation movement execution ... Code 011FIt moves to the position of the data of the

98CHAPTER2 PROFIBUS Unit(32) Circular interpolation movement execution ... Code 0120The circular interpolation movement which pa

99CHAPTER2 PROFIBUS Unit!CAUTIONThis command is invalid for single-axis controllers.!CAUTIONThe applicable radius is max. 1000mm and min. 2mm.!CAUTIO

100CHAPTER2 PROFIBUS Unit2-12-4 Remote command details (data handling)(1) Current position read ...

101CHAPTER2 PROFIBUS Unit(2) Current program number read ... Code 0202The execution program number is read

102CHAPTER2 PROFIBUS Unit(3) Current step number read ... Code 0203The current step number is read.

103CHAPTER2 PROFIBUS Unit(4) Current task number read ... Code 0204The task number currently select

CHAPTER22PROFIBUS Unit

104CHAPTER2 PROFIBUS Unit(5) Current point No. read ... Code 0205The point number currently s

105CHAPTER2 PROFIBUS Unit(6) ROM version number read ... Code 0206 The controller system version val

106CHAPTER2 PROFIBUS Unit(7) Number of axes read ... Code 0207The total number of operable

107CHAPTER2 PROFIBUS Unit(8) Emergency stop status check... Code 0208The status of the emergency stop is

108CHAPTER2 PROFIBUS Unit(9) Servo status check... Code 0209The servo statuses of all a

109CHAPTER2 PROFIBUS Unit(10) Return-to-origin status check ... Code 020AIt reads that the return-to-origi

110CHAPTER2 PROFIBUS Unit(11) Service mode status check ... Code 020BThe service mode status is read.C

111CHAPTER2 PROFIBUS Unit(12) Operation mode check ... Code 020CThe robot status is read.Comma

112CHAPTER2 PROFIBUS Unit(13) Matrix definition content read ... Code 020DThe matrix definition content is

113CHAPTER2 PROFIBUS Unit(14) Currently specified matrix number read ... Code 020EThe pallet number of the currently specif

6CHAPTER2 PROFIBUS Unit2-1 PROFIBUS unit featuresPROFIBUS is a fieldbus standard jointly developed by Siemens, Bosch, ABB, etc. inGermany in the 1980

114CHAPTER2 PROFIBUS Unit(15) Current point variable P read ...Code 020FThe point variable P is read.Com

115CHAPTER2 PROFIBUS Unit(16) Arrangement element numberread of currently specified C ... Code 0210The

116CHAPTER2 PROFIBUS Unit(17) Counter arrangement variable C read ... Code 0211The value of the counter arrangement va

117CHAPTER2 PROFIBUS Unit(18) Current counter variable D read ... Code 0212The value of the counter variable

118CHAPTER2 PROFIBUS Unit(19) Current shift data read ... Code 0213The currently set shift da

119CHAPTER2 PROFIBUS Unit(20) General-purpose input andmemory input status read ... Code 0214The st

120CHAPTER2 PROFIBUS Unit(21) General-purpose output andmemory output status read ... Code 0215The st

121CHAPTER2 PROFIBUS Unit(22) Specified parameter data read ... Code 0216The specified parameter data is r

122CHAPTER2 PROFIBUS Unit(23) Specified point data read ... Code 0217The specified point data is

123CHAPTER2 PROFIBUS Unit2-12-5 Remote command details (utilities)(1) Execution program number switching ... Code 0301T

7CHAPTER2 PROFIBUS Unit2-2 PROFIBUS system conceptIn order to understand how the controller and sequencer (PLC) operate on the PROFIBUSsystem, let’s

124CHAPTER2 PROFIBUS Unit(2) Execution task number switching. ... Code 0302The execution task number is switched.

125CHAPTER2 PROFIBUS Unit(3) Parameter data write ... Code 0303Data is written into the sp

126CHAPTER2 PROFIBUS Unit(4) Point data write... Code 0304The data is written int

127CHAPTER2 PROFIBUS Unit2-12-6 Remote command details (Special commands)(1) No execution (status clear) ...

128CHAPTER2 PROFIBUS Unit2-12-7 Status detailsWhen the controller receives the command, the relevant process will be executed, andthe result (status)

129CHAPTER2 PROFIBUS Unit2-12-8 Current position indication modeThe current position indication mode is selected by setting 0001 to QWn+10.In the cur

130CHAPTER2 PROFIBUS UnitMEMOMEMOIf the robot position cannot be judged due to the incomplete origin position status,cable breakage, etc., the robot

131CHAPTER2 PROFIBUS Unit2-13 Other operations2-13-1 Serial I/O displaySerial I/O (input/output) status can be displayed on the screen. Both initial

132CHAPTER2 PROFIBUS Unit5) Press DIO (above in 4), and the screen willbe switched to the remote register mode.Each remote register will be displayed

133CHAPTER2 PROFIBUS Unit10)Press F1 (SI01) to display the Qn+3.7to Qn.0 and Im+3.7 to Im.0 status. PressF2 (SI02) to display the Qn+7.7 toQn+4.0 and

8CHAPTER2 PROFIBUS Unit2-3 BROFIBUS cable connectionsPROFIBUS cable connections require a 9-pin D-sub connector with pin assignments asshown in the t

134CHAPTER2 PROFIBUS Unit2-13-2 Manual control of general-purpose outputThe serial general-purpose output can be manually controlled from HPB.1) Pres

135CHAPTER2 PROFIBUS Unit2-14 Error MessageRegarding PROFIBUS system, the following error message is added.Message net link errorCauseconnection was

136CHAPTER2 PROFIBUS Unit2-15 TroubleshootingCheck the following items if any problems occur during operation. Also, refer to “Trouble-shooting” in t

137CHAPTER2 PROFIBUS UnitCheckpoints• Check if an error has occurred by monitoring the network status information on master PLC.• Referring to “2-5-1

138CHAPTER2 PROFIBUS Unit2-16 Specifications PROFIBUS UnitPROFIBUS I/O points *Controller modelsCommunication profileNumber of occupied nodesStation

139CHAPTER2 PROFIBUS Unit2-17 Supplement2-2-17-1 GSD filesThe contents of GSD file 1 are shown below just for your reference.;***********************

140CHAPTER2 PROFIBUS Unit ;Auto_Baud_supp = 1 ; Supported

MEMO

User's ManualAll rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD.Infor

9CHAPTER2 PROFIBUS Unit2-4 Parallel I/O connectorThe I/O connector must be wired into the controller so install as shown below even if notusing the c

10CHAPTER2 PROFIBUS Unit When the SRCP/SRCD series is used:1. Short Pin No. 1 (EMG 1) and Pin No. 2 (EMG 2) of the EXT.CN connector.2. Short Pin No.

11CHAPTER2 PROFIBUS Unit2-5 Controller (slave station) system settingThe station address must be set so that the controller can be correctly identifi

12CHAPTER2 PROFIBUS Unit2-5-2 Setting the station addressThe station address can be set from 0 to 126.1) Press F3 (SYS) on the initial screen.2) Pres

13CHAPTER2 PROFIBUS Unit2-5-3 Checking the communication speedCommunication speed is automatically recognized as any of 9.6K, 19.2K, 93.75K, 187.5K,5

14CHAPTER2 PROFIBUS Unit2-6 Sequencer (master station) settingsThe master station sequencer (or PLC) in the PROFIBUS system can make line tests onthe

15CHAPTER2 PROFIBUS Unit2-7 I/O informationOn/off (I/O) information handled by the PROFIBUS unit consists of 16 dedicated in-puts, 32 general-purpose

16CHAPTER2 PROFIBUS UnitSO216SO217SO218SO219SO220SO221SO222SO223SO224SO225SO226SO227SO228SO229SO230SO231Not UsedIm+4.0Im+4.1Im+4.2Im+4.3Im+4.4Im+4.5I

17CHAPTER2 PROFIBUS UnitQB8 QB97 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 Q8.7 Q8.0 Q9.7 Q9.0I 1. 2Bit address (from 0 to 7)Byte address (from 0)Address i

18CHAPTER2 PROFIBUS Unit Point movement command with absolute (ABS-PT)When origin point coordinates are set at 0, this command moves the robot to a

19CHAPTER2 PROFIBUS Unit Origin return command (ORG-S)This command performs origin return when the search method was selected as theorigin detection

20CHAPTER2 PROFIBUS Unit Reset command (RESET)This command returns the program step to the first step of the lead program, andturns DO0 - DO12*1, SO

21CHAPTER2 PROFIBUS Unit2-7-3 General-purpose inputs (SI200 - SI231)General-purpose inputs are inputs freely available to the user for handling as da

22CHAPTER2 PROFIBUS Unit2-7-4 Interlock (LOCK)These are inputs to temporarily stop robot movement.Robot operation can be stopped by setting this inpu

23CHAPTER2 PROFIBUS Unit2-7-6 Service mode (SVCE)This input is valid when the service mode function of the controller main body is valid.The service

INTRODUCTIONThank you for purchasing the PROFIBUS unit for the YAMAHA single-axis/dual-axisrobot controllers SRCP/SRCD/ERCX/SRCX/DRCX series.This is a

24CHAPTER2 PROFIBUS Unit2-7-7 Dedicated outputsDedicated outputs inform the sequencer (PLC) of controller status. "Preparation completed"

25CHAPTER2 PROFIBUS Unit "Servo status" output (SRV-O)Displays the robot servo status.This turns ON when all axes are at servo-ON. However

26CHAPTER2 PROFIBUS Unit2-8 Timing chartTiming charts are included so please refer to them when creating a sequencer (PLC)program.2-8-1 Right after c

27CHAPTER2 PROFIBUS Unit2-8-2 Dedicated input command execution The BUSY output turns ON when a dedicated command input is received. Whetheror not

28CHAPTER2 PROFIBUS Unit(2) When a short execution time command runs and ends normally(In the following cases, when the dedicated command input is tu

29CHAPTER2 PROFIBUS UnitDedicatedcommandBUSYEND30ms or less 1ms or less 1ms or less1ms or lessDedicated commandexecution completionEven after dedicat

30CHAPTER2 PROFIBUS Unit(4) When an on-going command becomes impossible to run(In the following cases, END will not turn ON, when running of an on-go

31CHAPTER2 PROFIBUS Unit2-8-3 When interlock signal is inputDedicatedcommandBUSYENDLOCKDiffers according to execution commandInterlock The BUSY outp

32CHAPTER2 PROFIBUS Unit2-8-4 When emergency stop signal is inputDedicatedcommandBUSYENDEMGREADY5ms or less 1ms or lessEmergency stop The READY outp

33CHAPTER2 PROFIBUS Unit2-8-5 When an alarm is issuedDedicatedcommandBUSYENDREADY5ms or less 1ms or lessAlarm occurs The READY, BUSY and END outputs

MEMO

34CHAPTER2 PROFIBUS Unit2-8-6 When point movement commands are run When executing a point movement command (ABS-PT, INC-PT), the point dataand speed

35CHAPTER2 PROFIBUS Unit2-9 I/O assignment change function2-9-1 Changing the I/O assignmentThe I/O assignment change function changes the function as

36CHAPTER2 PROFIBUS Unit2-9-2 I/O assignment listThe table below shows the function assigned to each input/output (I/O) signal by settingthe I/O assi

37CHAPTER2 PROFIBUS UnitOutput (Slave → Master)Im.0Im.1Im.2Im.3Im.4Im.5Im.6Im.7Im+1.0Im+1.1Im+1.2Im+1.3Im+1.4Im+1.5Im+1.6Im+1.7Im+2.0Im+2.1Im+2.2Im+2

38CHAPTER2 PROFIBUS Unit2-9-3 I/O assignment selection parameter descriptionThe I/O assignment selection parameter (single-axis controllers: PRM59, d

39CHAPTER2 PROFIBUS Unite Point zone judgment method selectionThe position judgment parameter is selected when the pointoutput selection is "2&q

40CHAPTER2 PROFIBUS Unit2-9-4 I/O signal descripionThe meaning of each signal is explained below. For the meaning of signals not describedhere, refer

41CHAPTER2 PROFIBUS UnitAxis selection exampleSI214 SI213OFFONOFFONJOG+, JOG-Selected axisX-axisX-axisY-axisX-axisOFFOFFONON!CAUTION• If the CHG (mod

42CHAPTER2 PROFIBUS Unit Point data write command (PSET)Writes the current position data in the specified point number.To use this command, the poin

43CHAPTER2 PROFIBUS UnitTarget position point numbers for point movement commands (ABS-PT, INC-PT)are output as binary values. The same applies to po

ContentsCautions To Ensure Safety ...11-1 Basic safety points ...

44CHAPTER2 PROFIBUS UnitMEMOMEMOWhen using PO as an output signal that indicates the target position's point numberfor point movement commands (

45CHAPTER2 PROFIBUS Unit2-9-5 Timing chartThis section shows timing charts for the operations that are added by changing the I/Oassignment. Jog move

46CHAPTER2 PROFIBUS Unit Point data write (PSET)CHG(Mode switch input)PSET(Point data write command)(Point number designation inputs

47CHAPTER2 PROFIBUS Unit Target position's point number output (PO)(1) Outputting the point number at the timing that movement is normallycompl

48CHAPTER2 PROFIBUS Unit↓[Point movement command execution w](8) Execute the next point movement command.(9) Point movement ends.(10) The END signal

49CHAPTER2 PROFIBUS Unit(2) Outputting the point number at the timing that a movement commandis receivedABS-PT/INC-PT(Point movement command)(Target

50CHAPTER2 PROFIBUS Unit[Point movement command execution w](8) Execute the next point movement command.(9) When the controller received the point mo

51CHAPTER2 PROFIBUS Unit(3) Outputting the corresponding point number by the point zone outputfunctionZone outputs (ZONE 0, ZONE 1) are also explaine

52CHAPTER2 PROFIBUS Unit(2) Outputs the corresponding point number through PO200 to PO203 since thecurrent robot position is within the point zone ou

53CHAPTER2 PROFIBUS Unit(4) Outputting the corresponding point number by the movement pointzone output functionZone outputs (ZONE 0) are also explain

2-10-2 JMPF ... 562-10-3 JMPB...

54CHAPTER2 PROFIBUS Unit(3) The corresponding point number P6 is output to PO200 through PO203 (P201,P202 are on; P200, P203 are off) because the rob

55CHAPTER2 PROFIBUS Unit2-10 Robot languageThe robot language expanded by using in the PROFIBUS unit.2-10-1 MOVFFunction: Moves until the specified D

56CHAPTER2 PROFIBUS Unit2-10-2 JMPFFunction: Jumps to the specified label of the specified program when the jump con-dition input matches the value t

57CHAPTER2 PROFIBUS Unit2-10-3 JMPBFunction: Jumps to the specified label when the specified general-purpose input ormemory input or serial general-p

58CHAPTER2 PROFIBUS Unit2-10-5 WAITFunction: Waits until the specified general-purpose input or memory input or serialgeneral-purpose input sets to t

59CHAPTER2 PROFIBUS Unit2-11 Emulated Serialization on parallel DIOThis is a function to directly send the input from the master sequencer (PLC) to t

60CHAPTER2 PROFIBUS Unit1) Press F3 (SYS) on the initial screen.2) Press F4 (next) to switch to the func-tion display. When the function displayappea

61CHAPTER2 PROFIBUS Unit2-12 Remote commandWhen the remote register is used, the message command can be issued directly from thesequencer (PLC). The

62CHAPTER2 PROFIBUS Unit2-12-2 Remote command & status value listThe remote command code and status code are expressed in the hexadecimal mode.Re

63CHAPTER2 PROFIBUS Unit12.13.14.15.16.17.18.19.20.21.22.23.24.25.26.27.28.29.30.31.32.010C010D010E010F0110011101120113011401150116011701180119011A01

CHAPTER11Cautions To Ensure Safety

64CHAPTER2 PROFIBUS Unit2. Data handling1.2.3.4.5.6.7.8.9.10.11.12.13.14.15.16.17.18.19.20.21.22.23.020102020203020402050206020702080209020A020B020C0

65CHAPTER2 PROFIBUS Unit3. Utility1.2.3.4.0301030203030304Execution program No. switchingExecution task No. switchingParameter data writePoint data w

66CHAPTER2 PROFIBUS Unit2-12-3 Remote command details (robot operation)(1) Return-to-origin execution ...

67CHAPTER2 PROFIBUS Unit!CAUTIONIn return-to-origin of the stroke end origin system, do not stop return-to-originoperation during origin detection (m

68CHAPTER2 PROFIBUS Unit(2) Program reset ... Code 0102Return the step of the p

69CHAPTER2 PROFIBUS Unit(3) Automatic operation start... Code 0103The program is executed to the f

70CHAPTER2 PROFIBUS Unit(4) Step operation start ... Code 0104The program is executed by

71CHAPTER2 PROFIBUS Unit(5) Servo status change ... Code 0105The servo of all axes or spec

72CHAPTER2 PROFIBUS Unit(6) JOG movement (inching) ... Code 0106The specified axis moves in the s

73CHAPTER2 PROFIBUS Unit(7) JOG movement ... Code 0107The specified axis continue

2CHAPTER1 Cautions To Ensure Safety1-1 Basic safety pointsBesides reading this instruction manual and the controller user’s manual, also be sure toha

74CHAPTER2 PROFIBUS Unit(8) Direct position specification movement execution ... Code 0108It moves to the specified coordinate position.Comm

75CHAPTER2 PROFIBUS Unit(9) Position specification movement execution ... Code 0109The specified axis moves the position of the d

76CHAPTER2 PROFIBUS Unit(10) Movement stroke specificationmovement execution... Code 010ATh

77CHAPTER2 PROFIBUS Unit(11) General-purpose input responsemovement execution... Code 010BU

78CHAPTER2 PROFIBUS Unit(12) Pallet work position specificationmovement execution... Code 0

79CHAPTER2 PROFIBUS Unit(13) Position specification arch motion definition ... Code 010DThe arch motion of the position specificatio

80CHAPTER2 PROFIBUS Unit(14) Distance specification arch motion definition ... Code 010EThe arch motion of the distance specificatio

81CHAPTER2 PROFIBUS Unit(15) General-purpose output ormemory output status change ... Code 010FON/OFF cont

82CHAPTER2 PROFIBUS Unit(16) General-purpose input or memory input wait ... Code 0110It waits until the specified general-purpose i

83CHAPTER2 PROFIBUS Unit(17) Specified time waiting ... Code 0111It waits for the specified

3CHAPTER1 Cautions To Ensure Safety1-3 Installation and wiring safety points!CAUTIONAlways cut off all power to the controller and the overall system

84CHAPTER2 PROFIBUS Unit(18) Matrix definition ... Code 0112The matrix is defined.

85CHAPTER2 PROFIBUS Unit(19) Movement matrix specification. ... Code 0113The movement matrix is specified wi

86CHAPTER2 PROFIBUS Unit(20) Point variable P definition ... Code 0114The point variable P is set.C

87CHAPTER2 PROFIBUS Unit(21) Addition of specified value to point variable P ... Code 0115The specified value is added to the point v

88CHAPTER2 PROFIBUS Unit(22) Subtraction of specified valuefrom point variable P... Code 0

89CHAPTER2 PROFIBUS Unit(23) Arrangement element specificationof counter arrangement variable C ... Code 0117The

90CHAPTER2 PROFIBUS Unit(24) Counter arrangement variable C specification ... Code 0118The counter value is set at the counter arran

91CHAPTER2 PROFIBUS Unit(25) Addition of specified valueto counter arrangement variable C ... Code 0119The specif

92CHAPTER2 PROFIBUS Unit(26) Subtraction of specified valuefrom counter arrangement variable C ... Code 011AThe specifi

93CHAPTER2 PROFIBUS Unit(27) Counter variable D definition ............ Code 011BThe counter variable D is set.Com