Yamaha SRCD 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 CC-Link Unit(25) Addition of specified valueto counter arrangement variable C ... Code 0119The specifi

95CHAPTER2 CC-Link Unit(26) Subtraction of specified valuefrom counter arrangement variable C ... Code 011AThe specifie

96CHAPTER2 CC-Link Unit(27) Counter variable D definition ... Code 011BThe counter variable D is set.Comm

97CHAPTER2 CC-Link Unit(28) Addition of specified value to counter variable D ... Code 011CThe specified value is added to the counter var

98CHAPTER2 CC-Link Unit(29) Subtraction of specified valuefrom counter variable D ... Code 011DT

99CHAPTER2 CC-Link Unit(30) Shift execution of position data ...Code 011EThe position data is shifted by the

100CHAPTER2 CC-Link Unit(31) Linear interpolation movement execution ... Code 011FIt moves to the position of the data of the

101CHAPTER2 CC-Link Unit(32) Circular interpolation movement execution ... Code 0120The circular interpolation movement which pa

102CHAPTER2 CC-Link Unit!CAUTIONThis command is invalid for single-axis controllers.!CAUTIONThe applicable radius is max. 1000mm and min. 2mm.!CAUTIO

103CHAPTER2 CC-Link Unit2-12-4 Remote command details (data handling)(1) Current position read ...

5CHAPTER1 Cautions To Ensure Safety1-6 WarrantyFor information on the warranty period and terms, please contact our distributor whereyou purchased th

104CHAPTER2 CC-Link Unit(2) Current program number read ... Code 0202The execution program number is read.

105CHAPTER2 CC-Link Unit(3) Current step number read ... Code 0203The current step number is read.C

106CHAPTER2 CC-Link Unit(4) Current task number read ... Code 0204The task number currently selecte

107CHAPTER2 CC-Link Unit(5) Current point No. read ... Code 0205The point number currently se

108CHAPTER2 CC-Link Unit(6) ROM version number read ... Code 0206 The controller system version valu

109CHAPTER2 CC-Link Unit(7) Number of axes read ... Code 0207The total number of operable

110CHAPTER2 CC-Link Unit(8) Emergency stop status check... Code 0208The status of the emergency stop is r

111CHAPTER2 CC-Link Unit(9) Servo status check... Code 0209The servo statuses of all ax

112CHAPTER2 CC-Link Unit(10) Return-to-origin status check ... Code 020AIt reads that the return-to-origin

113CHAPTER2 CC-Link Unit(11) Service mode status check ... Code 020BThe service mode status is read.Co

MEMO

114CHAPTER2 CC-Link Unit(12) Operation mode check... Code 020CThe robot status is read.Command

115CHAPTER2 CC-Link Unit(13) Matrix definition content read ... Code 020DThe matrix definition content is

116CHAPTER2 CC-Link Unit(14) Currently specified matrix number read ... Code 020EThe pallet number of the currently specifi

117CHAPTER2 CC-Link Unit(15) Current point variable P read ... Code 020FThe point variable P is read.Com

118CHAPTER2 CC-Link Unit(16) Arrangement element numberread of currently specified C ... Code 0210The e

119CHAPTER2 CC-Link Unit(17) Counter arrangement variable C read ... Code 0211The value of the counter arrangement var

120CHAPTER2 CC-Link Unit(18) Current counter variable D read ... Code 0212The value of the counter variable D

121CHAPTER2 CC-Link Unit(19) Current shift data read ... Code 0213The currently set shift dat

122CHAPTER2 CC-Link Unit(20) General-purpose input andmemory input status read ... Code 0214The sta

123CHAPTER2 CC-Link Unit(21) General-purpose output andmemory output status read ... Code 0215The sta

CHAPTER22CC-Link Unit

124CHAPTER2 CC-Link Unit(22) Specified parameter data read ... Code 0216The specified parameter data is re

125CHAPTER2 CC-Link Unit(23) Specified point data read ... Code 0217The specified point data is r

126CHAPTER2 CC-Link Unit2-12-5 Remote command details (utilities)(1) Execution program number switching ... Code 0301Th

127CHAPTER2 CC-Link Unit(2) Execution task number switching. ... Code 0302The execution task number is switched.

128CHAPTER2 CC-Link Unit(3) Parameter data write ... Code 0303Data is written into the spe

129CHAPTER2 CC-Link Unit(4) Point data write... Code 0304The data is written into

130CHAPTER2 CC-Link Unit2-12-6 Remote command details (Special commands)(1) No execution (status clear) ...

131CHAPTER2 CC-Link Unit2-12-7 Status detailsWhen the controller receives the command, the relevant process will be executed, andthe result (status)

132CHAPTER2 CC-Link Unit2-12-8 Current position indication modeThe current position indication mode is selected by setting 0001 to RWwn+1.In the curr

133CHAPTER2 CC-Link UnitMEMOMEMOIf the robot position cannot be judged due to the incomplete origin position status,cable breakage, etc., the robot p

8CHAPTER2 CC-Link Unit2-1 CC-Link unit featuresThe term “CC-Link” is an abbreviation for “Communication & Control Link” and is anFA field network

134CHAPTER2 CC-Link Unit2-13 Other operations2-13-1 Serial I/O displaySerial I/O (input/output) status can be displayed on the screen. Both initial s

135CHAPTER2 CC-Link Unit5) Press DIO (above in 4), and the screen willbe switched to the remote register mode.Each remote register will be displayed

136CHAPTER2 CC-Link Unit10)Press F1 (SI01) to display the RY(n),RY(n+1) and RX(n), RX(n+1) status.Press F2 (SI02) to display the RY(n+2),RY(n+3), and

137CHAPTER2 CC-Link Unit2-13-2 Manual control of general-purpose outputThe serial general-purpose output can be manually controlled from HPB.1) Press

138CHAPTER2 CC-Link Unit2-14 Error MessageRegarding CC-Link system, the following error message is added.Message net link errorCauseconnection was fo

139CHAPTER2 CC-Link Unit2-15 TroubleshootingCheck the following items if any problems occur during operation. Also, refer to “Trouble-shooting” in th

140CHAPTER2 CC-Link UnitCheckpoints• Check RX(n+3)B status, and check if it was possibly set to OFF.• Referring to “2-5-1 Validating the CC-Link uni

141CHAPTER2 CC-Link Unit2-16 Specifications CC-Link UnitCC-Link versionCC-Link I/O points *1Controller modelsRemote station typeStations usedStation

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 CC-Link Unit2-2 CC-Link system conceptIn order to understand how the controller and sequencer (PLC) operate on the CC-Linksystem, let’s fir

10CHAPTER2 CC-Link Unit2-3 CC-Link cable connectionsWire the CC-Link cable to the accessory CC-Link plug. Make the wiring connections byreferring to

11CHAPTER2 CC-Link 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

12CHAPTER2 CC-Link 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.

13CHAPTER2 CC-Link Unit2-5 Controller system settings (remote station)The communication speed and station No. must be set so that the controller can

14CHAPTER2 CC-Link Unit2-5-2 Setting the station No.The CC-Link unit occupies 2 stations. So the station displayed on the HPB and anotherstation (the

15CHAPTER2 CC-Link Unit2-5-3 Setting the communication speedCommunication speed can be set to 10M, 5M, 2.5M, 625K, 156K in bps. The communi-cation sp

16CHAPTER2 CC-Link Unit2-6 Sequencer (master station) settingsThe master station sequencer (or PLC) in the CC-Link system can make line tests on ther

17CHAPTER2 CC-Link Unit2-7 I/O informationOn/off (I/O) information handled by the CC-Link unit consists of 16 dedicated inputs,32 general-purpose I/O

18CHAPTER2 CC-Link UnitSO216SO217SO218SO219SO220SO221SO222SO223SO224SO225SO226SO227SO228SO229SO230SO231ReservedInitial data request flagNot UsedError

19CHAPTER2 CC-Link UnitRemote RegisterStatusReservedCommand response-0000RWrnRWrn+1RWrn+2RWrn+3RWrn+4RWrn+5RWrn+6RWrn+7Execution commandCommand optio

20CHAPTER2 CC-Link Unit Point movement command with absolute (ABS-PT)When origin point coordinates are set at 0, this command moves the robot to a p

21CHAPTER2 CC-Link Unit Origin return command (ORG-S)This command performs origin return when the search method was selected as theorigin detection

22CHAPTER2 CC-Link Unit Reset command (RESET)This command returns the program step to the first step of the lead program, andturns DO0 - DO12*1, SO2

23CHAPTER2 CC-Link Unit2-7-3 General-purpose inputs (SI200 - SI231)General-purpose inputs are inputs freely available to the user for handling as dat

INTRODUCTIONThank you for purchasing the CC-Link unit for the YAMAHA single-axis/dual-axis robotcontrollers SRCP/SRCD/ERCX/SRCX/DRCX series.This is an

24CHAPTER2 CC-Link Unit2-7-4 Interlock (LOCK)These are inputs to temporarily stop robot movement.Robot operation can be stopped by setting this input

25CHAPTER2 CC-Link Unit2-7-6 Service mode (SVCE)This input is valid when the service mode function of the controller main body is valid.The service m

26CHAPTER2 CC-Link Unit2-7-8 Dedicated outputsDedicated outputs inform the sequencer (PLC) of controller status. "Preparation completed" o

27CHAPTER2 CC-Link Unit "Servo status" output (SRV-O)Displays the robot servo status.This turns ON when all axes are at servo-ON. However,

28CHAPTER2 CC-Link Unit2-7-10 Initial data processing request flagThis is an output for performing the handshake to start communication between theco

29CHAPTER2 CC-Link Unit2-8 Timing chartTiming charts are included so please refer to them when creating a sequencer (PLC)program.2-8-1 Handshake for

30CHAPTER2 CC-Link Unit2-8-2 Dedicated input command execution The BUSY output turns ON when a dedicated command input is received. Whetheror not t

31CHAPTER2 CC-Link Unit(2) When a short execution time command runs and ends normally(In the following cases, when the dedicated command input is tur

32CHAPTER2 CC-Link UnitDedicatedcommandBUSYEND30ms or less 1ms or less 1ms or less1ms or lessDedicated commandexecution completionEven after dedicate

33CHAPTER2 CC-Link 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-goi

MEMO

34CHAPTER2 CC-Link Unit2-8-3 When interlock signal is inputDedicatedcommandBUSYENDLOCKDiffers according to execution commandInterlock The BUSY outpu

35CHAPTER2 CC-Link Unit2-8-4 When emergency stop signal is inputDedicatedcommandBUSYENDEMGREADY5ms or less 1ms or lessEmergency stop The READY outpu

36CHAPTER2 CC-Link Unit2-8-5 When an alarm is issuedDedicatedcommandRX(n+3)BRX(n+3)AAlarm occursBUSYENDREADY5ms or less1ms or less30ms or lessRX(n+3)

37CHAPTER2 CC-Link Unit2-8-6 When point movement commands are run When executing a point movement command (ABS-PT, INC-PT), the point dataand speed

38CHAPTER2 CC-Link Unit2-9 I/O assignment change function2-9-1 Changing the I/O assignmentThe I/O assignment change function changes the function ass

39CHAPTER2 CC-Link Unit2-9-2 I/O assignment listThe table below shows the function assigned to each input/output (I/O) signal by settingthe I/O assig

40CHAPTER2 CC-Link UnitOutput (Remote → Master)RXn0RXn1RXn2RXn3RXn4RXn5RXn6RXn7RXn8RXn9RXnARXnBRXnCRXnDRXnERXnFRX(n+1)0RX(n+1)1RX(n+1)2RX(n+1)3RX(n+1

41CHAPTER2 CC-Link Unit2-9-3 I/O assignment selection parameter descriptionThe I/O assignment selection parameter (single-axis controllers: PRM59, du

42CHAPTER2 CC-Link Unite Point zone judgment method selectionThe position judgment parameter is selected when the pointoutput selection is "2&qu

43CHAPTER2 CC-Link Unit2-9-4 I/O signal descripionThe meaning of each signal is explained below. For the meaning of signals not describedhere, refer

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

44CHAPTER2 CC-Link UnitAxis selection exampleSI214 SI213OFFONOFFONJOG+, JOG-Selected axisX-axisX-axisY-axisX-axisOFFOFFONON!CAUTION• If the CHG (mode

45CHAPTER2 CC-Link Unit Point data write command (PSET)Writes the current position data in the specified point number.To use this command, the point

46CHAPTER2 CC-Link UnitTarget position point numbers for point movement commands (ABS-PT, INC-PT)are output as binary values. The same applies to poi

47CHAPTER2 CC-Link UnitMEMOMEMOWhen using PO as an output signal that indicates the target position's point numberfor point movement commands (A

48CHAPTER2 CC-Link Unit2-9-5 Timing chartThis section shows timing charts for the operations that are added by changing the I/Oassignment. Jog movem

49CHAPTER2 CC-Link Unit Point data write (PSET)CHG(Mode switch input)PSET(Point data write command)(Point number designation inputs

50CHAPTER2 CC-Link Unit Target position's point number output (PO)(1) Outputting the point number at the timing that movement is normallycomple

51CHAPTER2 CC-Link Unit↓[Point movement command execution w](8) Execute the next point movement command.(9) Point movement ends.(10) The END signal t

52CHAPTER2 CC-Link Unit(2) Outputting the point number at the timing that a movement commandis receivedABS-PT/INC-PT(Point movement command)(Target p

53CHAPTER2 CC-Link Unit[Point movement command execution w](8) Execute the next point movement command.(9) When the controller received the point mov

2-9-5 Timing chart ... 482-10 Robot language ...

54CHAPTER2 CC-Link Unit(3) Outputting the corresponding point number by the point zone outputfunctionZone outputs (ZONE 0, ZONE 1) are also explained

55CHAPTER2 CC-Link Unit(2) Outputs the corresponding point number through PO200 to PO203 since thecurrent robot position is within the point zone out

56CHAPTER2 CC-Link Unit(4) Outputting the corresponding point number by the movement pointzone output functionZone outputs (ZONE 0) are also explaine

57CHAPTER2 CC-Link Unit(3) The corresponding point number P6 is output to PO200 through PO203 (P201,P202 are on; P200, P203 are off) because the robo

58CHAPTER2 CC-Link Unit2-10 Robot languageThe robot language expanded by using in the CC-Link unit.2-10-1 MOVFFunction: Moves until the specified DI

59CHAPTER2 CC-Link Unit2-10-2 JMPFFunction: Jumps to the specified label of the specified program when the jump con-dition input matches the value th

60CHAPTER2 CC-Link Unit2-10-3 JMPBFunction: Jumps to the specified label when the specified general-purpose input ormemory input or serial general-pu

61CHAPTER2 CC-Link Unit2-10-5 WAITFunction: Waits until the specified general-purpose input or memory input or serialgeneral-purpose input sets to th

62CHAPTER2 CC-Link Unit2-11 Emulated Serialization on parallel DIOThis is a function to directly send the input from the master sequencer (PLC) to th

63CHAPTER2 CC-Link Unit1) Press F3 (SYS) on the initial screen.2) Press F4 (next) to switch to the func-tion display. When the function displayappear

CHAPTER11Cautions To Ensure Safety

64CHAPTER2 CC-Link Unit2-12 Remote commandWhen the remote register is used, the message command can be issued directly from thesequencer (PLC). The h

65CHAPTER2 CC-Link Unit2-12-2 Remote command & status value listThe remote command code and status code are expressed in the hexadecimal mode.Rem

66CHAPTER2 CC-Link Unit12.13.14.15.16.17.18.19.20.21.22.23.24.25.26.27.28.29.30.31.32.010C010D010E010F0110011101120113011401150116011701180119011A011

67CHAPTER2 CC-Link Unit2. Data handling1.2.3.4.5.6.7.8.9.10.11.12.13.14.15.16.17.18.19.20.21.22.23.020102020203020402050206020702080209020A020B020C02

68CHAPTER2 CC-Link Unit3. Utility1.2.3.4.0301030203030304Execution program No. switchingExecution task No. switchingParameter data writePoint data wr

69CHAPTER2 CC-Link Unit2-12-3 Remote command details (robot operation)(1) Return-to-origin execution ...

70CHAPTER2 CC-Link Unit!CAUTIONIn return-to-origin of the stroke end origin system, do not stop return-to-originoperation during origin detection (me

71CHAPTER2 CC-Link Unit(2) Program reset ... Code 0102Return the step of the pr

72CHAPTER2 CC-Link Unit(3) Automatic operation start... Code 0103The program is executed to the fi

73CHAPTER2 CC-Link Unit(4) Step operation start ... Code 0104The program is executed by o

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

74CHAPTER2 CC-Link Unit(5) Servo status change ... Code 0105The servo of all axes or speci

75CHAPTER2 CC-Link Unit(6) JOG movement (inching)... Code 0106The specified axis moves in the spe

76CHAPTER2 CC-Link Unit(7) JOG movement ... Code 0107The specified axis continues

77CHAPTER2 CC-Link Unit(8) Direct position specification movement execution ... Code 0108It moves to the specified coordinate position.Comma

78CHAPTER2 CC-Link Unit(9) Position specification movement execution ... Code 0109The specified axis moves the position of the da

79CHAPTER2 CC-Link Unit(10) Movement stroke specificationmovement execution... Code 010AThe

80CHAPTER2 CC-Link Unit(11) General-purpose input responsemovement execution... Code 010BUn

81CHAPTER2 CC-Link Unit(12) Pallet work position specificationmovement execution... Code 01

82CHAPTER2 CC-Link Unit(13) Position specification arch motion definition ... Code 010DThe arch motion of the position specification

83CHAPTER2 CC-Link Unit(14) Distance specification arch motion definition... Code 010EThe arch motion of the distance specification

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

84CHAPTER2 CC-Link Unit(15) General-purpose output ormemory output status change ... Code 010FON/OFF contr

85CHAPTER2 CC-Link Unit(16) General-purpose input or memory input wait ... Code 0110It waits until the specified general-purpose in

86CHAPTER2 CC-Link Unit(17) Specified time waiting ... Code 0111It waits for the specified t

87CHAPTER2 CC-Link Unit(18) Matrix definition ... Code 0112The matrix is defined.C

88CHAPTER2 CC-Link Unit(19) Movement matrix specification. ... Code 0113The movement matrix is specified wit

89CHAPTER2 CC-Link Unit(20) Point variable P definition ... Code 0114The point variable P is set.Co

90CHAPTER2 CC-Link Unit(21) Addition of specified value to point variable P ... Code 0115The specified value is added to the point va

91CHAPTER2 CC-Link Unit(22) Subtraction of specified valuefrom point variable P... Code 01

92CHAPTER2 CC-Link Unit(23) Arrangement element specificationof counter arrangement variable C .... Code 0117The a

93CHAPTER2 CC-Link Unit(24) Counter arrangement variable C specification...... Code 0118The counter value is set at the counter arrange