Yamaha SRCX Manual do Utilizador

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

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

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CHAPTER22DeviceNet Unit

8CHAPTER2 DeviceNet Unit2-1 DeviceNet unit featuresDeviceNet is an FA field network developed by the Allen-Bradley Corporation in theUSA. Technical r

9CHAPTER2 DeviceNet Unit2-2 How the DeviceNet system worksThis brief description of how data is exchanged will help to understand how the control-ler

10CHAPTER2 DeviceNet Unit2-3 DeviceNet cable connectionsWire the DeviceNet cable to the accessory DeviceNet plug. Make the wiring connec-tions by ref

11CHAPTER2 DeviceNet Unit2-4 Parallel I/O connectorThe I/O connector must be wired into the controller so install as shown below even if notusing the

12CHAPTER2 DeviceNet 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 connec-tor.2. Short Pin N

13CHAPTER2 DeviceNet Unit2-5 Controller system settings (Slave station)The MAC ID and the communication speed must be set so that the controller can

14CHAPTER2 DeviceNet Unit2-5-2 Setting MAC ID and communication speed!CAUTIONAlways be sure to turn off power to the controller before attempting to

15CHAPTER2 DeviceNet Unit2-5-3 How to check MAC ID and communication speedMAC ID and communication speed settings made with a DIP switch on the board

16CHAPTER2 DeviceNet Unit2-6 Sequencer (master station) settingsThe master station sequencer (or PLC) in the DeviceNet system can make line tests ont

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

18CHAPTER2 DeviceNet Unit!CAUTION•The above profile is for cases where the I/O assignment selection parameter isset to "Type 0: Conventional typ

19CHAPTER2 DeviceNet Unit Point movement command with absolute (ABS-PT)When origin point coordinates are set at 0, this command moves the robot to a

20CHAPTER2 DeviceNet Unit Origin return command (ORG-S)This command performs origin return when the search method was selected as theorigin detectio

21CHAPTER2 DeviceNet Unit Reset command (RESET)This command returns the program step to the first step of the lead program, andturns DO0 - DO12*1, S

22CHAPTER2 DeviceNet Unit2-7-3 General-purpose inputs (SI200 - SI215)General-purpose inputs are inputs freely available to the user for handling as d

23CHAPTER2 DeviceNet Unit2-7-4 Interlock (LOCK)These are inputs to temporarily stop robot movement.Robot operation can be stopped by setting this inp

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

24CHAPTER2 DeviceNet Unit2-7-6 Service mode (SVCE)This input is enabled only when the controller unit has itself been set to service mode.The SVCE (s

25CHAPTER2 DeviceNet Unit2-7-7 Custom outputsCustom outputs inform the sequencer (PLC) of controller status. "Preparation completed" outp

26CHAPTER2 DeviceNet Unit "Servo status" output (SRV-O)Displays the robot servo status.This turns ON when all axes are at servo-ON. Howeve

27CHAPTER2 DeviceNet Unit2-8 Timing chartTypical timing charts are shown below, so refer to them when creating the PLC program.2-8-1 Right after cont

28CHAPTER2 DeviceNet Unit2-8-2 Custom input command execution The BUSY output turns ON when a dedicated command input is received. Whetheror not th

29CHAPTER2 DeviceNet Unit(2) When a short execution time command runs and ends normally(In the following cases, when the dedicated command input is t

30CHAPTER2 DeviceNet UnitDedicatedcommandBUSYEND30ms or less 1ms or less 1ms or less1ms or lessDedicated commandexecution completionEven after dedica

31CHAPTER2 DeviceNet 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-g

32CHAPTER2 DeviceNet Unit2-8-3 When interlock signal is inputDedicatedcommandBUSYENDLOCKDiffers according to execution commandInterlock The BUSY out

33CHAPTER2 DeviceNet Unit2-8-4 When emergency stop signal is inputDedicatedcommandBUSYENDEMGREADY5ms or less 1ms or lessEmergency stop The READY out

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34CHAPTER2 DeviceNet Unit2-8-5 When an alarm is issuedDedicatedcommandBUSYENDREADY5ms or less 1ms or lessAlarm The READY, BUSY and END outputs all t

35CHAPTER2 DeviceNet Unit2-8-6 When point movement commands are run When executing a point movement command (ABS-PT, INC-PT), the point dataand spee

36CHAPTER2 DeviceNet Unit2-9 I/O assignment change function2-9-1 Changing the I/O assignmentThe I/O assignment change function changes the function a

37CHAPTER2 DeviceNet Unit2-9-2 I/O assignment listThe table below shows the function assigned to each input/output (I/O) signal by settingthe I/O ass

38CHAPTER2 DeviceNet UnitnOutput (Remote → Master)n+1bit0bit1bit2bit3bit4bit5bit6bit7bit8bit9bit10bit11bit12bit13bit14bit15bit0bit1bit2bit3bit4bit5bi

39CHAPTER2 DeviceNet Unit2-9-3 I/O assignment selection parameter descriptionThe I/O assignment selection parameter (single-axis controllers: PRM59,

40CHAPTER2 DeviceNet Unite Point zone judgment method selectionThe position judgment parameter is selected when the pointoutput selection is "2&

41CHAPTER2 DeviceNet Unit2-9-4 I/O signal descripionThe meaning of each signal is explained below. For the meaning of signals not describedhere, refe

42CHAPTER2 DeviceNet UnitAxis selection exampleSI214 SI213OFFONOFFONJOG+, JOG-Selected axisX-axisX-axisY-axisX-axisOFFOFFONON!CAUTION• If the CHG (mo

43CHAPTER2 DeviceNet Unit Point data write command (PSET)Writes the current position data in the specified point number.To use this command, the poi

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

44CHAPTER2 DeviceNet UnitTarget position point numbers for point movement commands (ABS-PT, INC-PT)are output as binary values. The same applies to p

45CHAPTER2 DeviceNet UnitMEMOMEMOWhen using PO as an output signal that indicates the target position's point numberfor point movement commands

46CHAPTER2 DeviceNet Unit2-9-5 Timing chartThis section shows timing charts for the operations that are added by changing the I/Oassignment. Jog mov

47CHAPTER2 DeviceNet Unit Point data write (PSET)CHG（Mode switch input）PSET（Point data write command）（Point number designation inputs

48CHAPTER2 DeviceNet Unit Target position's point number output (PO)(1) Outputting the point number at the timing that movement is normallycomp

49CHAPTER2 DeviceNet Unit[Point movement command execution w](8) Execute the next point movement command.(9) Point movement ends.(10) The END signal

50CHAPTER2 DeviceNet Unit(2) Outputting the point number at the timing that a movement command isreceivedABS-PT/INC-PTĦPoint movement commandħĦTarget

51CHAPTER2 DeviceNet Unit[Point movement command execution w](8) Execute the next point movement command.(9) When the controller received the point m

52CHAPTER2 DeviceNet Unit(3) Outputting the corresponding point number by the point zone outputfunctionZone outputs (ZONE 0, ZONE 1) are also explain

53CHAPTER2 DeviceNet Unit(2) Outputs the corresponding point number through PO200 to PO203 since thecurrent robot position is within the point zone o

2-13 Error message... 642-14 Troubleshooting...

54CHAPTER2 DeviceNet Unit(4) Outputting the corresponding point number by the movement point zoneoutput functionZone outputs (ZONE 0) are also explai

55CHAPTER2 DeviceNet Unit(3) The corresponding point number P6 is output to PO200 through PO203 (P201,P202 are on; P200, P203 are off) because the ro

56CHAPTER2 DeviceNet Unit2-10 Robot languageThe robot language expanded by using in the DeviceNet unit.2-10-1 MOVFFunction: Moves until the specified

57CHAPTER2 DeviceNet Unit2-10-2 JMPFFunction: Jumps to the specified label of the specified program when the jump con-dition input matches the value

58CHAPTER2 DeviceNet Unit2-10-3 JMPBFunction: Jumps to the specified label when the specified general-purpose input ormemory input or serial general-

59CHAPTER2 DeviceNet Unit2-10-5 WAITFunction: Waits until the specified general-purpose input or memory input or serialgeneral-purpose input sets to

60CHAPTER2 DeviceNet Unit2-11 Emulated Serialization on parallel DIOThis is a function to directly send the input from the master sequencer (PLC) to

61CHAPTER2 DeviceNet Unit1) Press F3 (SYS) on the initial screen.2) Press F4 (next) to switch to the func-tion display. When the function displayappe

62CHAPTER2 DeviceNet Unit2-12 Other operations2-12-1 Serial I/O displaySerial I/O (input/output) status can be displayed on the screen.1) Press F2 (O

63CHAPTER2 DeviceNet Unit2-12-2 Manual control of general-purpose outputThe serial general-purpose output can be manually controlled from HPB.1) Pres

CHAPTER11Cautions To Ensure Safety

64CHAPTER2 DeviceNet Unit2-13 Error messageThe following error message was added to the DeviceNet system.Error No.38Message (English)CauseRemedynet l

65CHAPTER2 DeviceNet Unit2-14 TroubleshootingCheck the following items if any problems occur during operation. Also, refer to "Trou-bleshooting&

66CHAPTER2 DeviceNet UnitCheckpoints• Check if an error has occurred by monitoring the network status information on master PLC.• Referring to "

67CHAPTER2 DeviceNet Unit2-15 Specifications2-15-1 Unit basic specificationsDeviceNet UnitSRCP/SRCD/ERCX/SRCX/DRCX series controllerConforms to Devic

68CHAPTER2 DeviceNet Unit General Device DataConforms to DeviceNet SpecificationVendor NameDevice Profile Name Product CodeProduct RevisionVolume

69CHAPTER2 DeviceNet Unit DeviceNet Required Object Implementation● Identity Object(0x01)Object ClassAttributesServicesNone SupportedNone SupportedO

70CHAPTER2 DeviceNet UnitObject ClassGet Set Value LimitDeviceNet Services Parameter OptionsAttributesServicesID10EHDescriptionRevisionGet_Attribute_

71CHAPTER2 DeviceNet Unit● Connection Object(0x05)Object ClassAttributesServicesTotal ActiveConnectionsPossibleNone SupportedNone Supported1Object In

72CHAPTER2 DeviceNet UnitObject Instance 2Get SetParameter OptionsSectionAttributesServices ID12345678912131415161705H0EH10HDescriptionState Instance

73CHAPTER2 DeviceNet UnitObject Instance 3Get SetParameter OptionsSectionAttributesServices ID12345678912131415161705H0EH10HDescriptionState Instance

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

74CHAPTER2 DeviceNet Unit$ DeviceNet Configurator Generated Electronic Data Sheet[File] DescText = "YAMAHA ROBOT EDS File"; $ File Des

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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

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