User ManualTable of ContentsGeneral Contents3Chapter 1 OVERVIEW91-1 Features of the SRCP Series Controller101-2 Setting Up for Operation111-3 External View and Part Names121-3-1 SRCP controller121-3-2 TPB151-4 System Configuration161-4-1 System configuration161-5 Accessories and Options171-5-1 Accessories171-5-2 Peripheral options17Chapter 2 INSTALLATION AND CONNECTION192-1 Installing the SRCP Controller202-1-1 Installation method202-1-2 Installation location202-2 Connecting the Power Supply212-2-1 Power supply212-2-2 Connecting the power supply212-2-3 Installing an external leakage breaker222-2-4 Installing a circuit protector222-2-5 Installing current control switches232-2-6 Insulation resistance and voltage breakdown tests232-3 Grounding232-4 Connecting the SRCP to the Control Unit232-5 Connecting to the Robot242-5-1 Robot I/O connector and signal table242-5-2 Motor connector and signal table242-6 Connecting to the I/O. CN Connector252-7 Connecting to the EXT. CN Connector262-8 Connecting to the Regenerative Unit27Chapter 3 I/O INTERFACE293-1 I/O Signals303-1-1 I/O. CN connector signals303-1-2 EXT. CN connector signals303-2 Input Signal Description313-2-1 Dedicated command input313-2-2 General-purpose input (DI0 to DI7)343-2-3 SERVICE mode input (SVCE)353-2-4 Interlock (LOCK)353-2-5 Emergency stop inputs 1, 2 (EMG1, EMG2)353-3 Output Signal Description363-3-1 Dedicated output363-3-2 General-purpose output (DO0 to DO4)373-3-3 Feedback pulse output (PA±, PB±, PZ±, PZM±)373-4 I/O Circuits383-4-1 I/O circuit specifications383-4-2 I/O circuit and connection example393-5 I/O Connection Diagram403-5-1 Connection to PLC output unit403-5-2 Connection to PLC input unit413-6 I/O Control Timing Charts423-6-1 When turning the power on423-6-2 When executing a dedicated input command433-6-3 When interlock signal is input463-6-4 When emergency stop is input473-6-5 When alarm is issued473-6-6 When executing a point movement command48Chapter 4 BASIC OPERATION OF THE TPB494-1 Connecting and Disconnecting the TPB504-1-1 Connecting the TPB to the SRCP controller504-1-2 Disconnecting the TPB from the SRCP controller514-2 Basic Key Operation524-3 Reading the Screen534-3-1 Program execution screen534-3-2 Program edit screen534-3-3 Point edit screen (teaching playback)544-3-4 DIO monitor screen544-4 Hierarchical Menu Structure554-5 Restricting Key Operation by Access Level564-5-1 Explanation of access level564-5-2 Changing an access level57Chapter 5 PARAMETERS595-1 Setting the Parameters605-2 Parameter Description61Chapter 6 PROGRAMMING756-1 Basic Contents766-1-1 Robot language and point data766-1-2 Using the TPB to enter the robot language766-1-3 Program specifications766-2 Editing Programs776-2-1 Creating programs after initialization786-2-2 Creating a new program806-2-3 Adding a step816-2-4 Correcting a step836-2-5 Inserting a step846-2-6 Deleting a step856-3 Program Utility866-3-1 Copying a program866-3-2 Deleting a program876-3-3 Viewing the program information88Chapter 7 EDITING POINT DATA897-1 Manual Data Input907-2 Teaching Playback917-3 Direct Teaching937-4 Manual Control of General-Purpose Output957-5 Manual Release of Holding Brake967-6 Deleting Point Data977-7 Tracing Points (Moving to a registered data point)98Chapter 8 ROBOT LANGUAGE998-1 Robot Language Table1008-2 Robot Language Syntax Rules1018-2-1 Command statement format1018-2-2 Variables1028-3 Program Function1038-3-1 Multi-task function1038-4 Robot Language Description1048-4-1 MOVA1048-4-2 MOVI1048-4-3 MOVF1058-4-4 JMP1058-4-5 JMPF1068-4-6 JMPB1078-4-7 L1078-4-8 CALL1088-4-9 DO1088-4-10 WAIT1098-4-11 TIMR1098-4-12 P1108-4-13 P+1108-4-14 P-1108-4-15 SRVO1118-4-16 STOP1118-4-17 ORGN1128-4-18 TON1138-4-19 TOFF1138-4-20 JMPP1148-4-21 MAT1158-4-22 MSEL1168-4-23 MOVM1178-4-24 JMPC1188-4-25 JMPD1188-4-26 CSEL1198-4-27 C1198-4-28 C+1208-4-29 C-1208-4-30 D1208-4-31 D+1208-4-32 D-1218-4-33 SHFT1218-5 Sample Programs1228-5-1 Moving between two points1228-5-2 Moving at an equal pitch1228-5-3 Positioning 2 points and sending job commands to a PLC ateach position1238-5-4 Robot stands by at P0, and moves to P1 and then to P2 topick and place a workpiece1248-5-5 Picking up 3 kinds of workpieces flowing on the frontconveyor and placing them on the next conveyors whilesorting1258-5-6 Switching the program from I/O1278-5-7 Axis movement and I/O multi-task1298-5-8 Turning ON general-purpose outputs during robotmovement after a certain time has elapsed1308-5-9 Turning ON a general-purpose output during robotmovement when it has passed a specified position131Chapter 9 OPERATING THE ROBOT1339-1 Performing Return-to-Origin1349-2 Using Step Operation1369-3 Using Automatic Operation1399-4 Switching the Execution Program1419-5 Emergency Stop Function1429-5-1 Initiating an emergency stop1429-5-2 Recovering from an emergency stop1429-6 Displaying the Memory I/O Status1449-7 Displaying the Variables145Chapter 10 OTHER OPERATIONS14710-1 Initialization14810-2 DIO Monitor Display15010-2-1 Display from the monitor menu15010-2-2 Display from the DIO key operation15110-3 System Information Display15110-4 SERVICE mode function15210-4-1 Safety settings for SERVICE mode15310-4-2 Enabling/disabling the SERVICE mode function15510-4-3 Setting the SERVICE mode functions15710-5 System utilities15910-5-1 Viewing hidden parameters15910-6 Using a Memory Card16010-6-1 Saving controller data to a memory card16010-6-2 Loading data from a memory card16210-6-3 Formatting a memory card16410-6-4 Viewing the ID number for memory card data16510-7 Duty (load factor) monitor16610-7-1 Measuring the duty (load factor)16810-8 Using the internal flash ROM16910-8-1 Saving the parameter data onto the flash ROM17010-8-2 Manually loading the data from flash ROM17210-8-3 Initializing the flash ROM data174Chapter 11 COMMUNICATION WITH PC17711-1 Communication Parameter Specifications17811-2 Communication Cable Specifications17911-2-1 Connecting to the computer with a 25-pin D-sub connector17911-2-2 Connecting to the computer with a 9-pin D-sub connector17911-3 Communication Command Specifications18011-4 Communication Command List18111-5 Communication Command Description18411-5-1 Robot movements18411-5-2 Data handling19311-5-3 Utilities205Chapter 12 MESSAGE TABLES20912-1 Error Messages21012-1-1 Error message specifications21012-1-2 Command error message21012-1-3 Operation error message21112-1-4 Program error message21212-1-5 System error message21312-1-6 Multi-task error message21312-2 TPB Error Messages21412-3 Stop Messages21512-3-1 Message specifications21512-3-2 Stop messages21512-4 Displaying the Error History216Chapter 13 TROUBLESHOOTING21913-1 If A Trouble Occurs22013-2 Alarm and Countermeasures22113-2-1 Alarm specifications22113-2-2 Alarm message list22213-3 Troubleshooting for Specific Symptom22513-3-1 Relating to the robot movement22513-3-2 Relating to the I/O22713-3-3 Other22813-4 Displaying the Alarm History229Chapter 14 MAINTENANCE AND WARRANTY23114-1 Warranty23214-1-1 Warranty description23214-1-2 Warranty Period23214-1-3 Exceptions to the Warranty23214-2 Replacing the System Backup Battery23314-3 Updating the System234Chapter 15 SPECIFICATIONS23515-1 SRCP sereis23615-1-1 Basic specifications23615-1-2 Robot number list23715-1-3 LED display23715-2 TPB23815-2-1 Basic specifications23815-3 Regenerative Unit (RGU-2)23915-3-1 Basic specifications23915-3-2 Dimensions239Chapter 16 APPENDIX24116-1 How to Handle Options24216-1-1 Memory card24216-1-2 POPCOM communication cable244Size: 1.68 MBPages: 246Language: EnglishOpen manual