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Yamaha SRCP User Manual

Other manuals for SRCP: User Manual, User Manual
Manual is about: Single-axis Robot Controller

Summary of SRCP

  • Page 1

    User’s manual english e im operations 882 soude, naka-ku, hamamatsu, shizuoka 435-0054.Japan url http://www.Yamaha-motor.Jp/robot/index.Html yamaha motor co., ltd. Yamaha network board srcd/srcp ercx/srcx/drcx profibus e88-ver. 2.01.

  • Page 3: Introduction

    Introduction thank you for purchasing the profibus unit for the yamaha single-axis/dual-axis robot controllers srcp/srcd/ercx/srcx/drcx series. This is an optional unit to allow connecting yamaha single-axis/dual-axis robot controllers srcp/srcd/ercx/srcx/drcx series (hereafter called "controller") ...

  • Page 4: Memo

    Memo.

  • Page 5: Contents

    Contents cautions to ensure safety ............................................................1 1-1 basic safety points ............................................................................. 2 1-2 system design safety points .............................................................. 2 1-...

  • Page 6

    2-10-2 jmpf ............................................................................................ 56 2-10-3 jmpb ............................................................................................ 57 2-10-4 do .............................................................................

  • Page 7: Chapter

    Chapter 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567...

  • Page 8: 1-1

    2 chapter1 cautions to ensure safety 1-1 basic safety points besides reading this instruction manual and the controller user’s manual, also be sure to handle the equipment correctly while paying sufficient attention to safety. Points regarding safety in this instruction manual only list items involv...

  • Page 9: 1-3

    3 chapter1 cautions to ensure safety 1-3 installation and wiring safety points ! Caution always cut off all power to the controller and the overall system before attempting installation or wiring jobs. This will prevent possible electrical shocks. After the controller has been on for a while, some p...

  • Page 10: 1-4

    4 chapter1 cautions to ensure safety 1-4 start-up and maintenance safety points ! Caution never attempt to disassemble the robot or controller. When a robot or controller component must be repaired or replaced, contact us for details on how to perform the servicing. ! Caution always cut off all powe...

  • Page 11: Chapter

    Chapter 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567...

  • Page 12: 2-1

    6 chapter2 profibus unit 2-1 profibus unit features profibus is a fieldbus standard jointly developed by siemens, bosch, abb, etc. In germany in the 1980s. The profibus specifications were established in 1989 and the organization called "pno" (profibus nutzerorganisation) was founded in germany to s...

  • Page 13: 2-2

    7 chapter2 profibus unit 2-2 profibus system concept in order to understand how the controller and sequencer (plc) operate on the profibus system, let’s first take a look at how the system communicates. Each unit connected in the profibus system is classified by function into a master station and a ...

  • Page 14: 2-3

    8 chapter2 profibus unit 2-3 brofibus cable connections profibus cable connections require a 9-pin d-sub connector with pin assignments as shown in the table below. Pin no. 1 2 3 4 5 6 7 8 9 signal — — rxd/txd-p rts gnd 5v — rxd/txd-n — meaning — — signal in line a — signal in line b — profibus-dp c...

  • Page 15: 2-4

    9 chapter2 profibus unit 2-4 parallel i/o connector the i/o connector must be wired into the controller so install as shown below even if not using the controller’s parallel i/o. ■ when the ercx/srcx/drcx series controllers are used: 1. Short pin no. A-24 (emg 1) and b-24 (emg 2). 2. Short pin no. B...

  • Page 16

    10 chapter2 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. B-4 (lock) of the i/o.Cn connector and pin no. 4 (24g) of the ext.Cn connector. (this wiring can be eliminated by disabling bit 6 (interlock funct...

  • Page 17: 2-5

    11 chapter2 profibus unit 2-5 controller (slave station) system setting the station address must be set so that the controller can be correctly identified as a slave station on the profibus system. Communication speed is automatically recognized. The profibus unit station address is set from the hpb...

  • Page 18

    12 chapter2 profibus unit 2-5-2 setting the station address the station address can be set from 0 to 126. 1) press f3 (sys) on the initial screen. 2) press f4 (next) to switch to the func- tion display and then press f2 (opt). 3) press f2 (node). 4) the currently set station address is dis- played. ...

  • Page 19

    13 chapter2 profibus unit 2-5-3 checking the communication speed communication speed is automatically recognized as any of 9.6k, 19.2k, 93.75k, 187.5k, 500k, 1.5m, 3m, 6m and 12m in units of bps. 1) press f3 (sys) on the initial screen. 2) press f4 (next) to switch to the func- tion display and then...

  • Page 20: 2-6

    14 chapter2 profibus unit 2-6 sequencer (master station) settings the master station sequencer (or plc) in the profibus system can make line tests on the slave station. Use this function to check whether or not the controller is identified as a slave station on the profibus system before starting an...

  • Page 21: 2-7

    15 chapter2 profibus unit 2-7 i/o information on/off (i/o) information handled by the profibus unit consists of 16 dedicated in- puts, 32 general-purpose i/o inputs, 16 dedicated outputs and 32 general-purpose out- puts. Dedicated inputs are sub-grouped by assigned function into 13 dedicated command...

  • Page 22

    16 chapter2 profibus unit so216 so217 so218 so219 so220 so221 so222 so223 so224 so225 so226 so227 so228 so229 so230 so231 not used im+4.0 im+4.1 im+4.2 im+4.3 im+4.4 im+4.5 im+4.6 im+4.7 im+5.0 im+5.1 im+5.2 im+5.3 im+5.4 im+5.5 im+5.6 im+5.7 im+6.0 to im+7.7 si216 si217 si218 si219 si220 si221 si22...

  • Page 23

    17 chapter2 profibus unit qb8 qb9 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 q8.7 q8.0 q9.7 q9.0 i 1. 2 bit address (from 0 to 7) byte address (from 0) address identifier ■ bit input/output ■ word input/output qw8 2-7-2 dedicated command inputs dedicated command inputs are inputs from the sequencer (plc) to th...

  • Page 24

    18 chapter2 profibus unit ■ point movement command with absolute (abs-pt) when origin point coordinates are set at 0, this command moves the robot to a posi- tion specified in data by point no. (see “2-7-3 general-purpose inputs”) specified by si200 through si209, and at a speed specified by si210 a...

  • Page 25

    19 chapter2 profibus unit ■ origin return command (org-s) this command performs origin return when the search method was selected as the origin detection method, or checks the origin return status if the mark method was selected. On dual-axis controllers, you can specify the axis for origin return w...

  • Page 26

    20 chapter2 profibus unit ■ reset command (reset) this command returns the program step to the first step of the lead program, and turns do0 - do12* 1 , so200 - so231, and the memory i/o all off. The point variable “p” is also cleared to 0. (does not clear the counter variables “c” and “d”. * the ou...

  • Page 27

    21 chapter2 profibus unit 2-7-3 general-purpose inputs (si200 - si231) general-purpose inputs are inputs freely available to the user for handling as data in the program. As a special usage method, si200 - si209 can specify point numbers, and si210 - si211 can specify movement speed during running o...

  • Page 28

    22 chapter2 profibus unit 2-7-4 interlock (lock) these are inputs to temporarily stop robot movement. Robot operation can be stopped by setting this input to off during running of dedicated commands from the i/o, during running of a program by hpb (or personal computer), or during return to origin. ...

  • Page 29

    23 chapter2 profibus unit 2-7-6 service mode (svce) this input is valid when the service mode function of the controller main body is valid. The service mode input is used to inform the controller whether the current status is the service mode status or not. In the service mode status, keep this inp...

  • Page 30

    24 chapter2 profibus unit 2-7-7 dedicated outputs dedicated outputs inform the sequencer (plc) of controller status. ■ "preparation completed" output (ready) the dedicated output is on while the controller system is operating normally. How- ever the output turns off under any of the following condit...

  • Page 31

    25 chapter2 profibus unit ■ "servo status" output (srv-o) displays the robot servo status. This turns on when all axes are at servo-on. However, this output is off if even just one axis is in servo-off status. * this servo status output is always enabled, even if the "servo status output selec- tion...

  • Page 32: 2-8

    26 chapter2 profibus unit 2-8 timing chart timing charts are included so please refer to them when creating a sequencer (plc) program. 2-8-1 right after controller power turns on normal startup power supply end 10s or less when alarm has occurred power supply end ■ after power is turned on, the end ...

  • Page 33

    27 chapter2 profibus unit 2-8-2 dedicated input command execution ■ the busy output turns on when a dedicated command input is received. Whether or not the received command ended normally is checked by the end output at the point when the busy output turns off. In other words, the end output that is...

  • Page 34

    28 chapter2 profibus unit (2) when a short execution time command runs and ends normally (in the following cases, when the dedicated command input is turned off, the com- mand has already ended, and end has turned on.) • when running a movement command (abs-pt, inc-pt) with an extremely short moveme...

  • Page 35

    29 chapter2 profibus unit dedicated command busy end 30ms or less 1ms or less 1ms or less 1ms or less dedicated command execution completion even after dedicated command execution completion, the end signal does not turn on until the dedicated command input turns off. (3) when running a command was ...

  • Page 36

    30 chapter2 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-going com- mand becomes impossible.) • when an interlock or emergency stop was triggered during running of a dedicated command. • when a jump to an un...

  • Page 37

    31 chapter2 profibus unit 2-8-3 when interlock signal is input dedicated command busy end lock differs according to execution command interlock ■ the busy output turns off when an interlock signal is input during running of a dedicated command. The ready output and the end output remain unchanged..

  • Page 38

    32 chapter2 profibus unit 2-8-4 when emergency stop signal is input dedicated command busy end emg ready 5ms or less 1ms or less emergency stop ■ the ready output turns off. The busy output turns off during running of a dedicated command. The end output is unchanged. ■ to resume robot operation, aft...

  • Page 39

    33 chapter2 profibus unit 2-8-5 when an alarm is issued dedicated command busy end ready 5ms or less 1ms or less alarm occurs ■ the ready, busy and end outputs all turn off. ■ to troubleshoot an alarm that occurred on the controller, refer to “alarm and coun- termeasures” in the controller instructi...

  • Page 40

    34 chapter2 profibus unit 2-8-6 when point movement commands are run ■ when executing a point movement command (abs-pt, inc-pt), the point data and speed data must be input before inputting the dedicated command. When specifying the moving axis, the axis selection data must be input. The point data ...

  • Page 41: 2-9

    35 chapter2 profibus unit 2-9 i/o assignment change function 2-9-1 changing the i/o assignment the i/o assignment change function changes the function assigned to each input/output (i/o) signal. I/o assignment can be changed by setting the i/o assignment selection parameter (single- axis controllers...

  • Page 42

    36 chapter2 profibus unit 2-9-2 i/o assignment list the table below shows the function assigned to each input/output (i/o) signal by setting the i/o assignment selection parameter. For details on the i/o assignment selection parameter, refer to "2-9-3 i/o assignment selection parameter description"....

  • Page 43

    37 chapter2 profibus unit output (slave → master) im.0 im.1 im.2 im.3 im.4 im.5 im.6 im.7 im+1.0 im+1.1 im+1.2 im+1.3 im+1.4 im+1.5 im+1.6 im+1.7 im+2.0 im+2.1 im+2.2 im+2.3 im+2.4 im+2.5 im+2.6 to im+3.7 im+4.0 to im+5.7 srv-o (zone0) (zone1) (zone2) (zone3) org-o end busy ready so200 so201 so202 s...

  • Page 44

    38 chapter2 profibus unit 2-9-3 i/o assignment selection parameter description the i/o assignment selection parameter (single-axis controllers: prm59, dual-axis con- trollers: prm26) selects the function to be assigned to each i/o signal. This parameter setting allows changing the function assigned ...

  • Page 45

    39 chapter2 profibus unit e point zone judgment method selection the position judgment parameter is selected when the point output selection is "2" (point zone output) or "3" (movement point zone output). 0 1 description value out valid position positioning-completed pulse m e m o m e m o • the poin...

  • Page 46

    40 chapter2 profibus unit 2-9-4 i/o signal descripion the meaning of each signal is explained below. For the meaning of signals not described here, refer to "2-7-2 dedicated command input" and the following sections. ■ point number designation inputs 200 to 205 (pi200 to pi205) these inputs designat...

  • Page 47

    41 chapter2 profibus unit axis selection example si214 si213 off on off on jog+, jog- selected axis x-axis x-axis y-axis x-axis off off on on ! Caution • if the chg (mode switch input) signal is switched during jog movement, the robot comes to an error stop. • when selecting the axis of a dual-axis ...

  • Page 48

    42 chapter2 profibus unit ■ point data write command (pset) writes the current position data in the specified point number. To use this command, the point number for writing the current position data must first be specified using a pi (point number designation input) input. The pset is enabled only ...

  • Page 49

    43 chapter2 profibus unit target position point numbers for point movement commands (abs-pt, inc-pt) are output as binary values. The same applies to point numbers which correspond to the point zone output function and the movement point zone output function. The po output format is specified in the...

  • Page 50

    44 chapter2 profibus unit m e m o m e m o when using po as an output signal that indicates the target position's point number for point movement commands (abs-pt, inc-pt): • when a point movement is received through a parallel i/o, the target position's point number is output to the corresponding pa...

  • Page 51

    45 chapter2 profibus unit 2-9-5 timing chart this section shows timing charts for the operations that are added by changing the i/o assignment. ■ jog movement (jog+, jog-) chg (mode switch input) (jog movement command) end busy ready robot movement robot movement data retention 30ms or less 30ms or ...

  • Page 52

    46 chapter2 profibus unit ■ point data write (pset) chg (mode switch input) pset (point data write command) (point number designation inputs 200 to 205) end busy ready point data write data retention point data writing 30ms or more 30ms or less 30ms or less 1ms or less pi200 to 205 * * the number of...

  • Page 53

    47 chapter2 profibus unit ■ target position's point number output (po) (1) outputting the point number at the timing that movement is normally completed abs-pt/inc-pt (point movement command) (target position's point number outputs 200 to 205) end busy robot movement movement q command w command q m...

  • Page 54

    48 chapter2 profibus unit ↓ [point movement command execution w] (8) execute the next point movement command. (9) point movement ends. (10) the end signal turns on. The previous target position's point number being output from the specified point number (po200 to po205) is cleared and the current ta...

  • Page 55

    49 chapter2 profibus unit (2) outputting the point number at the timing that a movement command is received abs-pt/inc-pt (point movement command) (target position's point number outputs 200 to 205) end busy robot movement movement q command w command q movement w point number output q point number ...

  • Page 56

    50 chapter2 profibus unit [point movement command execution w] (8) execute the next point movement command. (9) when the controller received the point movement command and the busy signal turned on, the previous target position's point number being output from the specified point number (po200 to po...

  • Page 57

    51 chapter2 profibus unit (3) outputting the corresponding point number by the point zone output function zone outputs (zone 0, zone 1) are also explained here. A: x-axis position judgment parameter range b: y-axis position judgment parameter range (in this case, this is the out valid position range...

  • Page 58

    52 chapter2 profibus unit (2) outputs the corresponding point number through po200 to po203 since the current robot position is within the point zone output range (pm ± out valid position range). Zone 0 and zone 1 output signals are still off since the robot does not yet enter the zone output range....

  • Page 59

    53 chapter2 profibus unit (4) outputting the corresponding point number by the movement point zone output function zone outputs (zone 0) are also explained here. Po 203 (2 3 ) po 202 (2 2 ) po 201 (2 1 ) po 200 (2 0 ) po 203 (2 3 ) po 202 (2 2 ) po 201 (2 1 ) po 200 (2 0 ) po 203 (2 3 ) po 202 (2 2 ...

  • Page 60

    54 chapter2 profibus unit (3) the corresponding point number p6 is output to po200 through po203 (p201, p202 are on; p200, p203 are off) because the robot is within the p6 ± out valid position range (point zone output range), and because p6 is the move- ment point. Zone 0 remains off at this time be...

  • Page 61: 2-10

    55 chapter2 profibus unit 2-10 robot language the robot language expanded by using in the profibus unit. 2-10-1 movf function: moves until the specified di or si no. Is input. Format: movf example: movf 1,2,1 this command moves the robot towards p1, ends movement when d12 turns on, and proceeds to t...

  • Page 62

    56 chapter2 profibus unit 2-10-2 jmpf function: jumps to the specified label of the specified program when the jump con- dition input matches the value that was set. Format: jmpf example: jmpf 12,3,5 jumps to label 12 of program 3 when the condition jump input value is 5. If not, proceeds to the nex...

  • Page 63

    57 chapter2 profibus unit 2-10-3 jmpb function: jumps to the specified label when the specified general-purpose input or memory input or serial general-purpose input is on (or off). Format: jmpb example: jmpb 12,8,1 jumps to level 12 when d18 is on. If not, proceeds to the next step. Explanation: jm...

  • Page 64

    58 chapter2 profibus unit 2-10-5 wait function: waits until the specified general-purpose input or memory input or serial general-purpose input sets to the specified status. Format: wait example: wait 5,1 waits until di5 sets to on. Explanation: the wait command adjusts the timing according to the s...

  • Page 65: 2-11

    59 chapter2 profibus unit 2-11 emulated serialization on parallel dio this is a function to directly send the input from the master sequencer (plc) to the external parallel i/o, or to directly send an external parallel i/o input to a master se- quencer (plc). An i/o port set for this function, can b...

  • Page 66

    60 chapter2 profibus unit 1) press f3 (sys) on the initial screen. 2) press f4 (next) to switch to the func- tion display. When the function display appears, then press f2 (opt). 3) press f4 (next) to switch the function display. To directly send the external par- allel i/o input to the master seque...

  • Page 67: 2-12 Remote Command

    61 chapter2 profibus unit 2-12 remote command when the remote register is used, the message command can be issued directly from the sequencer (plc). The high-ranked commands such as movd command (movement command which directly specifies the position coordinates), which must use rs-232c unit convent...

  • Page 68

    62 chapter2 profibus unit 2-12-2 remote command & status value list the remote command code and status code are expressed in the hexadecimal mode. Remote command 0000xxxx 0001xxxx the command of the code xxxx is executed. The command of the code xxxx is executed with the current position information...

  • Page 69

    63 chapter2 profibus unit 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 28. 29. 30. 31. 32. 010c 010d 010e 010f 0110 0111 0112 0113 0114 0115 0116 0117 0118 0119 011a 011b 011c 011d 011e 011f 0120 pallet work position specification movement execution position specification arch mot...

  • Page 70

    64 chapter2 profibus unit 2. Data handling 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 0201 0202 0203 0204 0205 0206 0207 0208 0209 020a 020b 020c 020d 020e 020f 0210 0211 0212 0213 0214 0215 0216 0217 current position read current program no. Read current step...

  • Page 71

    65 chapter2 profibus unit 3. Utility 1. 2. 3. 4. 0301 0302 0303 0304 execution program no. Switching execution task no. Switching parameter data write point data write program number task number parameter number parameter data point number axis x axis data y axis data qwn+12 qwn+12 qwn+12 qwn+18, qw...

  • Page 72

    66 chapter2 profibus unit 2-12-3 remote command details (robot operation) (1) return-to-origin execution .................................................... Code 0101 the return-to-origin operation of all axes or specified axis is executed, or the re- turn-to-origin status is judged. If the search ...

  • Page 73

    67 chapter2 profibus unit ! Caution in return-to-origin of the stroke end origin system, do not stop return-to-origin operation during origin detection (mechanical limit in contact). The alarm stop results from the overload of the controller, and it is necessary to turn on the power supply again. ! ...

  • Page 74

    68 chapter2 profibus unit (2) program reset ......................................................................... Code 0102 return the step of the program to the 1st step of the head program, and turn off all do0 to do12* 1 , so200 to so231 and memory i/o. Moreover, also clear the point variable...

  • Page 75

    69 chapter2 profibus unit (3) automatic operation start...................................................... Code 0103 the program is executed to the final step. In the multi task program, all tasks are executed. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+2...

  • Page 76

    70 chapter2 profibus unit (4) step operation start ............................................................... Code 0104 the program is executed by one step. In the multi task program, the task selected at the time is executed. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command res...

  • Page 77

    71 chapter2 profibus unit (5) servo status change .............................................................. Code 0105 the servo of all axes or specified axis is turned on and off. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 status axis command response iwm+22 iwm+20 iwm+18 iwm+16 i...

  • Page 78

    72 chapter2 profibus unit (6) jog movement (inching) ....................................................... Code 0106 the specified axis moves in the specified direction at the stroke shown with the following formula. Movement stroke = 1 × (teach movement data (%)*/100 (mm) command option qwn+22 qw...

  • Page 79

    73 chapter2 profibus unit (7) jog movement ....................................................................... Code 0107 the specified axis continues moving in the specified direction at the movement speed shown with the following formula until the interlock input is off or it reaches the softwa...

  • Page 80

    74 chapter2 profibus unit (8) direct position specification movement execution ............ Code 0108 it moves to the specified coordinate position. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 y axis position x axis position speed axis command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14...

  • Page 81

    75 chapter2 profibus unit (9) position specification movement execution ....................... Code 0109 the specified axis moves the position of the data of the point no. Specified with the number. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 speed point number axis command response iw...

  • Page 82

    76 chapter2 profibus unit (10) movement stroke specification movement execution ............................................................. Code 010a the specified axis moves from the current position by the data of the point number specified. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+...

  • Page 83

    77 chapter2 profibus unit (11) general-purpose input response movement execution ............................................................. Code 010b until the conditions of di/si input are established, the specified axis continues moving to the specified point position. When the di/si conditions...

  • Page 84

    78 chapter2 profibus unit (12) pallet work position specification movement execution ............................................................. Code 010c it moves to the pallet work position specified with the matrix. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 speed pallet work posi...

  • Page 85

    79 chapter2 profibus unit (13) position specification arch motion definition .................... Code 010d the arch motion of the position specification is defined. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 specified position axis command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 i...

  • Page 86

    80 chapter2 profibus unit (14) distance specification arch motion definition .................... Code 010e the arch motion of the distance specification is defined. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 specified distance axis command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 i...

  • Page 87

    81 chapter2 profibus unit (15) general-purpose output or memory output status change .............................................. Code 010f on/off control of the general-purpose output or memory output is performed. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 output status do/mo/so nu...

  • Page 88

    82 chapter2 profibus unit (16) general-purpose input or memory input wait ..................... Code 0110 it waits until the specified general-purpose input or memory input comes into the specified state. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 input status di/mi/si number command r...

  • Page 89

    83 chapter2 profibus unit (17) specified time waiting ............................................................ Code 0111 it waits for the specified time alone. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 time command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 (details) time:...

  • Page 90

    84 chapter2 profibus unit (18) matrix definition ...................................................................... Code 0112 the matrix is defined. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 pallet number line number array number command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14...

  • Page 91

    85 chapter2 profibus unit (19) movement matrix specification. ............................................ Code 0113 the movement matrix is specified with the pallet work position specification move- ment execution command (code: 010c). Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 pallet...

  • Page 92

    86 chapter2 profibus unit (20) point variable p definition ..................................................... Code 0114 the point variable p is set. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 point number command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 (details) point num...

  • Page 93

    87 chapter2 profibus unit (21) addition of specified value to point variable p ................... Code 0115 the specified value is added to the point variable p. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 addition value command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 (detai...

  • Page 94

    88 chapter2 profibus unit (22) subtraction of specified value from point variable p .............................................................. Code 0116 the specified value is subtracted from the point variable p. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 subtraction value command...

  • Page 95

    89 chapter2 profibus unit (23) arrangement element specification of counter arrangement variable c ....................................... Code 0117 the arrangement elements of the counter arrangement variable c used are speci- fied. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 arrangeme...

  • Page 96

    90 chapter2 profibus unit (24) counter arrangement variable c specification .................... Code 0118 the counter value is set at the counter arrangement variable c specified with the arrangement element specification command (code 0117). Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12...

  • Page 97

    91 chapter2 profibus unit (25) addition of specified value to counter arrangement variable c ....................................... Code 0119 the specified value is added to the counter arrangement variable c specified with the arrangement element specification command (code 0117). Command option q...

  • Page 98

    92 chapter2 profibus unit (26) subtraction of specified value from counter arrangement variable c ................................. Code 011a the specified value is subtracted from the counter arrangement variable c speci- fied with the arrangement element specification command (code 0117). Command ...

  • Page 99

    93 chapter2 profibus unit (27) counter variable d definition ............................................... Code 011b the counter variable d is set. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 counter value command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 (details) counter va...

  • Page 100

    94 chapter2 profibus unit (28) addition of specified value to counter variable d .............. Code 011c the specified value is added to the counter variable d. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 addition value command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 (detail...

  • Page 101

    95 chapter2 profibus unit (29) subtraction of specified value from counter variable d ........................................................ Code 011d the specified value is subtracted from the counter variable d. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 subtraction value command r...

  • Page 102

    96 chapter2 profibus unit (30) shift execution of position data ............................................ Code 011e the position data is shifted by the specified point data. It is valid until this code is executed again or the program reset is applied. Command option qwn+22 qwn+20 qwn+18 qwn+16 q...

  • Page 103

    97 chapter2 profibus unit (31) linear interpolation movement execution ........................... Code 011f it moves to the position of the data of the specified point number in the linear interpolation mode. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 speed point number axis command r...

  • Page 104

    98 chapter2 profibus unit (32) circular interpolation movement execution ........................ Code 0120 the circular interpolation movement which passes the specified point is executed. If the point specification number is n, it moves on the circular locus on which the current position is the st...

  • Page 105

    99 chapter2 profibus unit ! Caution this command is invalid for single-axis controllers. ! Caution the applicable radius is max. 1000mm and min. 2mm. ! Caution the scara robot, etc. Which do not operate in the cartesian coordinates cannot be moved in the circular interpolation mode. *1: single-axis ...

  • Page 106

    100 chapter2 profibus unit 2-12-4 remote command details (data handling) (1) current position read ............................................................. Code 0201 the current positions of all axes or specified axes are read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 axis comma...

  • Page 107

    101 chapter2 profibus unit (2) current program number read .............................................. Code 0202 the execution program number is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 program number (details) progr...

  • Page 108

    102 chapter2 profibus unit (3) current step number read ..................................................... Code 0203 the current step number is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 step number (details) step numb...

  • Page 109

    103 chapter2 profibus unit (4) current task number read ..................................................... Code 0204 the task number currently selected is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 task number (details...

  • Page 110

    104 chapter2 profibus unit (5) current point no. Read ........................................................... Code 0205 the point number currently selected is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 point number (d...

  • Page 111

    105 chapter2 profibus unit (6) rom version number read .................................................... Code 0206 the controller system version value is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 version value (detail...

  • Page 112

    106 chapter2 profibus unit (7) number of axes read .............................................................. Code 0207 the total number of operable axes is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 axis number (exam...

  • Page 113

    107 chapter2 profibus unit (8) emergency stop status check............................................... Code 0208 the status of the emergency stop is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 emergency stop (details) e...

  • Page 114

    108 chapter2 profibus unit (9) servo status check................................................................. Code 0209 the servo statuses of all axes or specified axes are read. When all axes are specified, the result becomes 1 only if the servos of all axes are on. Command option qwn+22 qwn+2...

  • Page 115

    109 chapter2 profibus unit (10) return-to-origin status check .............................................. Code 020a it reads that the return-to-origin is completed in all axes or specified axes. In thee all-axis specification mode, the result becomes 1 only when all axes are completely returned t...

  • Page 116

    110 chapter2 profibus unit (11) service mode status check .................................................. Code 020b the service mode status is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 status (details) status: 1 means...

  • Page 117

    111 chapter2 profibus unit (12) operation mode check .......................................................... Code 020c the robot status is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 operation mode (details) operation m...

  • Page 118

    112 chapter2 profibus unit (13) matrix definition content read .............................................. Code 020d the matrix definition content is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 pallet number command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 line number...

  • Page 119

    113 chapter2 profibus unit (14) currently specified matrix number read ............................. Code 020e the pallet number of the currently specified matrix is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 pallet numbe...

  • Page 120

    114 chapter2 profibus unit (15) current point variable p read ................................................ Code 020f the point variable p is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 point number (details) point numb...

  • Page 121

    115 chapter2 profibus unit (16) arrangement element number read of currently specified c ................................................. Code 0210 the element number of the counter arrangement variable c currently specified is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command ...

  • Page 122

    116 chapter2 profibus unit (17) counter arrangement variable c read .................................. Code 0211 the value of the counter arrangement variable c of the specified element number is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 element no. Command response iwm+22 iwm+2...

  • Page 123

    117 chapter2 profibus unit (18) current counter variable d read ........................................... Code 0212 the value of the counter variable d is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 counter value (exampl...

  • Page 124

    118 chapter2 profibus unit (19) current shift data read ........................................................... Code 0213 the currently set shift data is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 y axis position x ax...

  • Page 125

    119 chapter2 profibus unit (20) general-purpose input and memory input status read ..................................................... Code 0214 the status of the general-purpose input or memory input is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 di/mi/si number command respons...

  • Page 126

    120 chapter2 profibus unit (21) general-purpose output and memory output status read ................................................... Code 0215 the status of the general-purpose output or memory output is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 do/mo/so number command respo...

  • Page 127

    121 chapter2 profibus unit (22) specified parameter data read .............................................. Code 0216 the specified parameter data is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 parameter number command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 parameter ...

  • Page 128

    122 chapter2 profibus unit (23) specified point data read ....................................................... Code 0217 the specified point data is read. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 point number command response iwm+22 iwm+20 iwm+18 iwm+16 iwm+14 iwm+12 y axis positi...

  • Page 129

    123 chapter2 profibus unit 2-12-5 remote command details (utilities) (1) execution program number switching ................................. Code 0301 the execution program number is switched. If the program reset is hereafter ex- ecuted, it will return to the 1st step of the program selected here....

  • Page 130

    124 chapter2 profibus unit (2) execution task number switching. ....................................... Code 0302 the execution task number is switched. If the step operation is hereafter executed, the program of the task selected here will be executed as one step. Command option qwn+22 qwn+20 qwn+1...

  • Page 131

    125 chapter2 profibus unit (3) parameter data write .............................................................. Code 0303 data is written into the specified parameter. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 parameter data parameter number command response iwm+22 iwm+20 iwm+18 iw...

  • Page 132

    126 chapter2 profibus unit (4) point data write....................................................................... Code 0304 the data is written into the specified point. Command option qwn+22 qwn+20 qwn+18 qwn+16 qwn+14 qwn+12 y axis position x axis position axis point number command response i...

  • Page 133

    127 chapter2 profibus unit 2-12-6 remote command details (special commands) (1) no execution (status clear) ................................................... Code 0000 the status is cleared to 0000 for the command ready (remote command acceptable status). (2) initialization of response register .....

  • Page 134

    128 chapter2 profibus unit 2-12-7 status details when the controller receives the command, the relevant process will be executed, and the result (status) will be informed to the master sequencer (plc) side via iwm+8. The meanings indicated with the statuses are described in this section. Code 0000 ....

  • Page 135

    129 chapter2 profibus unit 2-12-8 current position indication mode the current position indication mode is selected by setting 0001 to qwn+10. In the current position indication mode, the current position of the robot is always output to iwm+16 to iwm+22 regardless of the execution status or no-exec...

  • Page 136

    130 chapter2 profibus unit m e m o m e m o if the robot position cannot be judged due to the incomplete origin position status, cable breakage, etc., the robot position will not be determined. 2-12-9 sending/receiving example the sending/receiving example is shown when the direct position specificat...

  • Page 137: 2-13 Other Operations

    131 chapter2 profibus unit 2-13 other operations 2-13-1 serial i/o display serial i/o (input/output) status can be displayed on the screen. Both initial screen and oprt screen are used for display. 2) since the parallel input/output state con- tinues displayed, press dio here. For the display meanin...

  • Page 138

    132 chapter2 profibus unit 5) press dio (above in 4), and the screen will be switched to the remote register mode. Each remote register will be displayed in the hexadecimal mode. (each register is indicated with 4 charac- ters.) the top row displays the statuses of qwn+14, qwn+12, qwn+10 and qwn+8 f...

  • Page 139

    133 chapter2 profibus unit 10) press f1 (si01) to display the qn+3.7 to qn.0 and im+3.7 to im.0 status. Press f2 (si02) to display the qn+7.7 to qn+4.0 and im+7.7 to im+4.0. Press f3 (wio) to display the status of the remote register. Si 00000000 00000000 00000000 00000000 so 00000000 00000000 00000...

  • Page 140

    134 chapter2 profibus unit 2-13-2 manual control of general-purpose output the serial general-purpose output can be manually controlled from hpb. 1) press f1 (edit) on the initial screen. 2) press f2 (pnt). 3) press f2 (tch) or f3 (dtch). The teaching play back screen is ex- plained in the subsequen...

  • Page 141: 2-14 Error Message

    135 chapter2 profibus unit 2-14 error message regarding profibus system, the following error message is added. Message net link error cause connection was forcibly disconnected because an error occurred in the network connection. Remedy remedy the network connection error, and then restart. Error no...

  • Page 142: 2-15 Troubleshooting

    136 chapter2 profibus unit 2-15 troubleshooting check the following items if any problems occur during operation. Also, refer to “trouble- shooting” in the controller instruction manual and always refer to the section on trouble- shooting in the master station sequencer (plc) instruction manual. If ...

  • Page 143

    137 chapter2 profibus unit checkpoints • check if an error has occurred by monitoring the network status information on master plc. • referring to “2-5-1 validating the profibus unit”, invalidate the profibus unit and try operating the robot separately with the controller. Remedy • check for any pro...

  • Page 144: 2-16 Specifications

    138 chapter2 profibus unit 2-16 specifications profibus unit profibus i/o points * controller models communication profile number of occupied nodes station address setting communication speed parallel external i/o overall length spec. Item model srcp/srcd/ercx/srcx/drcx series controllers profibus-d...

  • Page 145: 2-17 Supplement

    139 chapter2 profibus unit 2-17 supplement 2 - 2-17-1 gsd files the contents of gsd file 1 are shown below just for your reference. ;****************************************************************************** ;* * ;* gsd file for srcp/srcd/ercx/srcx/drcx series * ;* robot controller * ;* * ;* ver...

  • Page 146

    140 chapter2 profibus unit ; auto_baud_supp = 1 ; supported ; 9.6_supp = 1 ; 9.6kbps 19.2_supp = 1 ; 19.2kbps 93.75_supp = 1 ; 93.75kbps 187.5_supp = 1 ; 187.5kbps 500_supp = 1 ; 500kbps 1.5m_supp = 1 ; 1.5mbps 3m_supp = 1 ; 3mbps 6m_supp = 1 ; 6mbps 12m_supp = 1 ; 12mbps ; max. Response times: maxt...

  • Page 147: Memo

    Memo.

  • Page 148: Profibus

    User's manual all rights reserved. No part of this publication may be reproduced in any form without the permission of yamaha motor co., ltd. Information furnished by yamaha in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If yo...