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YAMAHA SINGLE-AXIS ROBOT CONTROLLER
ENGLISH
User’s Manual E
E84-Ver. 2.04
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General Contents Chapter 1 OVERVIEW........................................................................................................... 1-1 1-1 Features of the SRCP Series Controller...................................................................................1-2 1-2 Setting Up for Operation .......................................................................................................1-3 1-3 External View and Part Names .......................................................
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Chapter 4 BASIC OPERATION OF THE TPB ......................................................................... 4-1 4-1 Connecting and Disconnecting the TPB .................................................................................4-2 4-1-1 Connecting the TPB to the SRCP controller ................................................................................................... 4-2 4-1-2 Disconnecting the TPB from the SRCP controller ......................................................
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8-4 Robot Language Description ..................................................................................................8-6 8-4-1 MOVA ........................................................................................................................................................... 8-6 8-4-2 MOVI ............................................................................................................................................................ 8-6 8-4-3 MOVF .............
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10-6 Using a Memory Card ........................................................................................................10-14 10-6-1 Saving controller data to a memory card ................................................................................................... 10-14 10-6-2 Loading data from a memory card ............................................................................................................. 10-16 10-6-3 Formatting a memory card .........................
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Chapter 15 SPECIFICATIONS ............................................................................................... 15-1 15-1 SRCP sereis ..........................................................................................................................15-2 15-1-1 Basic specifications ..................................................................................................................................... 15-2 15-1-2 Robot number list .....................................
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MEMO vi
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OVERVIEW Chapter 1 OVERVIEW Thank you for purchasing the YAMAHA single-axis robot controller SRCP series (hereafter called "SRCP control- ler" or simply "SRCP" or "this controller"). This manual describes SRCP controller features and operating proce- 1 dures. When used with a YAMAHA single-axis PHASER series robot, the SRCP controller performs positioning and pick-and-place tasks of various mechanical parts and devices. This first chapter explains basic information you should know before using t
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1-1 Features of the SRCP Series Controller 1-1 Features of the SRCP Series Controller 1 The SRCP series is a high-performance robot controller using a 32-bit RISC chip CPU. When used with a YAMAHA single-axis PHASER series robot, the SRCP controller performs posi- tioning tasks of various mechanical parts and devices. The SRCP controller also performs I/O control of solenoid valves and sensors, and controls communication with a PC (personal computer). Using only one SRCP controller allows config
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OVERVIEW 1-2 Setting Up for Operation 1-2 Setting Up for Operation 1 The chart below illustrates the basic steps to follow from the time of purchase of this controller until it is ready for use. The chapters of this user's manual are organized according to the operation proce- dures, and allow first time users to proceed one step at a time. Basic steps Operation Information to be familiar with Refer to Installation � Installing the controller 2-1 Wiring and connection � Connecting the power supp
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1-3 External View and Part Names 1-3 External View and Part Names 1 This section explains part names of the SRCP controller and TPB along with their functions. Note that the external view and specifications are subject to change without prior notice to the user. 1-3-1 SRCP controller 1. Status Display Lamp This lamp indicates the operating status of the robot and controller. Refer to "15-1-3 LED display" for information on controller status and the matching LED display. 2. Escape Switch (ESC swi
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OVERVIEW 1-3 External View and Part Names Fig. 1-1 Exterior of the SRCP controller 1 1 1 2 2 3 3 8 8 4 4 9 5 5 10 6 6 10 7 7 11 11 SRCP-05 SRCP-10, 20 1 2 3 8 4 9 5 6 10 7 11 SRCP-05A, 10A, 20A 1-5
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1-3 External View and Part Names Fig. 1-2 Three-side view of the SRCP controller 1 SRCP-05 78 157 19 40 5.5 CAUTION PWR ERR (G) (R) SRCP ESC HIGH TEMPERATURE MOTOR TPB U V W COM ROB I/O L ACIN N I/O 200-230V~ 50-60Hz MAX. 400VA EMG 24V 24G 2 MODEL. SRCP 05 SER. NO. FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN SRCP-10, 20 78 157 19 40 5.5 PWR ERR (G) (R) SRCP ESC MOTOR U TPB V W COM RGEN N P ROB I/O L ACIN1 (PWR) N I/O NC NC 200-230V~ 50-60Hz MAX.1000VA T1 EMG T1/T2 24V T2 24G DONT CONNECT MOD
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OVERVIEW EMG YAMAHA TPB 1-3 External View and Part Names 1-3-2 TPB 1 1. Liquid Crystal Display (LCD) Screen This display has four lines of twenty characters each and is used as a program console. 2. Memory Card Slot An IC memory card can be inserted here. Be careful not to insert the card upside-down. 3. Control Keys The TPB can be operated in interactive data entry mode. Instructions are input through the control keys while reading the contents on the LCD screen. 4. Connection Cable This cable
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1-4 System Configuration 1-4 System Configuration 1 1-4-1 System configuration The SRCP controller can be combined with various peripheral units and optional products to configure a robot system as shown below. Fig.1-5 System configuration diagram SRCP Controller or RS-232C communication control TPB programming box IC memory card I/O control Support software Personal computer POPCOM General-purpose input: 8 points, dedicated input: 8 points General-purpose output: 5 points, dedicated output: 3
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OVERVIEW 1-5 Accessories and Options 1-5 Accessories and Options 1 1-5-1 Accessories The SRCP robot controller comes with the following accessories. After unpacking, check that all items are included. 1. EXT. CN connector Connector : 733-104 made by WAGO 1 piece 2. I/O. CN connector with flat cable (option) Connector : XG4M-4030-U made by OMRON 1 piece 3. RS-232C dust cover XM2T-2501 made by OMRON 1 piece 1-5-2 Peripheral options The following options are available for the SRCP controller: 1. TP
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MEMO 1-10
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INSTALLATION AND CONNECTION Chapter 2 INSTALLATION AND CONNECTION This chapter contains precautions that should be observed when installing the controller, as well as procedures and precautions for wiring the controller to the robot and to external equipment. 2 2-1
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2-1 Installing the SRCP Controller 2-1 Installing the SRCP Controller 2-1-1 Installation method 2 Using the L-shaped brackets attached to the top and bottom of the controller, install the controller from the front or rear position. (See Fig.1-2 Three-side view of the SRCP controller.) 2-1-2 Installation location ■ Install the controller in locations where the ambient temperature is between 0 to 40°C and the humidity is between 35 to 85% without condensation. ■ Do not install the controller upsid
