Yamaha SRCA Manual

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Chapter 1: AN OVERVIEW
1-1 Features of the SRC Controller ....................................................... 1 - 2
1-2 Setting Up for Operation ................................................................. 1 - 3
1-3 Exterior ............................................................................................ 1 - 4
1-4 System Configuration ..................................................................... 1 - 8
1-5 Accessories and Options .............................................................. 1 - 11
Chapter 2: INSTALLATION AND WIRING

2-1 Installing the SRC Controller .......................................................... 2 -2
2-2 Connecting the Power Supply ........................................................ 2 -2
2-3 Grounding Construction .................................................................. 2 -3
2-4 Connecting the SRC to the Control Unit ......................................... 2 -4
2-5 Connecting the SRC to the Robot .................................................. 2 -4
2-6 Connecting the SRC to the 1/0 Connector ...................................... 2 -6
Chapter 3: 1/0 Interface

3-1 1/0 Connector Signals ..................................................................... 3 - 2
3-2 Description of the 1/0 Signals ......................................................... 3 - 3
3-3 1/0 Circuits ...................................................................................... 3 - 9
3-4 1/0 Connection Diagrams .............................................................. 3 - 13
3-5 1/0 Circuit Timing Charts ............................................................... 3 - 16
Chapter 4: BASIC OPERATION OF THE DPB

4-1 Connecting the DPB to the SRC Controller and Detaching It ........ .4 - 2
4-2 Basic Operation .............................................................................. 4 - 4
Chapter 5: PARAMETERS
5-1 Description of Parameters .............................................................. 5 - 2
5-2 Setting Parameters Used by the DPB ............................................. 5- 8
5-3 Japanese I English Display Switching ............................................ 5 - 9
Chapter 6: PROGRAMMING
6-1 Basic Contents ................................................................................ 6 - 2
6-2 Editing Programs ............................................................................ 6 - 4
6-3 Editing Point Data ......................................................................... 6 - 16
6-4 Robot Instructions ......................................................................... 6 - 24
6-5 Sample Programs ......................................................................... 6 - 31
Chapter 7: OPERATING THE ROBOT

7-1 Returning to the Origin .................................................................... 7 - 2
7-2 Using Step Operation ..................................................................... 7 - 3
7-3 Using Automatic Operation ............................................................. 7 - 5
7-4 Emergency Stop Function .............................................................. 7 - 8
7-5 Changing Programs ...................................................................... 7 - 10

Chapter 8: OTHER OPERATIONS
8-1 Initialization ..................................................................................... 8 - 2
8-2 010 Monitor ..................................................................................... 8- 3
8-3 Viewing the System Version Number .............................................. 8- 4
8-4 Using Memory Cards ...................................................................... 8- 5
Chapter 9: COMMUNICATIONS WITH A PERSONAL

COMPUTER
9-1 Setting the Communication Parameters ......................................... 9 - 2
9-2 Communication Cable Specifications ............................................. 9 - 2
9-3 Communication Commands ............................................................ 9- 3
9-4 Details Concerning Communication Commands ............................ 9 - 7
Chapter 10: MESSAGE TABLES

10-1 Error Messages ............................................................................. 10 - 2
10-2 Stop Messages ............................................................................. 10 - 7
Chapter 11: TROUBLESHOOTING

11-1 Breakdowns .................................................................................. 11 - 2
11-2 Handling Alarms ............................................................................ 11 - 3
11-3 Handling Other Types of Breakdowns .......................................... 11 - 6
Chapter 12: MAINTENANCE AND WARRANTY

12-1 Warranty ....................................................................................... 12- 2
12-2 Changing the Power Supply Voltage Specifications ..................... 12 - 3
12-3 Replacing the Battery .................................................................... 12 - 6
12-4 Replacing the ROM ....................................................................... 12 - 6
12-5 Replacing Fuses ........................................................................... 12 - 7
Chapter 13: SPECIFICATIONS

13-1 SRC Controller .............................................................................. 13- 2
13-2 DPB ............................................................................................... 13- 5
Chapter 14: INSTRUCTIONS FOR HANDLING OPTIONS

14-1 Handling the Memory Card ........................................................... 14 - 2
14-2 Handling the 1/0 Checker .............................................................. 14 - 3

CHAPTER
Thank you for purchasing the Yamaha Single-Axis Robot Controller (SRC Controller). The following pages
describe the special features built into this equipment, as well as how to operate the equipment for optimum
results.
The SRC Series can be used for various machine part and device positioning and pick-and-place
work when used in combination with the single-axis FLIP series.
This first chapter contains basic information regarding the use of this equipment, such as the names and func-
tions of the various parts, the steps necessary to prepare the robot for operation, and the architecture of the
system itself. Please read this chapter carefully for a basic overview of the SRC Controller
Note that the details of this instruction manual are subject to change without notice.
SAFETY
Please follow the rules and instructions related to safety to ensure that the Yamaha Robot is used
safely and correctly.
(While Yamaha addresses safety issues throughout this manual, the user is solely responsible for
his/her own safety and the safety of others.)
When using this robot in Europe, please refer to the following European Standards related to the
safety of machinery, and take appropriate measures for safety.
Do not use the robot until the entire system complies with the European Machinery Directives listed
below.
EN292-2
EN294
EN60204-l
89/392/EEC
91/368/EEC
93/44/EEC
93/ 68/EEC (as of March 1995)
1-1

Features of the SRC Controller
The SRC Controller is a robot controller, that uses a high-performance single-chip CPU,
designed to control the single-axis FLIP series robots manufactured by Yamaha Motor
Corporation.
The SRC Series Controller can handle: ( 1) servo control of the robot; (2) control of 1/0
devices such as valves and sensors; and (3) control of communications between the
robot and a personal computer. For simple applications such as picking and placing of
electronic parts, one controller is needed to design a complete system.
The SRC Controller offers the following features:
• Three controller models (SRC-1, SRC-2 and SRC-3) can be selected for the
DC servo series, and three models (SRCA-2, SRCA-3 and SRCA-4) can be
selected for the AC servo series depending on the robot motor capacity.
• A high-performance single-chip CPU is used for high-speed, high-precision

software servo control.
• The 1/0 interface provides 9 input points, 5 output points, and as standard, a
24 V power supply for 1/0 functions.
• The DPB programming device (optional) uses a menu driven style of opera-
tion that allows immediate usage.
• The robot can be operated easily with a personal computer in the same man-
ner as the DPB by using the support software POPCOM (optional).
• Programs are written in easy-to-learn robot instructions that closely resemble

BASIC.
• For users who are not accustomed to the robot language, a PLC can be used
to move the robot directly, through a point trace function.
--------------------------
With the SRC Controller, either the DPB programming unit or a personal computer can
be operated, depending on how connections are made. This instruction manual describes
operations using the DPB. If you are using a personal computer, please refer to Chapter
9 for the pertinent information. Refer to the POPCOM manual for details on operation
with POPCOM.
1-2

Setting Up for Operation
The chart below illustrates the basic steps to follow from the time of purchase of this
equipment until it is ready for use. The chapters of this instruction manual are organized
in accordance with the operation procedures, and allow first time users to proceed one
step at a time.
Operation II Information to be Familiar With I Contents Reference
Installing the controller 2-1
Connecting the power supply 2-2

Grounding construction -----------.
Connecting peripheral 2-6
equipement
I Understanding of the 110 interface I--------------------------------------------- Chapter3
Understanding of the basic --- --------------------------------------------- Chapter 4

operations of the DPB
I Setting parameters
I Setting the various parameters ----- Chapter 5
I Programming
I Inputting the editing programs
Editing point data
Chapter 6
Running the robot Return to origin

Various operation steps ------------ Chapter 7
Emergency stop
1-3

Exterior
The names of the parts found on the exterior of the SRC Controller and the DPBs are
described below, along with their functions. Note that the exterior is subject to change
without notice .
................................................................................................................................................................................................................1"...../////////////////////////////•'/•'..../////////////////////////////////////////////h
SRC Controller
The parts on the exterior of the SRC Controller are shown in Figure 1-1 and three sides
of this controller are shown in Figure l-2. The three sides of the SRCA controller are
shown in Figure 1-3.
1. Escape Switch (ESC switch)

This switch is held down while plugging in and unplugging the connectors of the
DPB. (See Section 4-1-2, "Connecting the DPB to the SRC Controller".)
2. DPB Connector
This is used to connect the DPB or the RS-232C terminal of a personal computer.
3. Robot I/0 Connector

This connector is used for input and output from peripheral equipment such as an
encoder, an origin point sensor, and brakes.
4. 110 Connector
This is used to connect external equipment such as a PLC.
5. Power Display Lamp

These green lamp lights to indicate that power is being supplied.
6. Terminal Bases
The grounding terminal FG, and is used if it is difficult to make grounding connec-
tions on the power supply inlet side of the SRC Controller.
The terminal bases MA and MB connect the motor wires for the robot cable. Make
sure that the MA and MB mark on the motor wires are matched to the correct
terminals.
7. I/0 Power Supply Fuse

This is a built-in, 24 V, power supply protection fuse for input and output use.
I A/250 V
8-1. Power Supply Inlet

AC power is supplied through this inlet. Grounding construction of the ground
terminal should always be done to protect against electrical shock and to boost the
reliability of the equipment.
8-2. AC Power Supply Fuse

This contains the fuse for the AC power supply.
8-3. Power Supply Switch

This is the on and off switch to the main. The upwards position is the "ON" posi-
tion.
1-4

6
8-3
8-2
8-1
Fig. 1-1 E xterior of the SRC Controller
1-5

190 (250)
r----------
0 0
~-----1
r-- -~----~
:i__ J_ -----
i
J
~ -~"M----- 1
,_ ---.,-
'
------ '
0 0
-,,,,
49
-------
0 :o
Fig. 1-2 Three sides of the SRC Controller
The figure in the ( ) indicates the SRC-4 dimension.

Other ligures are lor common use.
I o ~~ ~~~~~~~ ~~~ ~~~~~~~~ ~~~ ~ 1 1 i
111111 0
L-shaped fit1ing
@YAMAHA E~F
n
y
l
M~OTOP
DPB
M
'
M ~
~
ROBOT
"0
@ @
_ _2o~---- ______25o 1".1QL __________ _
100 ;----t------------"7--.l ---·""T

@ 0 :"
Fig. 1-3 Three sides of the SRCA Controller
The figure in the ( ) indicates the SRCA-2 and 3 dimension.

Other ligures are tor common use. 0 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~:
L__l---o-----~~-~'------~J_____i
:; ~ :
1-6

DPB
The exterior of the DPB is shown in Figure 1-4 and three sides of the DPB are illustrated
in Figure 1-5.
I. Liquid Crystal Display

This display has four lines of twenty characters each, and is used as a program
console.
2. Option Card Connector
An IC memory card or printer card can be inserted here. Be careful not to insert the
card upside-down.
3. Sheet Keys
The DPB can be manipulated using menu driven operation. Instructions are input
through the sheet keys while reading the contents of the liquid crystal display. There
are a total Of 28 keys but the . Y+ and c-y:- keys are not USed.
4. Connection Cable
This is the cable used to connect the SRC Controller with the DPB.
5. DC Power Supply Inlet
Not used.
6. Emergency Stop Switch
This is the Emergency Stop switch. When pressed, it locks in the depressed posi-
tion. It is released by turning it in the clockwise direction.
To cancel the emergency stop first release the switch and then use signal input
through the 1/0 port (see Chapter 3) or DPB operation (see Chapter 7).
6 107
_69 -
IIO§J§J§J
4 8
E88 B
CillJ1J~[];J
IIUJIIEJ~
[]JlJ[JJ~[;;J
GRJ~ El
' '
~ ,---- 90
Fig. 1-4 Exterior of the DPB
DPB
Fig.l-5 Exterior of the DPB
1-7

~] -.... 41
-.t System Configuration
The SRC Controller is composed of various main components like those shown in Fig-
ure 1-6. For further reference, please see Figures 1-7 and 1-8, which shows the main
block diagram of the SRC Controller and SRCA Controller, respectively.
Programming Board DPB
& IC memory card
SRC Controller
Personal computer
Printer
Single-axis robot
External control
(PLC and similar units)
Fig. 1-6 System Configuration Diagram
1-8

s;::
SRC Controller Main Unit ;::
;::
~~ ~~ ~ ~ ~~~~~ ~ -· ~ ~ ir~~~ro~~~JY - MS~MS2 ;::
;::
()----- --1 §
MS2
§
§
Commercial DC motor
;::
~ ;::
power supply
1
§
§
0---
~- _ _ _ _L__L_ __L~i_--~~
;::
o-------9+------ §
;::
;::
O¢===:===q_j
I
Encoder ;::
§
§
§
;::
;::
Personal computer ;::
"11 §
;::
q'Q"
~
~
1:0
::;·
D ~,
;::
;::
§
;::
;::~
§
§
e lililiiili lllliiiilll ;::
co
g. Crystal
;::
;::
0
o:::l oscillator §
00 §
DPB ;::
;:>':" ;::
0 §
~- §
_,
(Jq
ROM ;::~
1:0 ;::
3 32KB §
___j ;::
SINGLE §
I
§
1
Lithium CHIP ;::
;::
:battery
CPU ;::
f-~
§
;::
;::
BKB ;::
Sequencer ;::
;::
IS
;::
§
§
§
E=3 §
~

SRCA Controller Main Unit
----------------------------------------------~
Noise filter
Time lag - MS2 Power module
~ -6~3A/25ov l _ MS1 -------
Commercial : ! §s
AC Motor §
power supply I
1
T §
§
§
_rt- §
~~
-~--=--~u·--·· sensor ::- 1
§
§
§
Encoder §
200V §
100V/200V §
Change
§
§
§
§
§
Tj
cp.;· f-----.;1 I Holding brakes §
§
§
+SV §
I
00 Personal computer §
§
2':
D
§
§
"'
::;·
I
§
§
c:::: -------..-----. +24V §
g. §
0
0
~
' 1A/250V I
1/0 power supply f:-~~- 24 GND
I ~1 §
§
§
0
"'0"
Crystal 0
Oscillator T_ lililliiii ii iiiiiilll §
§
§
s;· §
§
l)q
..... §
"'3 §
~~~~ 1- SINGLE
CHIP ~ ~
§
§
§
§
§
§
§
§
§
Lithium battery CPU RS-232C §
§
RAM §
§
8KB PLC §
§
§
~~ ~I~= ~~~I
§
§
If §
§
§
§
§
§
§

Accessories and Options
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Accessories
The following accessories should be supplied with the SRC Controller. Please check,
when you purchase your unit, to make sure all of the accessories are included. (The
accessories are common for the DC series and AC series.)
1. 1/0 connector
Connector: One FCN-361P032-AG, made by Fujitsu
Connector cover: One FCN-360C32-B, made by Fujitsu
2. Power supply connector: 4204,4240-07, made by OTTO HElL
..................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................
Peripheral Options
The following options are available for the SRC Controller:
I. IC memory card
This is used when the DPB is connected, to back up programs, point data, and
parameter settings.
2. 1/0 checker
A simulation device called an l/0 checker can force inputs and monitor outputs.
1 - 11

MEMO
1 - 12

CHAPTER
o~@JIY£1G::.£uu©J{] £lm©
1\~17 ] JJ QmJ (~
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- 1

Installing the SRC Controller
l'///////////////////////////////////////////////////..'.•'////•'-•'/////...."/.1'////////////////////////.................................................................................................................................................h
Installation Method
The two L-shaped fittings can be used to mount the controller from a front or rear posi-
tion. (See Figures 1-2 and 1-3.)
l'////////////////////////////////////////////////////////////////////////////////////////////////////////////////////.1"//////////h
Installation Location
Table 2-1 Installation Location

Item Item
1 Ambient temperature 0- 40°C
2 Humidity 35-85% (with no condensation)
3 Other conditions 1) Location with good ventilation
2) Location where no corrosive gases such as sulfuric acid
and hydrochloric acid are generated
3) Area largely free of dust and dirt
4) Location where the equipment will be kept well away
from oil and water
l'//////////////////.1"////////////////////////////////////////////////////////////////////////////////////////////////////////////h
~""~
(_,·~ Connecting the Power Supply
l'///////////////////////////////////////////////////////////////////////////////////////////////////////////////.1"///////////////h
Connection Method
Using the special power supply plug provided as an accessory, connect the power supply
(as shown in Figure 2-1 . Check the seal affixed to the front panel of the SRC Controller
for the power supply voltage specifications and make sure the voltage is appropriate.
The special power supply plug has separate terminals marked for hot (H) and neutral
(N). For safety purposes, check the H and N markings on the AC power supply side
before wiring. (The DC series fuse is inserted only on the H side, so always confirm the
marking.)
1. Ground
2. AC IN (hot)
3. AC IN (neutral) Power supply voltage seal
Fig. 2-1 Power Supply Connections
---Special notice regarding European Specifications---

The robot controllers power supply switch does not function as the EN60204-1 supply disconnecting (isolat-
ing) device. Thus, install a supply disconnecting (isolating) device suitable for the entire external machine
devices of the robot controller.
2-2

Power Supply and Power Consumption
Table 2-2 Power Supply and Power Consamption
Type and Item Power supply voltage No. of phases Frequency Max. power consumption
SRC-1 AC 100/120/200/220/240V ± 10% Single-phase 50/60Hz 200 VA or less
SRC-2 AC1 00/120/200/220/240V ± 10% Single-phase 50/60Hz 400 VA or less
SRC-4 AC1 00/120/200/220/240V ± 10% Single-phase 50/60Hz 1000 VA or less
SRCA-2 AC1 00/11 0/200/220V ± 10% Single-phase 50/60Hz 400 VA or less
AC100-120/200-240V ± 10% *)
SRCA-3 AC1 00/110/200/220 ± 10% Single-phase 50/60Hz 1000 VA or less
AC100-120/200-240V ± 10% *)
SRCA-4 AC1 00/110/200/220 ± 10% Single-phase 50/60Hz 1000 VA or less
AC100-110/200-220V ± 10% *)
*) The voltage specifications for these controllers are not

indicated on a label but directly printed on the front panel.
--------------------------
(1) The power supply voltage is set to one of above specification when it is shipped
from the factory. If it is necessary to change the voltage, please contact a Yamaha
dealer or representative.
(2) If the power supply voltage drops below the above range during operation, an alarm
circuit will deactivate the SRC Controller. To avoid problems, a stable power sup-
ply with less than ±I 0% fluctuation should be provided.
(3) The controller has a capacitor input type of power supply, therefore, when the power
is turned on a large supply of current flows. Quick-blow circuit breakers and fuses
should be avoided.
(4) For the same reason, avoid turning the power off and on again repeatedly in inter-
vals of less than I 0 seconds. This could lead to deterioration of the main circuit
elements in the controller.
,...///////////////////////////////////////////.l'''//////////////////////.ll"////////////,o"/,',,o'////////////,'.1'."///////////////////////////A
Grounding Construction
Grounding construction should always be done to ensure safety in the event of electrical
leakage. Grounding protects humans against electrical shock and can help prevent mal-
function of the equipment due to noise.
Note that grounding of Class 3 or higher (grounding resistance of I 00 Q or less) IS
recommended.
For grounding the controller, the ground terminal of the terminal base or the ground pin
of the power supply plug should be used.
If the robot controller is part of a machine facility for Europe, install a terminal, marked with the characters
PE, on the general protective conductor. and connect to the external protective conductor. Securely connect
the robot controllers earth terminal (symbol417-IEC-5019) to the protective conductor.
w2-3

Connecting the SRC to the Control Unit
The SRC Controller can be operated either through the DPB programming unit or through
a personal computer equipped with an RS-232C terminal. When using the DPB, connect
the DPB male connector to the SRC Controller's RS-232C femal port marked "DPB".
When using a personal computer, connect the personal connector to hte RS-232C female
port marked "DPB" with a special cable. (For DPB connections, please see Chapter 4,
Section 4-1.)
Serial communication cable specifications

There is an emergency stop input between pin nos. 18 and 21 on the controller side.
Under normal circumstances this contact is closed (it is a B-type contact).
When you want to be able to use an emergency stop signal, connect a switch retard for
50 rnA or gerater. If this circuit is open, an emergency stop is performed.
Input response: 5 msec or less
Input current: 33.3 mA/DC 24V
9 pins-25 pins (For IBM-PC/AT or compatibles)

Controller isde (25pin) Computer isde (9pin)
Name Pin no. - PC frame
F. G 1 Name Pin no.
TXD 2 1-- - TXD 3
RXD
RTS
3
4
r-
1--
- RXD
RTS
2
7
CTS
D.G
5
7
12
r-
w
----- CTS
D.G
8
5
HSTCK DSR 6
HSES1
HSES2
18
21 t=J E DCD
DTR
1
4
25 pins-25 pins (For NEC PC98 series)

Controller isde (25pin) Computer isde (25pin)
Name Pin no. Signal Pin no.
F. G 1 F. G 1
TXD 2 :----- - TXD 2
RXD 3 r- - RXD 3
RTS 4 - RTS 4
CTS 5 r- - CTS 5
D.G
HSTCK
7
12 w D.G
DSR
7
6
HSES1
HSES2
18
21 t=J E DCD
DTR
8
20
--------------------------
The DPB and personal computer may not be used simultaneously.
2-4

Connecting the SAC to the Robot
Connect the accessory robot cable to the controller as shown in Figure2-3. Make all
electrical connections with the power OFF. The output cable to the motor has a round
shaped terminal. Using the marking on the cable end and the marking on the terminal
block correctly and securely fasten the cable by tightening with a machine screw. Also
connect the robot cable connector to the robot encoder connector on the front panel of
the SRC Controller. If this connector is not properly attached the robot will move in
uncontrolled motions. Fasten this cable securely to the unit with setscrews.
@ @ 0 0
~AMA~~
YAMAHA
YMWio\IICII'DII.OO.,~TII. ~
0
ESC
IEtill lA
MArE @MAl
M MB=Iillll........._ . .__ @ MBI
oC..-
®
~ IMu@
P/B
~
'£ I Mv@
~
FUSE ROBOT
1/0
ROBOT
~" ~
1/0
·~~SRCA
~I/O
SRC
Fig. 2-3 Connection of the SRC Controller to the Robot
The robot encoder connector that can be used with the SRC Controller is listed belaw.
SRC
Applicable connector number : JAZ-15P-90 (made by JST)
Applicable connector cover number: J-Cl5-2V (made by JST)
SRCA
Applicable connector cover number : MR-20LM (made by HONDA TSUSIN)

The robot controller cabinet is not designed as the EN60204-l enclosure. When using the controller as part
of a machine work celL note that the robot controller must be stored in a cabinet having a protective class of
IP54 or higher.
2-5

Table 2-3 Robot Encoder Signals
Pin No. Signal Name Description of Signal
I SHIELD Shield (motor case)
2 PA Encoder A-phase pulse input
3 PB Encoder B-phase pulse input
4 5V Encoder power supply 5V
5 DGND Encoder power supply OV
6 ORG Origin sensor signal
7 +24V +24V power supply for origin sensor
8 ov OV power supply for origin sensor
9 N.C. Not connected
10 PZ Encoder Z-phase pulse input
11 PR No usage applications at present
14 BK (+) Brake signal (+)
15 BK (-) Brake signal (-)
Table 2-4 Robot Encoder Signals-SRCA

Pin No. Signal Name Description of Signal
I SHIELD Shield (motor case)
2 PA (+) Encoder A-phase (+) pulse input
3 PA (-) Encoder A-phase (-) pulse input
4 PB (+) Encoder B-phase (+) pulse input
5 PB (-) Encoder B-phase (-) pulse input
6 PC(+) Encoder C-phase (+) pulse input
7 PC(-) Encoder C-phase (-) pulse input
II DGND Encoder power supply OV
13 ORG Origin sensor signal
16 ov +OV power supply for origin sensor
17 ov +OV power supply for origin sensor
18 BK (+) Brake signal(+)
19 BK (-) Brake signal (-)
2-6

Connecting the SRC to the 1/0 Connector
Fasten the accessory I/0 connector as shown in Fig 2-4 below.
Fig. 2-5 shows the exploded view of the I/0 Connector.
Fig. 2-4 Connection of the SRC to the I/0 Connector
Fig. 2-5 Exploded View of the I/0 Connector
The I/0 connector is used to connect the SRC Controller to external equipment such as
a PLC. The signals assigned to each of the l/0 connector terminals and their functions
are described in detail in Chapter 3. Wire the signals necessary for operation to the termi-
nals to which they are assigned. Then plug in the I/0 connector. Listed below are the
precautions that should be taken when connecting the wiring. The I/0 connector that is
compatible with the SRC Controller is listed below.
Connector number : FCN-361P032-AG (made by Fujitsu)

Connector cover number: FCN-360C32-B (made by Fujitsu)
2-7

--------------------------
Even if not using I/0 control, the I/0 connector should be plugged in after completing
the following wiring. (This wiring has already been done on the I/0 connector provided
as an accessory, so the connector can be used just as it is.)
1. Short pin numbers A 11 and B 12.
2. Short pin numbers B4 and A9 orB I 0.
If Step 1 is not completed, an emergency stop will occur. If Step 2 is not completed, an
interlock will be applied. In either case, the controller cannot be operated (see Chapter 3).
2-8

CHAPTER
The SRC Controller is equipped with an I/0 interface, consisting of nine general-use input points, five general-
use output points, a 24 V I/0 power supply, and other components. Through this I/0 interface, commands and
data can be exchanged between the controller and external equipment, and actuators such as valves and sensors
can be directly connected and controlled. To construct a system utilizing the many features of the SRC Control-
ler, it is necessary to have a basic knowledge of the I/0 interface and how it works. Chapter 3 covers this
fundamental information.
This chapter also provides examples of I/0 circuit connections and timing charts, which are necessary for
reference when expanding the system by using a PLC or other similar components. Please refer to these dia-
grams and examples when writing PLC programs.
In Chapter 3, the terms "ON" and "OFF" refer to turning on and off the switches connected to the input, in the
case of input, and to the output transistor in the case of output.
3- 1

1/0 Connector Signals
The I/0 connector used as standard equipment in the SRC Controller is constructed of
32 pins (Fig. 3-1 ), with an individual signal assigned to each pin. Table 3-1 shows the pin
numbers and the name and description of the signal assigned to that pin. For a more
detailed description of each of the signals, please refer to Section 3-2.
1/0 Connector Row B, No. 1
It¢ \<i== Row A, No.1 Row A

(View from connector insertion side)
Table 3-1 I/0 Connector Signals

Pin No. Signal Description
A-1 ABS-PT Point movement command with absolute
B-1 IN C-PT Point movement command with incremental
A-2 i
AUTO-R Automatic operation start command
B-2 I
STEP-R Step operation start command
A-3 ORG-S Origin return command
B-3 RESET Reset command
A-4 +24V + 24 V power supply output
B-4 LOCK Interlock
A-5 DIO General-use input 0
B-5 +24V + 24 V power supply output
A-6 DI2 General-use input 2
B-6 I
DII General-use input 1
B-7 I DI3 General-use input 3
A-8 DI6 I
I General-use input 6
B-8 DIS General-use input 5
A-9 OV Reference 0 V for input/output
B-9 DI7 General-use input 7
B-10 ov Reference 0 V for input/output
A-I I EMGI Used for Input 1 for emergency stop and EMG2 as set
B-11 Not connected
A-12 I
!
Not connected
B-12 I EMG2 I
Used for Input 2 for emergency stop and EMG I as set
A-13 DO I General-use output I
B-13 DOO General-use output 0
A-14 I
D03 General-use output 3
B-14 D02 General-use output 2
A-15 END Normal end of execution
B-15 D04 General-use output 4
A-16 READY Preparation completed (Alarm)
B-16 BUSY Command execution in progress
3-2

Description of the 1/0 Signals
...////////////////////////////////////////////////////////////////////////////,1'''/////////////////////////////////////////////////h
Input Signals
Input signals consist of the following types: interlock, six special-use input points, nine
general-use input points, and the emergency stop input.
All input circuits, except emergency stop input uses photocoupler insulation input cir-
cuit specifications. However, only the emergency stop input circuit serves as contact
input to which a relay excitation circuit (used for direct switching of the internal motor
power supply) is connected. (See Chapter 3-5, "I/0 Connection Diagram".)
...///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////h
·J ~ Interlock (LOCK)
This input is used to temporarily interrupt robot movement.
During execution of special-use commands from the I/0 interface (i.e.; when program-
ming using the DPB, a personal computer, or during a return to the origin position),
robot movements can be stopped by turning off (contact open) the Interlock signal. (This
also interrupts the running of the program.)
However, turning off this signal inhibits execution of special I/0 commands and DPB
(or personal computer) programs, as well as execution of a return to the origin. For this
reason, the Interlock signal is normally left on (contact closed).
The only exception to this is the reset input, which can be executed regardless of whether
the Interlock signal is on or off.
When the interlock input is turned off, the robot will be stopped, even after the input has
been turned back on, until another command is input. These commands include: a com-
mand to start automatic operation or to carry out a return to the origin position.
3-3

2, Special-Use Command Input
Special-use command input is used to accept instructions from a PLC or other external
equipment. When using special-use commands, the signals READY, BUSY and LOCK
must be set to the conditions listed below:
READY: ON
BUSY :OFF
LOCK :ON
If the above conditions are not satisfied, special-use command input cannot be accepted.
However, if LOCK is turned off the reset command can be accepted.
* For example, when BUSY is turned on, the controller is in the process of executing
special-use commands, and no other special-use commands can be accepted until it
has finished. If LOCK input is turned OFF, a command also can not be accepted since
Interlock is executing. As an exception, if READY and BUSY satisfy the above condi-
tion, reset command will execute even if LOCK is OFF.
Input is accepted when the special-use command input is switched from off to on, and
confirmation can be made using the BUSY output.
Please be aware that this input cannot be used as data in a program.
--------------------------
The special-use commands are all pulse input. The special-use input should always be
turned OFF (contact open).
1. Point movement command with absolute (ABS-PT)

When the coordinates for the origin point are set to 0, the robot's speed is selected by
DI8 and its position is specified by the data inDIO to DI7 (see Section 3-5 , "Generai-
U se Input").
2. Point movement command with incremental (INC-PT)

Starting from the current position, the robot moves at the speed selected by DI8 to the
position specified by the data in the point numbers indicated by DIO to Dl7.
* Current position is not necessarily the actual position of robot. It is the data of the
position that is saved internally in the controller. On each execution of a movement
command, the point that was the target position changes to the current position.
Therefore, when the robot is moved manually to another position, it does not make
a relative move based on this position. Instead, it makes a relative move based on
the previous target position of a robot movement command. Once reset is executed
(including when the program is changed manually), the robot, in current position,
is cleared to 0. (The robot will not move.)
The current position and robot position differ when:

• The reset is executed (including when the program is changed);
• The axis is moved manually;
• The axis is move manually in the servo OFF state (including emergency stop
state); and
• When emergency stop or interlock (S1DP) is applied during axis movement.
* The DIO to DI8 status must be confirmed before ABS-PT or INC-PIT is executed.
Always refer to the timing chart in Section 3-5.
3-4

3. Automatic Run Start command (AUTO-A)
The program is run continuously, starting from the current step.
4. Step Run Start command (STEP-R)

The program is run step by step, starting from the current step.
5. Return to origin command (ORG-S)

This command returns the robot to its origin position and must always be executed im-
mediately after the power is turned on.
Once executed, origin return does not need to be re-executed unless the power is turned
off.
6. Reset command {RESET)

The program step returns to the No. I step of the lead program and DOO to 004 are
all turned off. If the servo is turned off prior to initiating reset the emergency stop
condition is canceled and the servo goes on.
Note that if the RESET execution condition selection parameter (PRM40) is set to I,
LOCK will be input, and execution of only servo ON will be possible without reset-
ting the program. (Refer to following table.)
·•· The head program refers to the program selected the last time the program is
changed from the DPB or personal computer.
Operation at RESET input
PRM40 Status at RESET input Controller process details

1-;:.------- - - . - - - - - - - -
EMG input LOCK input
0 OFF Both ON/OFF Program reset is executed
ON Both ON/OFF Servo is turned ON and program is reset
I OFF OFF Nothing is executed
ON Program is reset
ON OFF Servo is turned ON
I ON Servo is turned ON and program is reset
EMG input OFF: Emergency stop state, ON: Non-emergency stop state
LOCK input OFF: Interlock state, ON: Lock released state
3-5

J. General-Use Input (010 to 018)
(I) This is input which can be freely utilized as data in programs written by the useJ: It
should be used when sensors and switches are connected. Of course, it can also be
connected directly to the PLC output circuit (See 3-4 1/0 Connection Diagram).
(2) This is also used as the point number setting input or speed setting input when the
point movement commands (ABS-PT, INC-PT) which are custom input command
input.
PRM7* (%) Number of point No. setting inputs Number of speed setting inputs
I to 100 8 points (DIO to Dl7) I point (DI8)
0 7 points (DIO to DI6) 2 points (DI7, D18)
1. When PRM 7 = 1 to 100%
Only DI8 is used to set the speed of the point movement commands. The speed becomes
100% when DI8 is OFF and is set to the level indicated by the PRM7 when DI8 is ON.
(The default setting is 30%.)
With the DIO to DI7 inputs, point numbers from 0 to 254 can be specified in binary code,
as shown in the table below.
DINo. DI7 DI6 DIS DI4 DB DI2 Dll DIO

PO OFF OFF OFF OFF OFF OFF OFF OFF
PI OFF OFF OFF OFF OFF OFF OFF ON
P3 OFF OFF OFF OFF OFF OFF ON ON
P7 OFF OFF OFF OFF OFF ON ON ON
PIS OFF OFF OFF OFF ON ON ON ON
P31 OFF OFF OFF ON ON ON ON ON
P63 OFF OFF ON ON ON ON ON I ON
Pl27 OFF ON ON ON ON ON ON ON
P254 ON ON ON ON ON ON I ON OFF
2. When PRM7 = 0
The speed setting can be changed by using DI7 and DI8.
DI8 DI7 Movement speed (%)
OFF OFF 100
OFF ON PRM41 (10)
ON OFF PRM42 (30)
ON ON PRM43 (70)
Digits in parentheses are the default setting of each parameter:
DI7 does not affect the point number setting, so the valid point numbers will be PO to
Pl27.
For details on the input timing, refer to "3-5-6 When point movement commands are
being executed" in "Timing chart".
¥//,•"/...-/////,'///////////.-"///////////////////////////////////////////////////////...."/.....//////////////////////////////////////////////A
!J. Emergency Stop Input 1 and Emergency Stop Input 2

(EMG1, EMG2)
An emergency stop should be used to initiate an emergency stop of the robot from an
external safety device (for example, a safety fence or a manual switch). The relay con-
tact used should have a current capacity of at least 50 rnA. When an emergency stop is
3-6

initiated, the contact point between EMG 1 and EMG2 is turned off, and at the same time
the servo turns off because its power supply is cut off.
To restart operation, close (turn on) the contact between EMG I and EMG2, and then
Turn on the reset input.
When the DPB is connected to a SRC Controller, operation can be restored from the
emergency stop state using the DPB or personal computet
:.'"/////////////////////////////////////////////////////////////////////////.1'1'"//////////////////,.., ...................................................................................................................................,
J"":2'"2 Output Signals
There are three special signals for output, READY, BUSY and END, as well as five
general-use output signals. In this section, we will use the terms "ON" and "OFF' to
refer to turning the output transistor on and off.
:.'"////////////////////////////////////////////////////////////////////////////////////////////.1"//////////////////////////////////h
·J • Special Output
This output is used for signal interaction between the SRC Controller and a device such
as a PLC.
1. "Preparation completed" output (READY)

This output is kept on as long as the controller system is functioning normally. It is
turned off if any of the conditions noted below occurs, in which case the motor enters
"free" status.
• Emergency stop status
After the emergency stop is cancelled, operation can be restarted by the input servo
command.
• A non-emergency stop alarm occurs.
When the READY signal turns off and the unit is not in emergency stop, a break-
down has probably occurred. In this case, see Chapter II, "Trouble-shooting". The
power supply should be turned off before restarting operation.
2. "Command execution in progress" output (BUSY)

This signal is on during execution of special-use command input or when commands
from the DPB or a personal computer are being executed. Because it is turned on
when special-use command input is received, special-use command input should be
turned off when this BUSY signal goes on. The signal will go off again when com-
mand processing ends and all special-use command input has been turned off.
Special-use command input cannot be accepted when this signal is on. Therefore, the
DPB should not be operated while commands from the l/0 interface are being ex-
ecuted.
3. "Execution ended" output (END)

This signal goes off when the special-use command input is received. It goes back on
when command execution has ended normally. This signal does not turn on when an
error occurs during execution or during an Interlock status. When the reset or move-
ment command (specifying a very small amount of movement) is used, the execution
time is very shmt (1 ms or less). Hence the period that the END signal remains o1r, is
very short (I ms or less).
Note that the signal will not change when operating with the DPB or the personal
computer).
3-7

:2. General-use Output (000-004)
This is output that is available to the user and can be turned on and off within the pro-
gram. In combination with the 24 V power supply built into the controller, it can be used
to drive the load for electromagnetic valves, lamps, and other components. It can also be
connected directly to the input circuit of the PLC.
The load capacity of the built-in 24 V power supply is 600 rnA. However, for perpen-
dicular robots (e.g., LTV, LSV, HSV) a 300 rnA load capacity is used by the brakes, so
the load capacity that can be used by 1/0 functions is reduced to 300 rnA.
3-8

1/0 Circuits
The specifications of the input and output circuits of the SRC Controller are listed in
Table 3-3, and some examples of how the circuits should be connected are provided in
Figures 3-2 and 3-3. Please refer to this material when connecting external equipment
such as a PLC.
Table 3-3 1/0 Circuit Specifications

Input Circuit (excluding emergency stop input. See Note below)
Isolation method: Photocoupler isolation
Input terminal: Relay contact or NPN open collector transistor connected
between input terminal and 0 V terminal.
Input response: 30 ms max.
Input current: 5 mA/24 VDC
Input sensitivity: Current on: 3 rnA min.
Current off: I rnA max.
Note I: Input Circuit specifications for emergency stop input
Input terminal: Relay contact connected between emergency stop inputs I

and 2.
Input response: 5 ms max.
Input current: 33.3 mA/24 VDC
Output Circuit
Isolation method: Photocoupler isolation between internal circuit and output
transistor
Output terminal: NPN open collector output of all collective output com-
mon terminals (0 V side)
Output response: 1 ms max.
Max. output current: 0.5 A/24VDC per output
Residual ON voltage: 1.5 V max.
3-9

Input Circuit and Connection Examples
Single-axis controller input PLC output
+COM 1
_J---------
...
1
24V - OUT 1 ,
-l____________ ;----1--E-x-te-<;~~
- J.
pow e. r .supply.. ~
__________________ j OV
IOV J
---------1
e
l _________ _
Fig. 3-2a: Input circuit and external connection
Single-axis controller input
I ------ ~
I
LO
co
LO
i>D~
T'"
I (f)
I
I
I
24V ------ _I
~IN
TPL521 •
l
y
4.7K I cl
~~I Relay contact
J
__________________ j
'v'
ov
Fig. 3-2b: Input circuit and external connection
Output Circuit and Connection Examples

Single-axis controller output PLC input
--------------~ +24V +COM
LOO
i?5 I
OUT IN
Fig. 3-3a: Output circuit and external connection (when an external power supply is
used as the PLC driving power supply)
3- 10

Single-axis controller output Built-in DC power supply PLC input
--------------~ +24V
+COM
1.{)0
;g I
OUT IN
24V-=-
~ I 24V
0 ~
------------ ~ j-ov____o--lv~ _r- _2•v-----

Fig. 3-3b: Output circuit and external connection (when a PLC has a built-in DC power
supply)
Single-axis controller output

--------------~ +24V
1.{) 0~-----------------------,
;g I
24V =
Load (relays, electromagnetic valves,etc.)
Fig. 3-3c: Output circuit and external connection

(When an internal power supply is being used as the load driving power
supply)
Single-axis controller output

--------------~ +24V
i:
r-------~r-----~-0
~ I
J_o_u_T_L-lo.-a_d_l'c:=J electromagnetic valves, etc, 1
1
~ 1 r ~ 1 1
----------- I~- J,___ov_ _ _ ____JT
Fig. 3-3d: Output circuit and external connection (when an external power supply is
being used as the load driving power supply)
3 - 11

--------------------------
1.
2.
Do not short the DC24V output of an external device to the 24V output of the
controller. This may cause equipment breakdown.
Do not short the output terminal to the DC24V terminal. This may cause equipment
breakdown.
3. When using an inductive load (such as a solenoid valve) as the output load, connect
a high-speed diode as a surge killer in parallel and near to the load to reduce noise.
4. When using a 2-wire type proximity sensor as an input signal, malfunctioning could
occur if the residual voltage during ON/OFFchanges is great. Confirm that the sen-
sor is within the standards of the input signal specifications.
5. Depending on the Load on the Unit, the initial current may be too lmge and exceed
the macimum of the internal power supply. If this happens, a protective circuit will
turn the power output off.
6. Keep the wires separated from the drive lines of other machines or shield the wires
to prevent noise.
7. The supply current capacity of the internal DC24V power supply will differ ac-
cording to the robot specifications.
*Non-vertical type robotMax. 600mA
Vertical type robot Max. 300mA
* The vertical type robot refers to the robot in which the sliding section moves vertically
and which has holding brakes.
3- 12

1/0 Connection Diagram
Example of 1/0 connection diagrams are provided below in Figures 3-4 through 3-6.
Fig. 3-4 1/0 Connection Diagram

Emergency Stop switch
.-~~ ~~····--::::c-~c::-~-:-:---- n [! o - - - - - - ,
DC24V ~--'135
:A4 8 '
I +24V -----
------
~ :A91 --,
1
OV
. ---- - - - - -
610;( LOCK
- - - - - ~c:, C_r------------,
0------.
I
64 :_;-+-----
,A3 :..J-+--OR_G_·_S
•63 (~ } - ,---'R"'EccSc=Ec:...T
· - - - - - --""J
·-----{J 0----,
0------·
1
A2 (·f--C--c.:.AU=-Tc...:O:..c·Rc:... · - - - - ----~--0 'C_}---------

162 0 __,__S_TE_P_·R_ __
··-·----0
IA1 0 A6S·PT ..._. ·-----C 0-------e
1B1
0 ....'.~.:£'!__________ . 0 ~_:-----·
:A 1CJO-, Dl 8 ---() 0---·
:sg 0)--c---D_I-7 - · · · · · · - - - - - - - - -
Single-axis controller
:As ~_,__ _
DI_6_
·0 0--·-·
... ··-··-·
BB C>-·~~D_I-'-5 · C C>------·
:: ~~~_:__________ ---0 ~~~-' ~..;-------=·

A6 (;;-,--~'-
rn2
. - --.C:.) Q-------. 1
·~)------·
,86 (;)-.,;_D=I_1c___
A5 c-:-·· Dl_..cO,___ __ c----~

A 16 6-+-- I
READY_ _ _ _ _ __
LoAD}---·---·------
816
).. :
vI
BUSY
:--··-·· .. -········· ---
A1+~ -------t I
LOAD
8156-;...... D0_~4_ __ ---------[l:Q~} -- ··------ - ·

I I
D03 · - - - -
A149: ----rL:ollol· - - -·-·-··-··•
B14)~ _ _D_0_2_ __
! I
rj
A13~- 1...
1
r
,~1:i~----···
1
DO 0
~~~-----
____j
Emergency stop input EMGl Preparation completed READY

ENG2 Special- (Alarm)
Interlock LOCK use I Command execution in BUSY
output l progress
Special- Return to Origin command ORG-S
Reset command RESET Execution ended normally END
use
input General-use output, 5 points DOOtoD04
Auto Run Start command AUTO-R
Step Run Start command STEP-R
Point movement command ABS-PT
with absolute
Point movement command INC-PT
with incremental
General-use input, 9 points DIO to DIS
3- 13

Fig. 3-5 Connection to the Mitsubishi© PLC Output Unit
AY51 type output unit Single-axis controller
010
'ir!
Y24
Y25
Y26
Y27
5
&-----------------
C~-----------------------CA8
8
---~
A?
AS
B9
4
7
----------------v
Y28 9 A10 8
LOCK
Y2B
y----------
12
~
B3 RESET
Y2C I 13_ --------------¢ A2 AUTO-R
Y2D 1_1_4___ _ ___ l B2 STEP-R
Y2E I 15 • A1 ABS-PT
)~--------~- - - - - - - - - - - : )
Y2F I 16 I
-y
B1 IN C-PT
----~-y-
l j7 A4,B5 +24V
18 A9,B10 ov
Y30 A11
~1
EMG 1
c
CR EMG
I
I
812 EMG2
35
36 - L±__
c~l
3- 14

Fig. 3-6 Connection to the Mitsubishi PLC Input Unit
Single-axis controller AX41 type input unit

----------~
~---
i B13 TB 1 xoo
o Or-----+---~¢r---------,L£L
I
DO
A13 2 X01
"
~ JJ
B14 3 i
X02
2 c
A14 4
I
X03
3 c
4
B15
()------
5 l
,_;
X04
y
A16 6 X05
READY
B16 7 X06
BUSY
I
A15 8 ~ X07 •
!
J~-
END u
A4, B5 9
+24V
3- 15

110 Circuit Timing Charts
The illustrations below (Figures 3-7 through 3-12) show examples of timing charts.These
examples should be referenced when writing PLC programs.
For special-use command processing (Figures 3-7a through 3-7d), excluding the Reset
Commands the completion is indicated by the BUSY signal being turned off. If the end
of command execution is normal at that point, the END signal is turned on, whereas if
execution has not ended normally, the END signal remains off.
When a special-use command with a long execution time is carried out and execution
ends normally, the special-use command input is turned off (contact open) and the END
signal remains off while the command is being executed (Fig. 3-7a).
Fig. 3-7a Special-Use Command Execution with Long Execution Time (Ex-
cluding the Reset Command)
Input ~------. UP: ON DOWN: OFF
Special-use~
I I
__._I.___________
command : ~
1
/2
OutpUt
BUSY
"' 3
I \
END y
\
:E ~ : :E T2 -~--+-1(-- T3
T1
T1 ~ 30ms, T2 ~ 1 ms, T3 ~ 1 ms
At the rise of the special-use command input, the END signal goes off and the BUSY
signal goes on.
2 Tum off (contact open) the special-use command input after the BUSY signal goes on.
3 When the BUSY signal is turned off, execution has ended normally if END goes on.
--------------------------
1)
2)
With the Auto Run Start command, the END signal goes on and the BUSY signal
goes off if the program ends or the STOP instruction is executed.
When the power is turned on the END signal goes on after the READY signal turns
on.
3 - 16

When a special-use command with a short execution time is run, and execution ends
normally, the END signal has already been turned on when the special-use command
input goes off (Fig. 3-7b ).
Conditions that result in a short execution time are:

• When executing movement commands with an extremely short movement distance
• When carrying out step execution of commands other than MOVA, MOVI, MOVF,
TIMR, and WAIT
Figure 3-?b Special-Use Command Execution with Short Execution Time

(Excluding the Reset Command)
Input UP: ON DOWN: OFF
Special-use
- rl\
command
Output
1
\/ :r"'. '
:
BUSY
END
:
7 \__J
4
"'-_)
\
:< _.: : < T2 -~:----~- T3
T1
T1 ~ 30ms, T2 ~ 1 ms, T3 ~ 30 ms
signal goes on.
2 Turn off (contact open) the special-use command input after the BUSY signal goes
on.
3 The BUSY signal is turned off at the point where the special-use command input
goes off, because the END signal has gone on and command execution has ended.
4 At this point, the END signal is turned on, indicating that execution has ended nor-
mally.
3- 17

For the reasons listed below, command execution is impossible from the start (See Fig.
3-7c).
• A movement command (AUTO-R, STEP-R,ABS-PT, INC-PT) was executed with-
out a return to origin being completed first.
• A point number was specified for which no data has been registered, and a movement
command (AUTO-R, STEP-R,ABS-PT, INC-PT) was executed.
• The operator attempted to run a program that contains no programming code.
Figure 3-7c Failure of the Special-Use Command from the Initiation of the
command
Special-use 1
command
Output 3
BUSY
END 4
T2
:< ~ I( -~--+o~-T3
T1
T1 ~ 30ms, T2 ~ 1 ms, T3 ~30 ms
signal goes on.
2 Turn off (contact open) the special-use command input after the BUSY signal goes
on.
3 The BUSY signal is turned off at the point where the special-use command input
goes off, because command execution was impossible.
4 At this point, the END signal remains off.
3- 18

For the reasons listed below, command execution becomes impossible before the com-
mand is fully executed (See Fig. 3-7d).
• A jump to an unregistered program is indicated during automatic running.

• A movement command (MOVA, MOVI, MOVF) specifying an unregistered point
number is executed during automatic running.
Figure 3-?d Failure of Special-Use Command During Program Execution
UP· ON DOWN· OFF

Input Command
Special-use
command -
execution
impossible t
j
1~
Output
BUSY
END
2
r
!::::,
\_)
1 The BUSY signal is turned off because command execution is no longer possible.
3- 19

Figure 3-8 Execution of a Reset Command
lqput UP: ON DOWN: OFF I
Reset command
1
2
Output 1 3
BUSY
4
END
',,T2
:....'1(~)1~:----+:oo(E-T-
T1 :
T1 ~ 30ms, T2 ~ 1 ms, T3 ~ 30 ms, T4 ~ 1 ms
At the rise of the RESET signal, the END signal goes off and the BUSY signal goes
on.
2 Tum off (contact open) the RESET input after the BUSY signal goes on.
3 The BUSY signal is turned off at the point where the RESET command input goes
off, because the END signal has gone on and command execution has ended.
4 At this point, the END signal is turned on, indicating that execution has ended nm~
mally.
3-20

Figure 3-9 Interlock (LOCK) signal is received during execution of a Special-
Use Command
UP: ON DOWN: OFF

Input
LOCK
Special-us e
command I 1
Output
BUSY :\
END 2
I
"
J
T1 : Differs according to execution command.
The BUSY signal is turned off because an interlock signal was received during com-
mand execution.
3- 21

Figure 3-10 An Emergency Stop or Alarm Occurs During Special-Use Com-
mand Execution
CuP: ON oowN: OFF ]

Input Emergency stop t
EMG
Special-use
command
I : 1
()utput :~
BUSY
1
END
2
\___/
READY
:\.
T1 ~ 5ms, T2 ~ 1 ms
The READY and BUSY signals both go off because an emergency stop (or alarm
stop) has been initiated during command execution.
3-22

Figure 3-11 When the Power Supply is Turned On
[- UP: ON DOWN: OFF
----~,'\:~--------------------------
AC100V
Output
READY
T1 ~ 500 ms
T1
When the power supply is turned on, the READY signal should be turned on before
special-use commands is input.
3- 23

Figure 3-12 When Point Movement Commands Are Being Executed
111put UP: ON DOWN: OFF I
Point data
1
Speed data Determination of data inpuy.
(017 to DIO, DIS)
.\_~
Point movement 2
command
(ABS-PT, INC-PT)
Output
BUSY
Actual robot operation

( Robot movement )
END
'< )o, T1 ~30ms

T1
Among the special-use input commands, point movement commands require that the
data input be determined before the command is input.
The point data and speed data are set, using the general-use input DIO to 018. These
input conditions should be kept until the BUSY signal goes on.
2 A delay of 30 ms or longer is introduced, and then the point movement command is
input.
3 Turn off (contact open) the point movement command after the BUSY signal goes
on. Then the data (DIO to DI8) can be changed for next movement.
3-24

CHAPTER
The DPB is a specially designed operation box that is connected to the SRC Controller and used for functions
such as the editing and execution of programs.
Operation is handled through a menu-driven interaction with the screen displays, so that even persons using the
unit for the first time will find it easy to operate.
This chapter covers the basic operation of the DPB.
4- 1

Connecting the DPB to the SRC Controller and
Detaching It
Items that require special attention when connecting the DPB to the SRC Controller, or
detaching it, are listed below.
¥////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////;
Connecting the DPB to the SRC Controller
I) When the power supply to the controller

is turned off, connect the DPB connector [MENU]
to the connector labelled "DPB" on the Select menu
front panel of the controller and turn on
the power supply switch on the control-
ler. A beep sounds for approximately 1 1L'EDIT20PRT3SYS illiMON
second and then the screen shown in right
appears. This screen will be referred to as
the "Initial screen" from this point on.
2) The DPB can also be connected to the SRC Controller if the power supply to the
controller is on. In this case, hold down the ESC switch on the front panel of the
controller as you plug in the DPB connector. If you forget to hold down the ESC
switch while plugging in the connector, an emergency stop of the controller will be
initiated and the servo will be turned off. Also, if the DPB is connected while the
controller is executing a program, execution will be interrupted regardless of whether
or not the ESC switch is held down.
4-2

--------------------------
( 1) The power to the controller should be turned off if any of the following messages
are displayed on the DPB "PRM DATA DESTROY," "PNT DATA DESTROY,"
"PGM DATA DESTROY," or "OVER LOAD." Then tum on the power again while
holding down the Emergency Stop switch of the DPB. In this state, the servo of the
robot remains off, but the initial screen appears on the DPB, so that data initializa-
tion can be executed. If the message displayed is "Over Load" the data may have
been damaged (see Chapter 11-2, "Handling Alarms.")
(2) If the power is turned on and the message "BATT LOW-VOL1AGE" is displayed
on the DPB, turn off the power to the controller. Then tum on the power again
while holding down the Emergency Stop switch of the DPB. In this state, the servo
of the controller remains off, but the initial screen appears on the DPB, so that
backup of the data can be performed. Back up the data, and then replace the lithium
battery in the controller (the lithium battery should last five years). (See Chapter
12-3, "Replacing the Battery".)
(3) If the message "SIO ERROR" is displayed on the DPB, check whether the l/0
special-use command input is on. If the special-use command input is on, the DPB
cannot be used, so always set the special-use input to a pulse input (turn the special-
use input off when busy turns on.)
(Refer to section 3-2 Description of the I/0 Signals.)
(4) To connect the DPB directly to the SRC Controller, use the connector provided as
an accessory. Do not alter the cable in any way or connect any relay units to it.
....//////////////////////////////////////////////.H/////////////////////////////////////////////..•"f.•'///////////////////////////////h
~J ~ -J ~ 2 Detaching the DPB From the SRC Controller
Always hold down the ESC switch on the front panel of the controller if you are going to
unplug the DPB while the controller is operating. Failing to hold down the ESC switch
will initiate an emergency stop in the controller and tum off the servo.
4-3

Basic Operation
This Chapter describes the basic operational procedures when using the DPB.
..........................-..
:-"//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Key Layout and Functions

[£]] to I [F ~ I
These keys select the modes.
The currently selectable modes are shown on
the 4th line of DPB liquid crystal display.
~~~©I
This key returns operation to the previous
mode.
This key also performs error reset when an er-
ror occurs.
I [Q)~© I
This key monitors DI and DO status for OPRT
and EDIT modes.
I~lUHNJI
This key starts program execution.
Figure 4-1 Key Layout
l~~r©rPI
This key halts program execution.
This key cancels the immediately prior, numerical key entry.
I M<~., I to [I] , ~ ' I v1ov' I

These keys are for data entry (numerical key). They are also used during program editing
and for selecting robot instructions.
x~-" ~
·i<=J
These keys move the robot manually. They are also used dming program editing and for
moving the cursor left and right.
Not used.
c::l~
~'E
These keys scroll the screen up and down.
i-+i
l..-~·
Enter key.
4-4

.!} ·~ 2 ~ 2 Basic Key Operation A
1) The selection of modes is displayed on [MENU]

the 4th line of the liquid crystal display Select menu
on the DPB.
In Example A (showing the initial screen),
the following modes can be selected: $EDIT;;20PRT3SYS 4MON
j) EDIT
z OPRT
'~ SYS B
";i!i-•MON
[OPRT]
The numbers listed in front of the modes Select menu

correspond to function keys [[!] to
I~~ I· :;liORG :J!STEP BAUTO
2) Each time one of the function keys on the

screen shown in A is pressed, the next
deepest level is accessed (A ~B~ C~ c
D). [OPRT-STEP] 100 No 7
To return to the previous level, press the
ESC key. 001:MOVA 254, 100
(See Figure 4-2, "Branching Menu Dia-
gram".)
1SPD zRSET 3CHG
[OPRT-STEP] 100 No. 7
PGM No =
(program No) 0~31
4-5

3) If an error occurs during operation, a E
~--------------------------~
buzzer will sound for approximately I
[OPRT-AUTO]
second and a message as that shown in
Example E will appear on the 3rd line of
the screen. If this happens, check the con-
32:origin incomplete
tents of the message and then press the
ESC key to continue operation. To take
care of errors, please refer to the message
tables in Chapter 10.
4) If an alarm occurs on the controller side

[OPRT-AUTO]
during operation, an alarm message will
be displayed on the 3rd line of the screen, running ...
and further operation will be inhibited.
01:0VER LOAD
Tum off the power and take steps to solve
the problem, referring to Chapter 1 1-2,
"Handling Alarms."
:."'.............................................................................................................................................................................................'/.;'/.,...............................................................................................................................................'/....///////////////////////////////////////////////////////,
~t"' :2 ~ 3 Reading the Screen
I) Program execution screen
2 3
[OPRT-STEP] 100 No31

062:MOVA 200,100 5
4 0 0 00 J
J;SPD )ilRSET6CHG
1. Mode
2. Execution speed
3. No. of program being executed
4. Step no. being executed
5. Current position
4-6

2) Program edit screen
1 2
\ \
I
_/
[EDIT-PGM] No31
3 --+-- 062:MOVA 200, 100
]MOD !aiNS BDEL @CHG
1. Mode
2. No. of program being edited
3. No. of step being edited
3) Point edit screen (teaching playback)
1 2 3
\ \
\ \
I
[EDIT-PNT-TCH] (1)
4 --+-- P254 = 123. 45 [mm]
0. 00] - - 1 - - - 5
ICHG 2SPD :35 SET 4 DO
!.Mode
2. Type of movement parameter
3. Movement parameter
4. Point no.
5. Current position
4-7

4) DIO monitor screen
[MON]
DI 10000000 10000000
DO 10000000 0:1 S:1
Dl: From left side

General-use input 7 Q)
General-use input 6
General-use input 5
General-use input 4
General-use input 3
General-use input 2
General-use input I
General-use input 0@
Interlock (LOCK)
0: Locked state (robot movement not possible)
1: Unlocked state (robot movement possible)
Return to Origin Command (ORG-S)
Reset Command (RESET)
Automatic Run Start Command (AUTO-R)
Step Run Start Command (STEP-R)
Point movement command with absolute (ABS-PT)
Point movement command with incremental (INC--PT)
General-use input 8
DO: From left side

READY
BUSY
END
General-use output 4
General-use output l
0: Origin sensor status
0: Off (Closed)
I: On (Open)
S: Servo status
0: Servo off
l: Servo on
4-8

Branching Menu Diagram
EDIT
MDI (Manual Data Input) CHG (Point Change)

TCH (Teaching Playback) · - ~ CHG (Point Change)
PNT (Point Edit) SPD (Speed Change)
S_SET (Speed Set)
DO (General-Use Output Control)
TRC (Point trace)
DTCH (Direct Teaching) ----,---- CHG (Point Change)
DEL (Delete) DO (General-Use Output Control)
COPY (Program Copy)

UTL (Utility)
ORG (Origin Return)

E
- - - - + - DEL (Program Delete)
LIST (Program List)
SPD (Execution Speed Change)

OPRT
E
STEP (Step Run) - - + - - RSET (Program Reset)
CHG (Program Change)
POWER
ON SPD (Execution Speed Change)
AUTO (Auto Run) - - + - - RSET (Program Reset)
CHG (Program Change)
PRM (Parameter Set)
SYS
MON (DIO Monitor)
Fig. 4-2 Branching Menu Diagram
4-9

MEMO
4- 10

CHAPTER
The SRC Controller uses a software servo system, so that no adjustments of hardware components such as
potentiometers or DIP switches are required. Instead, parameters are used whose settings can be easily changed,
using the DPB (or a personal computer).
This chapter contains a detailed description of each of the parameters, and explains how to use the DPB to
change and specify parameter settings.
SAFETY
Errors such as motor overload are detected by the software, so the controller parameters must be set correctly to
match the connected robot model. The parameters are initialized to match the robot when the robot is shipped,
so confirm these before starting use. If there is any trouble, please contact your Distributor or YAMAHA
ROBOTICS.
5-1

Description of Parameters
The 3 7 parameters are described in order below.
PRM 0: Robot Type

The type of robot being used is indicated by a robot initialization number.
(See Chapter 13 Tables 13-2 and 13-4.)
This is the one parameter that can be only read and not written. To change the
robot type or when the memory has been destroyed for any reason, this pa-
rameter must be initialized. (See Chapter 8- I "Initialization".)
PRM 1: (+)soft limit

The + side robot movement range is set.
Set a suitable number for safety purposes.
Input range: -9999 to 9999 (mm)
or -360 to 36on
Default value: Depends on robot type.
PRM 2: (-)soft limit

The - side robot movement range is set.
Set a suitable number for safety purposes.
Input range: -9999 to 9999 (mm)
or -360 to 360( 0 )
Default value: Depends on robot type.
--------------------------
The soft limit will not function if the origin return has not been completed.
PRM 3: Transport weight

Input the workpiece weight plus the tool weight.
Input range: 0 to 80 (kg)
Default value: Maximum transfer weight of that robot
--------------------------
Always set the correct weight for safety purposes. If the setting is not correct, the robot
and controller may malfunction.
5-2

PRM 4: Acceleration
The optimum acceleration will be automatically set according to the robot
type and end weight. Change this parameter when the acceleration is to be
decreased beyond this state.
Input range: I to I 00 (%)
Default value: 100
PRM 5: Origin return direction

When this parameter is set to 0, the return to origin is performed on the motor
side.
When the parameter is 1, the return to origin is performed on the side oppo-
site the motor.
PRM 6: Positioning completed pulse

When an axis movement command is executed, this parameter specifies the
number of pulses at which positioning should end before reaching the target
position. Thus allowing execution of the command.
Input range: 1 to 4000 (pulses)
Default value: 20
PRM 7: Point trace speed
Input range: 0 to 100 (%)

Default value: 30
( 1) When point trace speed is 1 to I 00%

PRM 7 sets the movement speed when general-use input 8 is on and a point
trace is executed.
* The actual speed will be the value obtained by multiplying the execution
speed displayed in theAU1D or STEP mode (see 4-2-3 Reading the Screen).
Example: When the execution speed display in the AUTO or STEP mode is
50 and this parameter is set to 30, the actual speed will be
3000rpm x 50/1 00 x 30/100 = 450rpm.
(2) When point trace speed is 0% (Speed change with the DPB is available
for DPB ROM V 1.15 or later version)
The number of inputs that specify the point trace speed is 2 (general-
purpose inputs 7 and 8). (General-purpose inputs 0 to 6 are used to specify
each point.) At this time, the point trace speed applies to the parameter
data settings shown in the table below.
DIS DI7 Movement speed (%)

OFF OFF 100
OFF ON PRM41
ON OFF PRM42
ON ON PRM43
PRM 8: No. of conditional input points

When the robot language JMPF instruction is executed, this indicates the
number of effective points for the No.3 data conditional input (i.e., PRM 8 =
4, the status of DI4 to DI8 is ignored.)
Input range: I to 8 (points)
Default value: 4
5-3

PRM 9: MOVF speed
This sets the speed for execution of the program language MOVF command.
Input range: 1 to 1000 (mm/sec)
Default value: 10
PRM 10: Return to origin speed

Input range: 1 to 100 (mm/sec)
Default value: 20
--------------------------
If the origin returns speed is increased, an alarm may occur at the origin return depend-
ing on the robot. Keep the initial state when possible.
Parameters PRM 11 through PRM 43 are set automatically for each robot type when
parameter initialization is carried out. Normally the settings do not need to be changed
and they are not displayed on the DPB LCD. (However, this excludes PRM20: OUT
valid position, PRM 22: Message type and PRM 35: Otigin shift.) When making
I
changes for special reasons, press I~~© on the DPB or turn the controller power
switch ON. With normal operations, the following parameters can be changed.
--------------------------
The robot or controller may malfunction or the safety of the robot movement may be
adversely affected if some of these parameters are changed carelessly. Should changes in
these parameters be required, please call your Distributor or YAMAHA ROBOfiCS.
PRM 11: No. of encoder pulses (after being multiplied four times)
This varies depending on the robot type.
Unit: pulses/rev
PRM 12: Lead length

Unit: O.Olmm (FROP is O.Oldeg.)
PRM 13: Origin return method

0: Sensor detection method
1: Stroke end detection method
PRM 14: Overload current

PRM 15: Overload time

PRM 16: Current limit

PRM 17: Speed ratio gain

5-4

PRM 18: Speed integration gain
PRM 19: Position ratio gain

PRM 20: OUT valid position

When executing the axis movement command, this parameter indicates
whether to regard the command as completed several millimeters (degrees)
before the target position. Thus, the next command can be executed before
the moving axis enters the positioning completed pulse. (DO command, etc.)
However, if the next command is an axis movement command, it cannot be
executed until the moving axis enters the positioning completed pulse (PRM
6).
If the position completion range is larger than the OUT valid position range,
the axis will not be regarded as having entered the positioning completed
pulse range until it reaches the OUT valid position.
Input range: I to 9999 (mm)
I to 360 ( 0 )
Default value: I
PRM 21: Switching between millimeters/degrees

0: Millimeters
1: Degrees
PRM 22: Switching between English/Japanese

Set the language for the response messages displayed on the DPB and RS-
232C.
0: English
1: Japanese
PRM 23: Acceleration coefficient depending on transport weight

The value calculated from PRM 0 and PRM 3 is set for this parameter.
PRM 24: Teaching frequency data (DPB entry)
PRM 25: Not used
PRM 26: Teaching movement data

Unit:%
Default value: 100
PRM 27: Teaching movement data 1 (for DPB)

Unit: o/o
Default value: I 00

Unit: o/c
Default value: 50

Unit:%
Default value: 10
5-5

PRM 30: Maximum program speed
Unit: o/c
Default value: I 00
The speed data defined by the MOVA or MOVI instruction in the program is
multiplied by this value to determine the maximum speed when the robot is
actually moving. This is then used to lower the speed of the overall program.
Any speed changes in the AU1D and STEP modes will also change this value
when using the DPB.
Max. speed(%)= No.2 data(%) ofMOVA command x PRM 30 (%)

100
Table 5-2 provides the maxi'mum and minimum speed for each robot. If the maximum
speed during movement is I00%, each robot will move at the maximum speed shown
below. The minimum value shown below is the minimum speed that can be controlled.
Thus, the minimum speed or lower limit value of the maximum speed is 0.1 o/c for BS and
FT type and is 0.05% for all other types.
The unit is deg/sec for FROP and mm/sec for all other types
Table 5-2 Maximum and Minimum Program Speed
BS FT/FTV FS/FSV LTI/LSI BFS BLS II FROP

Max. value 1800 600 400 500 1200 1200 225
Min. value 1.8 0.6 0.2 0.25 1.2 0.5 0.1125
Other horizontal types Other vertical types

Max. value 1000 500
Min. value 0.5 0.25
The unit is deg/sec for FROP and mm/sec for all other types
PRM 31: Broken wire detection level

This parameter sets the sensitivity for detecting a broken wire. The upper
limit is 255, and the larger the value is the duller the sensitivity will be.
Input range: 0 to 255
Default value: 0
5-6

PRM 32: Alarm no. output selection (corresponds to ROM versions V1.08 and
subsequent versions)
0: No output
1: Output
Default value: 0
When an alarm is issued, PRM 32 selects whether the alarm number is to be

output to the general-use output. The alarm number is output as 5-bit binary
data, to DOO to D04.
Table 5-3 Alann Number Output Selection
Alarm No. Alarm Message D04 D03 D02 DOl DOO

01 OVERLOAD 0 0 0 0 1
02 OVER CURRENT 0 0 0 1 0
03 OVERHEAT 0 0 0 1 1
04 POWER DOWN 0 0 1 0 0
05 BATT. LOW VOL 1AGE 0 0 I 0 0
06 WIRE TROUBLE 0 0 1 1 0
07 P.E. COUNTER OVER 0 0 1 1 1
08 PNT DATA DESTROY 0 1 0 0 0
09 PRM DATA DESTROY 0 1 0 0 1
10 PGM DATA DESTROY 0 1 0 0 0
11 SYSTEM FAULT 0 1 0 1 1
12 NOT USED 0 1 1 0 0
13 NOT USED 0 1 I 0 1
14 FEEDBACK ERROR 1 0 1 1 1 0
15 FEEDBACK ERROR 2 0 1 I 1 1
16 ABNORMAL VOL1AGE 1 0 0 0 0
17 SYSTEM FAULT 2 1 0 0 0 I
PRM 33: Origin return completed output selection

(corresponds to ROM versions V1.11 and subsequent versions)
Selects the operation to be executed simultaneously with the completion of
origin return. A signal can be output to the general-use output indicating that
return to origin has been completed, or the program can be reset.
Input range: 0 to 3
Definition: 0: Nothing is executed
1: D04 is turned on
2: Program reset is executed
3: D04 turns on after program reset
Default value: 0
* If program reset is executed after origin return, or if D04 is executed with
the program command, D04 will tum off even in the origin reset com-
pleted state.
PRM 34: Not used
5-7

PAM 35: Origin shift
The current position will be set to this value when origin return is completed.
Input range: -9999 to 9999 (0.0 I mm)
or -360 to 360 (0.01 °)
Default value: 0
PAM 36: Broken wire resistance

PAM 37: QP band width

Pulse width that compensates the frictional resistivity during deceleeration.
Input range : 100 to 1000
PRM38: Speed delay compensation gain

This differs according to the robot type.
PRM39: No. of motor poles

This differs according to the motor.
PRM40: RESET execution conditions selection

When the 110 RESET dedicated command is executed, the validity of the
LOCK input can be selected.
The 1/0 RESET input uses both the servo ON and program reset. If the pa-
rameter is 0, the program will always be reset regardless of the LOCK input
state. If the parameter is set to 1, resetting of the program can be prohibited
according to the LOCK input state.
Thus, by setting the parameter to 1, the program can be executed from mid-
way even after an emergency stop is reset. Refer to the RESET command in
the section 3-2-1 "Input signals" for details.
Input range: 0 to 1
Meaning: 0: LOCK invalid
1: LOCK valid
Default value: 0
PRM41: Point trace speed 1

This is valid only when PRM7=0.
Input range : 1 to 100 (%)
Initial value : 10

Input range : I to I 00 (%)
Initial value : 30

Input range : 1 to 100 (%)
Initial value : 70
5-8

Setting Parameters Used by the DPB
I) Press ~ (SYS) on the initial
[MENU]
screen.
Select menu
lEDIT20PRT3SYS 4MON
2) Then press [1}] (PRM).

[SYS]
Select menu
'lPRM 2B. UP3INIT4PRNT
3) The current setting for PRM 0 (robot type)

[SYS-PRM]
is displayed on the screen.
= 1.0
Use the~
L=:J and ~
~
keys to scroll
'
PRMO
Robot type
the parameters until you find the setting
you want to change. read only
4) When the desired parameter is displayed,

[SYS-PRM]
use the numerical keys to input the new
,---~-~
PRMl = 450 [mm]
value and then press -+ '.
(+)Soft limit
range -9999~9999mm
5) If processing ends normally, the screen

[SYS-PRM]
shown in Step 3 is displayed.
PRMl = .1_50 [mm]
(+)Soft limit
range -9999~9999mm
5-9

Japanese I English Display Switching
The DPB display switches to English immediately after parameters are set to default
values. The following describes procedure from switching between the English-Japa-
nese displays for DPB messages.
I) Press DE]] (SYS) on the initial

[MENU]
screen.
Select menu
1EDIT20PRT3SYS 4MON
2) Then press ~ (PRM).

[SYS]
Select menu
liPRM ;i;!B. UP$:INIT!;\PRNT
3) The current setting for the PRM 0 (robot

[SYS-PRM]
type) is displayed on the screen.
PRMO = 10
Pressing I s~~p I scrolls the screen and
Robot type
PRM22 is displayed.
read only
4) Input data with the numerical keys and

,-, [SYS-PRM]
when finished press the 1-+j key. Input 0 PRM22 =1
for English and I for Japanese display.
The display is normally in English only message type
for the PRM22 display. O:english l:japanese
5-10

CHAPTER
In this chapter, we will try programming some operations. First, you willleam how to input a program using the
DPB programming device. Then we will explain the commands used in the robot language and what they mean.
The SRC Controller uses a simple robot language developed by YAMAHA, so that it is easy to write programs.
At the beginning of the chapter, you will find a convenient table (Table 6-1) of robot language instructions. At
the end of the chapter there is a sample program that can be used as a reference.
6- 1

Basic Contents
¥////////////////////////////////////////////////////•'"/.//////////////////////////,..",;'"///////////...........................................................................................................................................................;;
Table of Robot Language Instructions
Instruction Description and Format

MOVA Moves to point data position.
MOVA <point no.>, <max. speed>
MOVI Moves from cmTent position by amount of point data.
MOVI <point no.>, <max. speed>
MOVF Moves until specified DI input is received.
MOVF <point no.>, <DI no.>, <parameter>
JMP Jumps to a specified label in a specified program.
JMP <label no.>, <program no.>
JMPB Depending on the ON/OFF status of the specified input, jump
is executed to the specified label.
JMPB <label no.>, <DI no.>, <I or 0>
JMPF Depending on an input condition, jumps to a specified label in
a specified program.
JMPF <label no.>, <program no.>, <input condition>
L Defines the destination for a JMP or JMPF instruction.
I
L <label no.>
CALL Executes a separate program.
CALL <program no.>, <no. of times>
DO Turns general-use output on and off.
DO <DO no.>, <parameter>
WAIT Waits until specified DI input is received.
WAIT <DI no.>, <parameter>
TIMR Waits the specified amount of time before advancing to the next
, step.
1 TIMR <time>
p [ Defines a point variable.
I •
· P <pomt no.>
P+ Increments a point variable.
P+
P- Decrements a point variable.
P-
SRVO J Tums a servo on and off.
! SRVO <parameter (0 or I)>
STOP I Temporarily interrupts program execution.
STOP
ORGN Executes return to origin.
ORGN
6-2

Robot Instructions and Point Data
The SRC Controller uses a command language very similar to BASIC, so that it is very
easy to create program. With these robot instructions, data relating to the position of the
robot (absolute position, amount of movement) is not expressed in terms of direct nu-
meric values in the program. Instead, point numbers are used to express information
indirectly. Data concerning the point numbers and the positions corresponding to them
are stored separately from the program, as point data. Therefore, changing a position in
a program can be done simply by editing the point data, without rewriting the program.
Example
Program Point Data
005 MOVA 0, 100 PO =50
006 MOVI I, 50 PI= 100
In the above example, the robot first moves to a position 50 mm from the origin point,
and then moves to another point 100 mm away from that one.
;.o'"///////////////////////////////////////////////////////////////////////////////////////////////////////////////////.Q///////////,
DPB and Robot Instructions
In the DPB, 2 methods are available for selecting robot instructions during program
editing.
1. Selecting with the function key Fl F2 F3 F4
During program editing when the MOVA JMPF JMP

screen displays the robot language t
selection, the lowest level of the liq- CALL WAIT DO
uid crystal display shows the robot t

TIMR L p
command. Three commands are
t
shown on one display and each one p P+ P-
can be selected with the matching t
function keys Fl to F3. When F4 is SRVO STOP MOVF
pressed the next commands are dis- t
played. JMPB
~
2. Selecting with the numerical keys
Frequently used robot commands are
printed on the lower part of the nu-
merical keys. Pressing the numerical
key during the robot language selec- Fig. 6-1 Selection of Robot
tion display selects the robot com- Instructions using the DPB
mand for that key.
;.'"////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////,
~~ ·J ~ !} Memory Capacity
The SRC Controller has the following memory capacity:

Total no. of programs: 32
Max. no. of steps per program: 255
Max. no. of steps in all programs together: I024
Max. no. of points: 255
6-3

Editing Programs
"Program editing" refers to operations such as creating a program after initializing the
values, creating new programs, changing an existing program, and deleting or copying a
program. In this section, you will learn the basic components of program editing using
the DPB.
"Creating a new program following initialization" refers to creating a program for the
first time after purchasing the equipment, and after initializing all values, before any
programs have been created (see Chapter 8-1, "Initialization.").
"Creating a new program" is completed when at least one program has already been
created and you are creating or editing another new program.
"Editing an existing program" means correcting, adding, deleting, or inserting steps in a

program to change only part of it.
In this chapter, in addition to describing all of the above program editing functions, we
will explain how to determine the number of steps left in a program, as well as other
information.
6-2-1 Creating Programs After Initialization 6-5

6-2-2 Creating a New Program 6-6
6-2-3 Correcting a Step 6-8
6-2-4 Adding a Step 6-10
6-2-5 Deleting a Step 6-11
6-2-6 Inserting a Step 6-12
6-2-7 Copying a Program 6-13
6-2-8 Deleting a Program 6-14
6-2-9 Viewing the Program Information 6-15
6-4

Creating Programs After Initialization
I) On the initial screen, press the OE:IJ [MENU]

(EDIT) key.
Select menu
:1;EDIT4JOPRTi3SYS 4MON
2) Next press the OE:IJ (PGM) key. [SYS]

Select menu
3) No programs have been created follow-

[EDIT]
ing the initialization, so an error message
is displayed on the screen. Select menu
43:cannot find PGM
iPGM 2PNT ;auTL
4) I
Press the I~~© key to reset the etror. [EDIT]
Program No. 0 is selected automatically
and a confirmation message is displayed. PGM No = 0
To select Program No. 0 and proceed with New entry OK ?
editing, press OE:IJ
(YES). To select a
j;yes ::&no
program other than No. 0 and edit it, press
[!j] (NO).
5) If you selected [!]] in Step 4, input [EDIT-PGM]

the number of the program to be edited,
using the numerical keys, and press the PGM No =
-+ ·key. The screen returns to that shown (Program No) 0~31
in Step 4. If the program number is the

correct one, press OE:IJ (YES).
6-5

6) Use ~ to [f]lJ to select the ro- [EDIT-PGM] NoO
bot instructions.
001:
When [£]] (NEXT) is pressed, the
displayed robot instructions are switched
to the next display.
lMOVA2JMPF3JMP !ilnext
I
When the I~~© key is pressed, the
display switches back to the previous
screen.
7) When Fl (MOVA) is selected the cursor

moves to Command Data 1. [EDIT-PGM] NoO
Use the numerical keys to input the data. 001:MOVA _Q_ ,100
(Do not press the I . . . . , key yet.) (point No) 0~254
Use the and [:]keys to move the

cursor and input different command data.
8) When all of the command data has been

[EDIT-PGM] NoO
entered, press the ...... key.
001 :MOVA 1 , 80_
9) If the input process is completed normally,

the cursor moves to the robot instructions. [EDIT-PGM] NoO
To edit the next step, press I s~~p I and

001:MOVA 1 ,80
scroll the steps. Then repeat the process

from Step 6. 1MOVA\ilJMPF'BJMP i4next
6-6

f! ~ 2 ~ 2 Creating a New Program
I) On the initial screen, press the ~

(EDIT) key. [MENU]
Select menu
1EDIT20PRT3SYS 4MON
2) Next press the ~ (PGM) key. [EDIT]
Select menu
1PGM 2PNT 3UTL
3) The program number and last step ex-

[EDIT-PGM] No.13
ecuted are displayed on the screen. Press
I [F~ I (CHG). 017:MOVA 254, 100
(For instructions on how to interpret the
editing screen, see Chapter 4-2-3.)
lMOD ZINS ~DEL 4CHG
4) Input the new program number with the

[EDIT-PGM]
numerical keys and press the ! -+I key. PGM No =
(Program No) 0~31
5) A confirmation message is displayed. If

[EDIT]
the program number is correct, press
~(YES). PGM No = 14
New entry OK ?
1yes 2ho
6) Proceed with program editing, starting

with Step 6 in "6-2-1 Creating Programs
After Initialization."
6-7

0~2~J Correcting a Step
I) On the initial screen, press the [][!]

[MENU]
(EDIT) key.
Select menu
lEDITZOPRT3SYS 4MON
2) Next press the [1]] (PGM) key. [EDIT]
Select menu
1 PGM 2PNT :3UTL
3) The program number and last step ex-

ecuted are displayed on the screen. If the [EDIT-PGM] Nol3
program to be edited is different, press 017:MOVA 254, 100
I ~~I (CHG).
If the displayed program is the one you
want to edit, proceed with editing begin- ;tMOD ;Z INS §'DEL 4£cHG
ning at Step 6.
4) Input the number of the program to be ed-

[EDIT-PGM]
ited with the numerical keys and press the
-+ikey.
PGM No =
(Program No.) 0~31
5) Input the number of the step to be edited

[EDIT-PGM]
with the numerical keys and press the
~~key. PGM No = 13
STEP No =
(REG.steps) 50
6-8

6) Press [[!] (MOD). [EDIT-PGM] No13
017:MOVA 254, 100
J.MOD 4INS 3DEL 4CHG
7) Select the robot instruction, using the

[EDIT-PGM] No13
[[!] to [1jJ keys.
017:NOVA 254,100
Pressing [fE]D (next) will display the
next screen of robot instructions.
When the I~~© I
key is pressed, the lMOVA4JMPF3JMP 4next
display switches back to the previous
screen.
If the robot instruction is not to be
X+
changed, press the 1
••
8) The cursor moves to command data I. Use

the numerical keys to input a value. (Do [EDIT-PGM] No13
017:JMPF _Q 13 '1
(labelNo) O----c>255
Press the and [~-:;:l keys to move
the cursor and correct other command
data.
9) When all of the desired changes have been

~-- [EDIT-PGM] No13
made to the command data, press the 1 . . . . . :
017: JMPF 10, 31, 5_

key.
(condition) O----c>255
I 0) If the editing process has been completed

[EDIT-PGM] No13
normally, the cursor moves to the robot
instructions. To edit another step, use the 017:~MPF 10, 31, 5
I s~~p I and ;~~ I keys to scroll the steps,

and repeat the process starting with Step J.MOVA2'-JMPF3JMP 4next
6.
6-9

EJ ~ 2 ~ ~J Adding a Step
1) The process for adding a step is the same as that for "6-2-3 Correcting a Step," up
to Step 4.
2) Input the last step number with the nu-

[EDIT-PGM)
merical keys and press the 1 ~ j key.
PGM No = 13
STEP No =
(REG.steps) 50
3) Press the I s~~p I key. [EDIT-PGM) Nol3
OSO:'{IIAIT 3 , 1
iMOD ziNS 3DEL 4CHG
4) Continue the process, stmting with Step

[EDIT-PGM) No13
7 of "6-2-3 Correcting a Step."
051:
lMOVA2JMPF3JMP 4next
6 - 10

I) The process for deleting a step is the same as that for "6-2-3 Correcting a Step," up
to Step 4.
2) Input the number of the step to be deleted

[EDIT-PGM]
with the numerical keys and press the
1-+ ~key. PGM No = 13
STEP No =
(REG steps) 50
3) Press CD] (DEL). [EDIT-PGM] No13

017:MOVA 254, 100
lMOD 2 INS 3DEL 4CHG
4) A confirmation message is displayed. To

[EDIT-PGM] Nol3
delete the step, press [][!] (yes). To
cancel the deletion and leave the step as 0 1 7 : MOVA 2 54 , 1 0 0
it is, press CJE]J (no). delete OK ?
lyes 2no
5) When the deletion has been completed

[EDIT-PGM] Nol3
normally, the screen returns to that shown
in Step 3. 017:WAIT 3, 1
lMOD 2INS :3DEL 4CHG
6 - 11

Inserting a Step
I) The process for inserting a step is the same as that for "6-2-3 Correcting a Step," up
to Step 4.
2) Input the number of the step where the

inse11ion is to be made with the numeri- [EDIT-PGM]
1-----:-1 PGM No = 13
cal keys and press the 1
key.
. . . . .
STEP No =
(REG steps) 50
3) Press ~ (INS). [EDIT-PGM] No13

017 :MOVA 254, 100
Jl.MOD i2 INS 3DEL 4CHG
4) Continue with Step 7 of "6-2-3 Correct-

[EDIT-PGM] No13
ing a Step."
017:
l.MOVA2JMPF3JMP 4next
6- 12

EJ ~ 2~1 Copying a Program
I) On the initial screen, press ~

[MENU]
(EDIT).
Select menu
1EDIT40PRT3SYS 4MON
2) Press [!][] (UTL). [EDIT]
Select menu
1 PGM 2PNT 3UTL
3) Press ~ (COPY). [EDIT-UTL]
Select menu
]COPY'2DEL 3.LIST
4) Input the program number from which

[EDIT-UTL-COPY]
the step is to be copied, using the nu-
Copy from PGM No
merical keys. Then press the .-+ key. !
5) Input the program number to which the

[EDIT-UTL-COPY]
step is to be copied, using the numerical
Copy from PGM No 0
keys. Then press the -+ key.
Copy to PGM No =
6- 13

6) If the number of the program to which the
[EDIT-UTL-COPY]
step is to be copied already exists, a con-
firmation message will be displayed, ask- Copy from PGM No = 0
ing if it is all right to overwrite the exist-
ing program. No 1 Overwrite OK ?
To overwrite the program, press [f]J lyes ;&no
(yes). To cancel the copy process without
copying anything, press IJE]J (no).
7) If the copying process has been completed

normally, the screen returns to that shown [EDIT-UTL]
in Step 3. Select menu
;l;COP'{;ilDEL 3LIST
...................................................................................'"/.//////////////.........................................................................................'/////////////////////////////////////////////////////////////////////h
fJ ~ 2 ~ 0 Deleting a Program
I) The process for deleting a program is the same as that for "6-2-7 Copying a Pro-
gram," up to Step 2.
2) Press IJE]J (DEL).

[EDIT-UTL]
Select menu
1COPY~DEL 3LIST
3) Input the number of the program to be

[EDIT-UTL-DEL]
deleted with the numerical keys and press
the -+ key.
delete PGM No =
6- 14

4) A confirmation message will be dis-
[EDIT-UTL-DEL]
played, asking if it is all right to delete
the program. delete PGM No = 22
To delete the program, press [!]]
delete ?
(yes). To cancel the deleting process with-
i;lyes t;lno
out deleting anything, press ~
(no).
[EDIT-UTL]
5) If the deleting process has been completed
normally, the screen returns to that shown Select menu
in Step 2.
ilicoPYl~DEL SLIST
......................'/..........................................................................................................................................................................................................................................,.........,................................,.........,...........,......................................................,..................,......,......,......,.........,....................................................................,......,.,.................,....................., ...h
8 <~~ ~ 9 Viewing the Program Information
1) The process for viewing program information is the same as that for "6-2-7 Copy-
ing a Program," up to Step 2.
2) Press ~ (LIST).
[EDIT-UTL]
Select menu
;l.COPY':¢DEL BLIST
3) The program number is displayed on the

[EDIT-UTL-LIST]
screen, along with the number of existing
steps and the number of free steps remain- free 678 steps
ing.
No 0 57 steps
Press the 80~p and I I I~~:.I keys to scroll
No 1 255 steps
the screen and move to other program
numbers, where the number of existing
steps for those programs can be viewed.
* In addition to the number of existing steps, steps equivalent to the number of programs
are consumed internally as the program control steps. For example, if two programs
are registered, and there are 50 steps and I 00 steps existing respectively, the number of
free steps remaining will be as follows.
I 024 - 2 - 50 - 100 = 872
6- 15

Editing Point Data
There are three ways to input point data: Manual Data In (MDI), Teaching Playback, and
Direct Teaching. Manual Data In consists of using the numerical keys of the DPB and
directly inputting numeric values. Teaching Playback uses manual operation to move the
robot to the desired position and then stores that position as point data. Direct Teaching
is basically the same as Teaching Playback, except that the robot is moved by hand.
,...///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////1'///////A
Manual Data In
1) On the initial screen, press [f]J

[MENU]
(EDIT).
Select menu
1EDIT20PRT3SYS 4MON
2) Press [JEjJ (PNT). [EDIT]
Select menu
1 PGM 2 PNT 3UTL
3) Press [1]] (MDI).

[EDIT-PNT]
Select menu
:IMDI 2TCH 3DTCH4DEL
4) The currently selected point number in the

[EDIT-PNT-MDI]
program being executed is displayed on
the screen. PO= 0. 00 [mm]
If the point number to be edited is differ-
input data [_
ent from that displayed, press the I s~~p I
;tCHG
and ! ~6~ I keys to scroll the point num-

bers.
To switch directly to a certain point
number, press the [f]J (CHG) key.
6- 16

5) Input the point number to be edited with
~,~l
[EDIT-PNT-MDI]
the numerical keys, and press the
=
! . . . . . I
L_ _ _ _ j Pn : n
key.
(pointNo) 0-0254
6) Input the point data with the numerical

[EDIT-PNT-MDI]
keys, and press the ..... key.
P199 = -19.27 [mm]
input data[21. 76_]
:iCHG
7) The input data is registered as point data.

[EDIT-PNT-MDI]
P199 = 21.76 [mm]
input data[_
lCHG
:.'///////////////////.1"";'//////////////////////////////////////////////////////////////////////////////////////////////////////
..'///A
8~ J ~2 Teaching Playback
I) The process for teaching playback is the same as that for "6-3-1 Manual Data In,"
up to Step 2.
2) Press [1jJ (TCH).

[EDIT-PNT]
Select menu
1MDI 2TCH 3DTCH4DEL
3) The currently selected point number in the

[EDIT-PNT-TCH] (1) 50
the screen. PO = 0. 00 [mm]
[ 0. 00 J
ent from that displayed, press the L~~ lCHG 2SPD 3S SET4 next
and keys to scroll the point num-
bers.
number, press the 0':]] (CHG) key.
6- 17

4) Input the point number to be edited with
[EDIT- PNT-TCH]
the numerical keys, and press the -+ Pn : n =
key.
(pointNo) 0~2 54
5) Move the robot to the position where
teaching is to take place, using the
X+ : r--x=-; X+l
or ~J
I keys. Each time the i .. i
l____________j
or _ _,
or key is pressed, the robot moves a fixed
amount in that direction and then stops. P199 = -19.27 [rum]
. ~~ --x-;c
Holdmg down the -~ or l___j key 0.00 l
moves the robot continuously in that di- 1CHGi2SPD 3S SET\1 next
rection at a fixed speed until the key is
released.
The amount of movement that the robot moves in fixed-amount movement, and the
speed of continuous movement, are shown as a proportion at the upper right side of
the screen (this is the speed parameter). In the example at the right, the movement
---. ,-;;-:i
parameter is 50, so that if the • x- or, I X+ I key is pressed once, the robot will move
~'~ '--~
0.5 mm, which is calculated as follows:
50 x 0.01 mm (constant)= 0.5 mm
If the IX:-] or 1~~ 1key is held down, the robot will move at a speed of 50 mm/sec,
~~' l=.::_j
as demonstrated by the following calculation:
50 x 1 mm/sec (constant) =50 mm/sec
To change the value set for the movement parameter, press [][[] (S_SET). (See
Step6.)
Three different speed settings, SPEED (I), SPEED (2), and SPEED (3 ), can be
assigned to the movement parameter. Each time ~ (SPD) is pressed, the
settings change in the order of 1 ~2~ 3~ 1.
6) Input the movement parameter with the

[EDIT-PNT-TCH]
numerical keys, and press the i-+. key
SPEED(1) = _
to return to Step 5.
(speed) 1~100
7) In this way, move the robot to the teach-

[EDIT-PNT-TCH] (1)100
ing position and press the -+ key. The
P199 = 167.24 [rum]
current position is input as point data.
[ 167.24]
lCHG 2SPD SS SET4 next
6- 18

fJ ~ J <J Direct Teaching
1) The process for direct teaching is the same as that for "6-3-1 Manual Data In," up to
Step 2.
2) Press [1]_] (DTCH).

[EDIT-PNT]
Select menu
lMDI 2TCH 3DTCH4DEL
3) As instructed by the message, press the

[EDIT-PNT-DTCH]
Emergency Stop switch on the DPB.
Press EMG. button
4) The CUITently selected point number in the

[EDIT-PNT-DTCH]
the screen. PO = 0.00 [mm]
0. 00 J
ent from that displayed, press the 80~P I I
1CHG 2 DO
and I ~6;: I keys to scroll the point num-

bers.
number, press the [1]] (CHG) key.
S) Input the point number to be edited with

[EDIT- PNT- DTCH]
the numerical keys, and press the .....
key.
Pn : n =
(pointNo) 0--72 54
6) Move the robot to the teaching position

[EDIT-PNT-DTCH]
by hand.
P199 = 19.27 [mm]
0.00]
1CHG 2 DO
6- 19

7) When the 1..... key is pressed, the cur- [EDIT-PNT-DTCH]
rent position is input as data. When all of P199 = 300.27 [mm]

the points have been edited in the same
[ 300.27]
way, press the I~~© I key.
;iCHG :;;! DO
8) As instructed by the message, release the

[EDIT- PNT- DTCH]
Emergency Stop switch on the DPB.
Release EMG. button
9) A confirmation message asking if it is all

[EDIT- PNT- DTCH]
right to turn the servo on appears on the
screen. To turn the servo on, press Servo on OK?
[][[] (yes). To leave the servo off,
press ~ (no).
;lyes :;;!no
10) The screen returns to that shown in Step

[EDIT-PNT]
2.
Select menu
lMDI 2TCH 3DTCH4DEL
6- 20

EJ ~ J ~ ~} Manual Control of General-Use Output
(This corresponds only to controllers with a ROM version ofVI.08 or later.)
When using Teaching Playback and Direct Teaching with systems that use the general-
use output of the 1/0 interface to operate the grippers and other components, the position
should be confirmed by moving the workpiece to the position being taught.
For this reason, the SRC Controller is designed to allow manual control of general-use
output from the DPB.
I) The procedure for manual control of the general-use output is the same as that for
"6-3-2 Teaching Playback" up to Step 5 or "6-3-3 Direct Teaching" up to Step 6.
* Hereafter, teaching playback screens will be used to illustrate the steps.
2) When the robot has arrived at the point
[EDIT-PNT-DTCH] (1) 50
where the general-use output is to bema-
nipulated, stop the operation and press the P199 = 19.27 [mm]
~ (DO)key. 0.00 J
J:CHG :2SPD 3S SET4bO
3) The status of the current general-use out-

[EDIT-PNT-TCH]
put is shown on the screen. To change the
status of the output (i.e., ON= I, OFF=O), DOO=O DOl=O D02=0
press the function key where the DO
D03=0 D04=0
number to be controlled appears.
Pressing the I [F ~ I key allows you to lDOO ZDOl 3D02 4next
select D03 and D04.
6- 21

8 ~ J ~ :J Deleting Point Data
I) The process for deleting point data is the same as that for "6-3-1 Manual Data In,"
up to Step 2.
2) Press I [F @J I (DEL).
[EDIT-PNT]
Select menu
1MDI 2TCH 3DTCH:4DEL
3) Input the number of the point where the

[EDIT-PNT-DEL]
deletion is to begin, with the numerical
keys, and press the i----:l

!-+ •key. DEL range P_-P
(point No)0~254
4) Input the number of the point where the

[EDIT-PNT-DEL]
deletion is to end, with the numerical keys,
DEL range P123-_
and press the :-+ ' key.
(pointNo) 0~254
5) A confirmation message will be dis- [EDIT- PNT- DEL]

played, asking if it is all right to delete
the data. DEL range Pl23-P200
To delete the data, press [1J[] (yes). delete OK ?

To cancel the deleting process without
1yes 2no
deleting anything, press [EjJ (no).
6) If the deleting process has been completed

[EDIT-PNT]
normally, the screen returns to that shown
in Step 2. Select menu
lMDI ;2TCH 3DTCH4DEL
6- 22

fJ ~ J ~ fJ Tracing points
The robot moves to the absolute position indicated by the detain the point register.
I) The procedure for tracing points is the same as that for "6-3-2 Teaching Playback"
up to step 3.
2) Press []E]J (next) to switch the func-

tion display. Then press [}E]J (TRC).
PO 350.00 [mm]
0. 0 0 J
1DO 2TRC i3 4next
3) The screen will switch, and the coordi-

nate values of the movement destination
and the movement speed will be dis- PO = 350.00 [mm]
played. When the robot is to be moved,
will move at 10% speed
press [1]] (yes) and if not press
(lyes zno
[}E]J (no). The movement speed will
be I 0% of the number (speed parameter)
displayed at the upper right of the screen.
4) When the movement is completed, the [EDIT-PNT-TCH] (1) 100

screen will change to that displayed in
step 2. PO = 350.00 [mm]
[350.00]
lDO QTRC 3 4next
6-23

Robot Instructions
With the SRC Controller, programs are written in a simple language that closely resem-
bles BASIC. This makes it easy to program even complex peripheral robot operations.
The instructions used in this language are described below .
.,....,....,....,...,...,...,...,...,...,...,...,...,...,...,...,...,...,...,...,...,...,...,....,....,.._,z,,....,...,...,...,...,...,...,....,...,...,...,...,...,...,...,...,...,...,....,....,...,...,...,...,...,...,...,...,...,...,....,...,...,...,...,...,...,...,...,...,...,...,....,...,...,...,...,...,...,...,...,...,...,...,....,...,...,...,...,...,...,...,...,...,...,....,...,...,...,..,ff..,...,...,...,...,...,...,...,...,....,....,..,•..,,.,..,,.,....,...,...,...,...,...,...,..,.q////h
MOVA
Function: Moves to the point specified by the number (absolute position of the ori-
gin point reference).
Format: MOVA <point no.>, <Max. speed%>
Example: MOVA 51,80
Moves to P5 I at speed 80.
Explanation: This command moves the robot in relation to an absolute coordinate that
sets the origin position as 0.
(I) Point numbers
Point numbers range from 0 to 254. Character "P" can be used as a
variable and a number can be set by the "P" instruction ..
(2) Maximum speed
When the execution speed parameter is I 00 and the speed setting in
the robot will move at the maximum RPM setting for that unit.
..............................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................-.
MOVI
Function: Moves from the current position by only the point data specified by the
number (incremental position of the current position reference).
Format: MOVI <point no.>, <speed>
Example: MOVI 10,80
Moves from the current position by only the point data defined in P 10, at
speed 80.
Explanation: This command moves the robot in relation to a relative coordinate that
sets the cunent position as 0.
(I) Point numbers
(2) Maximum speed
When the execution speed parameter is 100 and the speed setting in
the robot will move at the maximum RPM setting for that unit.
Note: The MOVI statement allows movement relative to "0" immediately after
performing any operation which resets the program. Use the MOVI state-
ment after executing an absolute position movement command such as
MOVA statement.
6-24

MOVF
Function: Moves until the specified DI number input is received.

Format: MOVF <point no.> <DI no.> <parameter>
Example: MOVF I, 2, I
This command moves the robot towards Point I until 012 goes on, at
which time the program advances to the next step.
Explanation: This is used when searching for a target position using sensors or other
devices.
(I) Point numbers
(2) DI number
This indicates one of the eight (0 to 8) general-use inputs.
(3) Parameter
"I" indicates "on" while "0" indicates "off'.
Other: PRM 9 sets the speed of MOVF movement. (Refer to "5-1 Description of
the various parameters'') Note that this will not be affected by the OPRT
mode execution speed. PRM9 is set in mm/sec.
)""//////////,'/////////,-'..../////,•'-'////////////////;'";'"/////////////;'"//......,.,..,..,..,...............,..,..,..,..,..,..,....¥////////////////////////;'"/;'";'"/;'";'"///////////////,;
f.J~~}~.d JMP
Function: Jumps program execution to a specified step.

Format: JMP <label no.>, <program no.>
Example: JMP 10, 8
Jumps to label 10 in program 8.
Explanation: This command is used to control the flow of program execution.
(I) Label number
The label number is a number defined by the "L" instruction, (see
Chapter 6-4-6), and indicates the destination to which program ex-
ecution is to jump.
(2) Program number
The program number is used to specify an individual program among
the 32 available programs, ranging from 0 to 31.
Other: If the program number is changed by means of the JMP instruction, it can
be reset during execution to return to the original program number when
program execution begins.
6-25

Function: If the conditional jump input matches the set value, program execution
jumps to the label of the designated program number.
Format: JMPF <label no.>, <program no.>, <input condition value>
Example: JMPF 12, 3, 5
If the conditional jump input is 5, execution jumps to label 12 of program
3. If the jump input is not 5, execution advances to the next step.
Explanation: This command is used to control the flow of program execution in re-
sponse to the conditional jump input.
(I) Label number
ecution is to jump.
(2) Program number
(3) Input condition value
A number from 0 to 255 is input, and the conditional jump input which
initiates a jump is set.
Conditional input can be selected from among 1-8 points by changing
Parameter 8 (see Chapter 5-1). As an example, Table 6-2 at the left
illustrates the relation between the status of the general-use input and
the input condition value when the number of conditional input points
is 4. Table 6-3 at right shows the relation between the number of con-
ditional input points and the input condition value, as well as the gen-
eral-use input being used.
Table 6-2 Status of the General-Use Input when the Table 6-3 Number of conditional Input Points, Input
number of conditional Input Points is 4 conditional value and General-Use Input
Peneral use DI Input Input No. of Input General-Use
Condition Conditional Condition Input Used
DI3 DI2 DII DIO
(2') (2") (21) (20) Value Input Points Value
1 0 to I DIO
OFF 0 0 0 0
less than 2 0 to 3 DIO to DII
OFF 0 0 I I
less than 3 0 to 7 DIO to DI2
OFF 0 I 0 2
OFF 0 1 I 3
OFF I 0 0 4
less than 6 0 to 63 DIO to DIS
OFF I 0 I 5
I less than 7 0 to 127 DIO to DI6
OFF I 0 6
ON I 1 I less than 8 0 to 255 DIO to DI7
7
ON 0 0 0 8 r;;.\ u rJ em
ON
ON
ON
0
0
0
0
I
I
I
0
I
9
10
II
-----------------
When selecting the number of conditional input points, the actual
number of input conditions to be used should be consideJCd. This
will insure that the number of conditional input points selected
ON I 0 0 12 will be large enough to accommodate all of the nccessmy points.
If an error is made in setting the number of conditional input points,
ON I 0 I 13
there will be a discrepancy between the input condition value re-
ON 1 I 0 14 quired by the program and that recognized by the controller. This
ON 1 I I 15 could keep the program from working properly.
6- 26

Function: Defines the jump destination for JMP, JMPF and JMPB instructions.
Format: L <label no.>
Example: L 100
Explanation: This command is used to define the destination to which program execu-
tion jumps on JMP, JMPF and JMPB instructions. The label number may
be any number between 0 and 255. Label numbers may be duplicated
within different programs.
,..................................................................................................................................................................'///////•'-'////////////////////////,.,...., ....................................................................................................................'//,'///////////////////..'"///////////;1
Function: Calls and executes another program.

Format: CALL <program no.>, <no. of times>
Example: CALL 5, 2
After program 5 is executed twice, execution advances to the next step.
Explanation: When repeating an operation a number of times, a separate program can
be created as a subroutine and the subroutine can be executed when nee-
essary.
(I) Program number
(2) Number of times
This is the number of times that the program is to be repeated, witch
can be specified from I to 255.
Other: • The nesting level is 6 (i.e., Only 6 successive call statements can be
used within a call statement).
• When the end of the program is detected (initiated by the CALL in-
struction), execution advances to the step following the CALL instruc-
tion in the main program.
• An error occurs, and execution will stop, if the program summoned by
the CALL instruction is the same program containing the CALL state-
ment.
• If the program number is changed by means of the CALL instruction, it
can be reset during execution to return to the original program number
when program execution begins.
6-27

Function: Executes ON/OFF control of general-use output.
Format: DO <DO no.>, <parameter>
Example: D03, I
This turns on general-use output 3.
Explanation: This command turns the general-use output available to the user on and
off.
(I) DO number
This specifies the general-use output 0, I, 2, 3, or 4 (5 points alto-
gether).
(2) Parameter
"1" turns the output on, and "0" turns it off.
:.'///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////~
8~~~'" 9 WAIT
Function: Waits until the specified DI number input is received.

Format: WAIT <DI no.>, <parameter>
Example: WAIT 5, 1
Waits until the input of DI number 5 goes on.
Explanation: This command controls program execution in response to the status of
the general-use input available to the user.
(I) DI number
Specifies one of the general-use input numbers from 0-8.
(2) Parameter" I" means the input on, and "0" means the input is off.
:.'///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////~
Function: Waits for the specified amount of time before advancing to the next step.
Format: TIMR <time>
Example: TIMR 100
This advances execution to the next step after waiting one second.
Explanation: This command is used when it is necessary to adjust time within the pro-
gram itself. Time may be specified in lengths from I to 65535, in units of
I 0 milliseconds; thus, time may be specified from 0.0 I seconds up to
655.35 seconds. Units are in 1Os of milliseconds.
Caution: The TIMR should not be used in place of a wait statement. The location
of liner slide, rotary actuator or gripper should always be monitored by a
sensor tied directly to the SRC.
6-28

Function: Sets a point variable.
Format: P <point no.>
Example: p 200
Sets a point variable to 200.
Explanation: The point variable can be set to any point data register, 0 to 254. By using
a MOVA statement, MOVI statement or MOVF statement and a P+, P-
statement, the number of program steps might be reduced.
(See Chapter 6-5 Sample Programs.)
Other: The contents of point variable "P" are held even when the controller power
is turned off, but when the program is reset or when the program reset is
applied by switching the execution program, etc., the point variable"P"
will be initialized to 0 .
.,. ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. .,. . .,. . ,. . ,. . ,. . ,. . .z,.....-...-...... .-. .-. .-. .-. .-. .-. .-. ....
.- ...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-h
Function: Increments a point variable (P = P + I)

Format: P+
Example: P+
....................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................
h
8 ~ ~~ ~ ·J J P-
Function: Decrements a point variable (P = P- I)

Format: P-
Example: P-
.......................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................
h
Function: Tums the servo on and off.

Format: SRVO <I or 0>
Example: SRVO I
This turns the servo on.
SRVOO
This turns the servo off.
Explanation: When the position of the robot is locked mechanically, this instmction is
used to prevent an overload status on the motor.
6-29

Function: Temporarily interrupts program execution.
Format: STOP
Example: STOP
Explanation: This is used to interrupt execution of a program, and can be used at any
point in the program. Execution will be restarted at the step following the
STOP instruction .
.,...,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,..,,z,.....-...-........-...-...-...-...-..-...........z.,..,.........,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,....,........,•..,....,....,..//////.--.'...-...-...-...-...-...-...-...-...-...-...-...-...-...-...-////////.,'/////////.-;,.,q..,....,....,....,....,....,....,....,....,....,....,....,....,..A
EJ~.!~~-J EJ JMPB
(Valid for controllers from ROM version number V1.14 onwards.)
Function: Jumps to the specified label when the specified DI number input is ON
or OFF.
Format: JMPB <label no.>, <DI no.>, <I or 0>
Example: JMPB 12, S, I
Will jump to label 12 when DIS input is ON.
If DIS is OFF the robot will proceed to the next step.
JMPB 21, 3, 0
Will jump to label 21 when DB input is OFF.
If DB is ON the robot will proceed to the next step.
Explanation: Controls the flow of the program according to the general-use input.
(I) Label number

ecution is to jump.
(2) DI number
This indicates one of the nine general-use inputs, 0 to S.
(3) I or 0
"I" indicates "on" while "0" indicates "off'.
"////////////////////////////////////////////////////////////////////////////////////////////////////////////////////.-//////////A
Function: Return to origin movement is executed.

Format: ORGN
Example: ORGN
Explanation: This command executes return to origin operation based on the specifica-
tion parameters.
Others: Execute return to origin at least one time after the power is turned on.
Unless the main power supply is turned off, there is no need to execute
return to origin again, even if the servo was off due to emergency stop
condition etc.
6- 30

Sample Programs
,....................................................................................................................................................................................................................................................................................................................................................................................................................'//////////////.•1"////////////,
Movement back and forth between two points
P1 4~~------------------- P2
------0-----------------------------------------------------0-----.
Program Comments
[NOO]
001: L 0 Label definition
002: MOVA 1,100 Moves to PI
003: MOVA 2,100 Moves to P2
004: TIMR 100 Enters a delay of 1 second
005: JMP 0,0 Returns to LO
,...................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................
Even-pitch movement
------o---------o---------o---------o---------o---------o-----
I I I I I i
i 50mm i 50mm i 50mm i 50mm i 50mm i

•• ••• ••• ••• ••• ••
Points
Start position
Distance 50 mm
Program Comments
[NOO]
001: L 0 Label definition
002: MOVA 0,100 Moves to PO
003: MOVI 1,100 Moves 5 times, 50 mm each time
004: MOVI 1,100
005: MOVI 1,100
006: MOVI 1,100
007: MOVI LJOO
008: JMP 0,0 Returns to LO
6- 31

EJ ~ S~J Inputs and Outputs
Fixes the positions of two points and outputs job commands for a PLC or a similar unit
at each position.
P1 < P2
------o-----------------------------------------------------o------
G G
Points
Position where Job 1 takes place
Position where Job 2 takes place
Generai.;Use Input
Job 1 End- 1: Ended, 0: Not Ended
Job 2 End - 1: Ended, 0: Not Ended
GeneraF.Use Output
Job 1 Command - 1: Output, 0: Cancel
Program Comments
[NOO]
001: DO 1,0 Cancels Job I command
002: DO 2,0 Cancels Job 2 command
003:L I Defines Label I
004: MOVA I, 100 Moves to Pl
005: DO 1,1 Outputs Job I command
006: WAIT 1,1 Waits for Job I to end
007: DO 1,0 Cancels Job I command
008: MOVA 2,100 Moves to P2
009: DO 2,1 Outputs Job 2 command
010: WAIT 2,1 Waits for Job 2 to end
Oil: DO 2,0 Cancels Job 2 command
012: JMP 1,0 Returns to L I
6- 32

EJ ~ S ~ ~J Pick & Place
Sets the robot in standby status at PO and moves the workpiece supplied at Pl to P2.
YAMAHA Single axis robot
Ascending - - DC (AC) servo

Ascend end
Limit switch (DIO)
Air cylinder (DOO)
Descending
Descend end
Limit switch (DI1)
Gripper (D01)
(j) j
Workpiece sensor
switch (DI2) ®
P1 PO P2
Operations
q Move from standby position to supply position and pick up workpiece
w Move to mounting position and set down workpiece
e Return to standby position
Points Actuators
PO Robot standby position Horizontal direction Servo motor
-----~--------1
P1 Workpiece supply position Vertical direction Air cylinder
-----~
~-------4--~----------
P2 Workpiece mounting poosition Grip Gripper
General-Use Input
DIO Ascend end limit switch 1: ON 0: OFF Air cylinder 1: Descend 0: Ascend
~---------------------
DI1 Descend end limit switch 1: ON 0: OFF
Dl2 Workpiece sensor switch 1: YES 0: NO
6- 33

Program Comments
[NO!]
001: L Label definition
002: MOVA 0,100 Moves to standby position
003:WAIT 2,1 Waits for workpiece
004: MOVA 1,100 Moves to workpiece supply position
005: DO 0,1 Cylinder descends ~
006: WAIT 1,1 Cylinder waits at descend end

Grips
007: DO 1, I Gripper closes
workpiece
008: TIMR 100 Enters a delay of 1 second
009: DO 0,0 Cylinder ascends
010: WAIT 0,1 Cylinder waits at ascend end ~
011:MOVA 2,100 Moves to workpiece mounting position
012:DO 0,1 Cylinder descends ~
013: WAIT 1,1 Cylinder waits at descend end

014:DO 1,0 Gripper opens Sets down
015: TIMR 100 Enters a delay of I second workpiece
016:DO 0,0 Cylinder ascends
017: WAIT 0,1 Cylinder waits at ascend end ~
018: JMP 1,1 Returns to L 1
6- 34

Subroutine Example
Workpieces coming in from previous-stage conveyor are sent to three next-stage con-
veyors in sequential order.
[TOP VIEW]
Work
0 _...-- Previous-stage conveyor

~
Next-stage conveyors
D
0
0
l
D
I
[SIDE VIEW]
Ascend end
Limit switch (D12)
Descend end
I
Ascend +-----+
Ai"lid' (DOO)
DC (AC) servo
Limit switch (DI3) Gripper (D01)

Close solinoid valve
Wo~pi'~ ""~: cl---------,1@

switch (DIO.DI1) 11
Operations
~///f)///~////~/ Actuators
CDMove to supply position and pick up workpiece Horizontal direction i Servo motor
@ Move to mounting position and set down workpiece Vertical direction Air slide
··~
Grip Gripper
6- 35

General-Use Input
DIO Identifies 3 types of work
DI1 00: WORKA 01: WORKB 10: WORKC
D12 Ascend end limit switch I: ON 0: OFF
D13 Descend end limit switch 1: ON 2: OFF
DI4 PLC and handshake input
General-Use Output
DOO Air slide 1: Descend 0: Ascend
DOl Gripper 1:Open 0: Close
D02 PLC and handshake output
Points
PO Workpiece supply position on previous-stage conveyor
PI Workpiece mounting position on No.1 next-stage conveyor
P2 Workpiece mounting position on No.2 next-stage conveyor
P3 Workpiece mounting position on No.3 next-stage conveyor
Progranl Coments
[NOO]
OOI:DO 2,0 Default values for general-use outputs
002:L 0 Label definition
003:WAIT 4,1
004:DO 2,1
005:WAIT 4,0
006:DO 2,0
007:JMPF 1,0,0 If work is type A, jump to L 1
008:JMPF 2,0,1 If work is type B, jump to L2
009:JMPF 3,0,2 If work is type C, jump to L3
OIO:JMP 0,0 Return to LO
OJJ:L 1 Label definition
012:CALL 3,1 Execute "PICK" subroutine
013:MOVA 1,100
014:CALL 4,1 Execute "PLACE" subroutine
015:JMP 0,0
017:CALL 3,1 Execute "PICK" subroutine
018:MOVA 2,100
020:JMP 0,0 Return to LO
022:CALL 3, I Execute "PICK" subroutine
023:MOVA 3,100
025:JMP 0,0 Return to LO
6- 36

[N03] Execute "PICK" subroutine
OOI:MOVA 0,100
002:00 0,1 Cylinder descends
003:WAIT 3,1 Cylinder waits at descend end
004:00 1,1 Gripper open
005:TIMR 100
006:00 0,0 Cylinder ascends
007:WAIT 2,1 Cylinder waits at ascend end
[N04] Execute "PLACE" subroutine

001:00 0,1 Cylinder descends
002:WAIT 3,1 Cylinder waits at descend end
003:00 1,0 Gripper close
004:TIMR 100
005:00 0,0 Cylinder ascends
006:WAIT 2,1 Cylinder waits at ascend end
6- 37

EJ ~ S~ EJ Changing Programs From 1/0
With the SRC Series, there is no Special Use Input reserved for switching programs.
When switching programs from the I/0 side, the program selection signal should be
used as conditional jump input, and the program switching handled as described below.
The following example describes switching between 16 types of programs.
Generai~Use Input
DIO Program Selection 0
DI1 Program Selection I
DI2 Program Selection 2
DB Program Selection 3
DIS Program Selection Determined
Generai•Use Output
IDOO I Program Selection Sta11
Parameters
Since the number of programs being selected is 16, PRM 8 (the number of conditional
input points) is set to 4.
Caution: PRM 8 and the general-use input being used may change in response to the
number of programs being selected, as shown in the table.
No. of Programs No. of DI Points Used DINo.

2 or less 1 point DIO
4 or less 2 points DIO, DIJ
8 or less 3 points DIO-DI2
6- 38

L
Program
[NO. 0]
WAIT
DO
WAIT
0
8,1
0,1
8,0
Comments
Dcl1ncs Label 0
Waits for Program Selection End to go ON
Program Selection Start goes ON
Waits for Program Selection End to go OFF
l Handshake
operation
DO 0,0 Program Selection Start goes OFF
JMPF 1,1,0 If input is 0, jumps toLl of No. I
JMPF I ,2, 1 If input is I, jumps to L I of No. 2
JMPF I,3,2 If input is 2, jumps to L I of No. 3
JMPF 1,4,3 If input is 3, jumps to L I of No. 4
JMPF 1,6,5 If input is 5, jumps toLl of No. 6
JMPF 1,7,6 If input is 6, jumps to Ll of No. 7
JMPF 1,8,7 If input is 7, jumps to Ll of No. 8
JMPF I,I0,9 If input is 9, jumps toLl of No. I 0
JMPF I,I 1,10 If input is I 0, jumps toLl of No. I 1
JMPF I, 12, I I If input is II, jumps to L I of No. I 2
JMPF I, I3, 12 If input is I 2, jumps to Ll of No. 13
JMPF 1,14,I3 If input is 13, jumps to Ll of No. 14
JMPF 1'15,14 If input is 14, jumps to Ll of No. 15
JMPF 1,16,I5 If input is 15, jumps toLl of No. 16
[NO. I]
Ll Defines Label I
[(A~tual operation program)

JMP 0,0 Returns to LO of Program No.O
[N0.2]
Ll (Defines Label I)
[(~~tual operation program)

[NO.I6]
Ll (Defines Label I)
[(~~tual operation program)

6-39

<Explanation of Program>
Before executing the program with the JMPF instruction, general-use input is used one
point at a time (in this case, DIS and DOO) to carry out a handshake. The purpose of this
is to synchronize the program of the external equipment such as a PLC with the SRC
Controller program.
If this step is omitted, when program selection is executed with the JMPF instruction, the
program selection input may be switched, and there is a chance of an erroneous program
being selected.
When the execution of each program selection has been completed, execution will re-
turn to the beginning of the program (LO of Program No. 0).
Jnput
Program selection determined >--------<~rogram selection determine~>-------
Program section
(013 to 010)
018
Output ooo
6- 40

CHAPTER
~Q)p~J35\'J'D~~(Q1 ?1J~
J;j(Q)~@j
This chapter will explain how the robot is actually operated. If the program has already been completed, you
will be able to operate the robot by the time you finish reading this chapter.
There are two types of robot operation: step and automatic. With step operation, the program is executed one
step at a time, with a step being carried out each time the RUN key is pressed on the DPB unit. This is used
when you want to check the program as it is being caJTied out. With automatic operation, the entire program is
executed without stopping, from beginning to end.
This chapter also covers how to initiate and recover from an emergency stop.
7- 1

Returning to the Origin
The origin return operations are described in this section. Origin return must be executed
once after the controller power is turned on. After being executed once, origin return
does not need to be re-executed unless the power is turned off.
I) Press ~ (OPRT) on the initial

[MENU]
screen.
Select menu
2) Next, press [1]] (ORG). [OPRT]

Select menu
10RG 2STEP3AUTO
3) To carry out a return to ongm, press

[OPRT-ORG]
[f]J (yes). To cancel the operation,
ORG search OK?
press ~ (no).
;Lyes 2no
4) This is the screen displayed during an ori-

[OPRT-ORG]
gin position return. Pressing I ~'jj'@[p I
during the operation brings the robot to a Searching
halt and displays a message.
Pressing the I~~© I key returns execu-
tion to Step 2.
5) If the return to origin ends normally, the

[OPRT-ORG]
machine reference is displayed at the
lower right. Pressing the I~~© I key Origin complete
returns execution to Step 2.
machine ref. 50%
7-2

Using Step Operation
I) Press [}EjJ (OPRT) on the initial
[MENU]
screen.
Select menu
J:EDIT40PRT3SYS 4MON
2) Then press [}EjJ (STEP).

[OPRT]
Select menu
iORG ;;iSTEP3AUTO
3) If the program number displayed on the

[OPRT-STEP] 50 No17
screen is not the one to be run, press
~ (CHG). 001:MOVA 2,100
(See Chapter 4-2-3 for information on 0. 00 J
how to read the program screen.)
lSPD 2:R.SET3CHG
4) Using the numerical keys, input the

[OPRT-STEP]
number of the program to be executed,
and then press

II
i-+:. PGM No =
(programNo) 0---'731
5) The first step of the selected program is

[OPRT-STEP] 50 No29
displayed on the screen. To change the ex-
ecution speed, press c:fE:}] (SPD). 001:MOVA 31,50
0. 00 J
1SPD 2RSET3CHG
7-3

6) Input the execution speed using the nu-
,-----c [OPRT-STEP] 50 No29
merical keys, and press the key.
=
i . . . . 1.
L______-' SPEED
(speed) 1---'71 00
7) The screen returns to that shown at Step

5. Pressing IIRlQlHNJI at this point ex-
ecutes the first step. 001:MOVA 31,50
0.00]
lSPD 2RSET3CHG
8) This is the screen displayed while the pro-

[OPRT-STEP]
gram is being executed.
Running ...
9) Pressing I ~lr©lP I during execution [OPRT-STEP]100 No29

brings the robot to a halt and displays a
message on the screen. To return to Step 001:MOVA 31,50
7, press the I~~©I key. Press 164.89]
IIRlllDINll again to execute the inter- .J:.SPD 2RSET3CHG
rupted step.
I 0) When execution is finished, the second

step is displayed. Each time IIRlllDINll [OPRT-STEP]
is pressed from this point on, the next step
is executed. When the last step has been
70:program end
executed, the message "program
end" is displayed. To return to Step I from
the program end, press the I~~© I
key.
7-4

II) To return to Step I from any other step
and initiate execution again, press
CUJ (RSET). 042:TIMR 100
48.08]
[SPD 2RSET3CHG

5, and the process is repeated from that
point. 001:MOVA 31,50
48.08]
1SPD 2RSET3CHG
,........................................................................................................................................................¥ ..........................................................................."/...........................................................................................................................¥ ...................................................................-...................................................................................
Using Automatic Operation

I) Press CUJ (OPRT) on the initial
[MENU]
screen.
Select menu
$EDIT20PRT$SYS 4MON
2) Press ~ (AUTO). [OPRT]

Select menu
$ORG zSTEP3AUTO
3) If the program number displayed on the

[OPRT-AUTO] 50 No17
screen is not the one to be run, press
CUJ
(CHG). 001:MOVA 2,100
(See Chapter 4-2-3 for information on 0.00]
how to read the program screen.)
1SPD 2RSET:5CHG
7-5

4) Using the numerical keys, input the
[OPRT-AUTO]
number of the program to be executed,
PGM No =
and then press j-+ i·
(program No)0-731
5) The first step of the selected program is

[OPRT-AUTO] 50 No29
displayed on the screen. To change the ex-
ecution speed, press [!]] (SPD). 001:MOVA 31,50
0. 00 J
lSPD 2RSET3CHG
6) Input the execution speed using the nu-

[OPRT-AUTO] 50 No29
merical keys, and press the ~key.
=
1
SPEED
(speed) 1-710 0

[OPRT-AUTO] 100 No29
5. Pressing IIRllllJINll at this point ex-
ecutes the first step. 001:MOVA 31,50
0. 00 J
1SPD 2RSET3CHG
8) This is the screen displayed while the pro-

gram is being executed. [OPRT-AUTO]
Running ...
7-6

9) Pressing I
~u@[Fll during execution [OPRT-AUTO]
brings the robot to a halt and displays the
message "program end". Press the
~~~«;I key to display the step where 70:program end
execution was interrupted.
Pressing IIRlUJJINll will cause execution
to resume from the step where it was in-
terrupted. When the last step has been ex-
ecuted, the message "program end"is dis-
played. Pressing the I~~«; I key r e-
turns the screen to that shown in Step 7.
10) To return to Step I from any other step

and initiate execution again, press [OPRT-AUTO] 100 No29
[IjJ (RSET). 042:TIMR 100
48.09]
lSPD 2RSET3CHG

[OPRT-AUTO] 100 No29
5, and the process is repeated from that
point. 001:MOVA 31,50
48.09]
l.SPD 2RSET3CHG
7-7

Emergency Stop Function
With the SRC Controller, there are two ways to input an emergency stop: one is by using
the push-button on the DPB, and the other is to use the I/0 emergency stop input. In
either case, for safety reasons, a B contact input is used (when the contact is cut, an
emergency stop is initiated).
The SRC Controller is designed so that recovery from an emergency stop status can be
done without turning off the power. Origin return does not need to be executed.
We will describe, in this section, how to initiate and recover from an emergency stop.
..•'.'.#////////.1._'//////////.,'/.....////.H/..I.i
'"/////////////////////////////////////////////////,o"'"////////////////////////////////////////////
Initiating an Emergency Stop
During DPB operation, to initiate an emergency stop of the robot for any reason, press
the Emergency Stop switch on the DPB. The switch locks in the depressed position, and
can be released by turning it to the right.
In an emergency stop status, the robot assumes free status, and commands initiating
robot movement (for example, the origin return command) cannot be executed.
'"////////////////////////////////////////////////////////////////////////////////////////////////.1"///////////////////////////////..l.i
Recovering From an Emergency Stop
When recovery is required during DPB operation, the procedure is automatically dis-
played on the DPB itself. Follow the displayed instmctions to recover from the emer-
gency stop status.
Recovery through DPB operation will be necessary in the following cases:

I) When a return to origin is to be cmTied out;
2) When step operation is to be used;
3) When automatic operation is to be used;
4) When carrying out point editing using teaching playback; and
5) When exiting the Direct Teaching Mode.
An example of recovery is given on the next page.
7-8

The example at the right illustrates recovery
[OPRT-STEP] 100 No7
from an emergency stop status when step op-
eration is to be used. As can be seen in the ex- 001:MOVA 254,100
ample, the emergency stop status can be
canceled simply by releasing the Emergency
Stop switch and servo on operation. lSPD 2RSET3CHG
J. Press ~~[!JJ[N]I
[OPRT-STEP] 100 No7
Release EMG. button
J. Release the Emergency

Stop switch lock.
[OPRT-STEP] 100 No7

Servo on OK?
lyes ~no
J. Press [][[] (yes) to

turn on the servo.
[OPRT-STEP] 100 No7

001:MOVA 254,100
0.00
l.SPD 2RSET3CHG
7-9

Changing Programs
A lead program is the very first program to be executed right after the program is reset in
auto operation or step operation. The SRC Controller sets up the first edited program as
the lead program right after reset (default value) is performed. Therefore, program switch-
ing is necessary if the customer has edited programs other than the lead program.
Lead program switching is carried out with the DPB. The procedure is explained below.
c 1\ u -n u J\J
--------------------------
If the program is switched, the reset will be applied forcibly, so all general-use outputs
will be turned off.
I) Press ~ (OPRT)
[MENU]
Select menu
10PRT2EDIT3SYS 4MON
2) Press [!j] (STEP) or [£]] [OPRT]

(AUTO).
Select menu
tlORG .2STEP)AUTO
3) Press [fjJ (CHG). [ORPT-AUTO] 100 No7
OOl:L 0
lSPD 2RSET3CHG
7- 10

4) Input the lead program number with the
[OPRT-AUTO] 100 No7
numerical keys and finally press 1 . . . . 1.
~-______j PGM No =
(program No) 0~31
5) Changing of the lead program is complete.

[OPRT-AUTO] 100 NoO
001:DO 0 ,0
l.:SPD 2RSET3CHG
--------------------------
This item explained changing the lead program while in operate mode but edit mode
program switching is also provided in the DPB (refer to "Chapter 6-2-3" Correcting a
Step). Please note that even if this edited program is switched the lead program is not
changed.
7- 11

MEMO
7- 12

CHAPTER
The DPB has many convenient functions in addition to those already covered. For example, memories can be
initialized, and options such as memory cards and printer card can be used. This chapter will describe these
additional functions.
8- 1

Initialization
Initialization of programs and points means that all programs and points current! y stored
in the controller will be erased.
Initialization of parameters resets the initial values for all of the parameters.
I) On the initial screen, press [][!] [MENU]

(SYS).
Select menu
;LEDIT:20PR'Il3SYS 4MON
2) Next, press [][!] (INIT). [SYS]

Select menu
lPRM 2l3. UP3INIT4PRNT
3) Select the data to be initialized.

[SYS-INIT]
Pressing ~ (PGM) selects program
data. Select menu
Pressing ~ (PNT) selects point
data.
lPGM 2PNT sPRM 4ALL
Pressing lflJ (PRM) selects param-
eter data.
Pressing [ [f ~ ] (ALL) selects all pro-
gram, point and parameter data.
4) If ~ (PRM) or ~ (ALL)
[SYS-INIT]
was selected in Step 3, the robot type must
be input. robot type:
Use the numerical keys to input a number,
Refer to
and then press the ..... lkey.
' I robot type table
For a table of numbers corresponding to
the robot types, see the "Robot type
number table" in Chapter 13-1.
8-2

5) A confirmation message is displayed on
[SYS-INIT]
the screen.
To execute the initialization, press [parameter data]
[1]] (yes). initialize OK?
To cancel the initialization, press
lyes 2no
[fjJ (no).
6) When the initialization process ends, the

[SYS-INIT]
screen returns to that shown at Step 3.
Select menu
lPGM 2PNT 3PRM 4A.LL
:.'////////////////////////////////////////////////,..'///////////////////////////////////////////////////////////////////////////////,
DIO Monitor
The data indicating whether the I/0 signals are on or off can be displayed on the screen.
The operation procedure is outlined below.
:.'////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////,
Monitor Operation
I) On the initial screen, press [!:!]

[MENU]
(MON).
Select menu
1EDIT2-0PRT6SYS 4l10N
2) The ON/OFF status of input and output

[MON]
is shown on the display. (See Chapter 4-
2-3 for instructions on how to read the
screen.)
DI 00000000 10000000
DO 10000000 0:1 S:l
3) To return to the initial screen, press the

[MENU]
~~~©I key.
Select menu
lEDIT;40PRT5SYS 4MON
8-3

010 Key Operation
I) Hold down the I IQlO@ I key on the

[OPRT-AUTO]
screen.
Running ...
2) The ON/OFF status of I/0 signals con-

[OPRT-AUTO]
tinues to be displayed on the screen as
long as the I IQlO@ I key is held down. Running ...
DI 00000000 10000000
DO 10000000 0:1 S:1
3) When the key is released, the screen re-

[OPRT-AUTO]
turns to the original screen.
Running ...
--------------------------
The 010 Monitor key does not function during system operation or terminal operation.
V////////////////////////////////////////////////////////////////////////.•"/.//////////////////////////.•'.'/////////////////////////h
Viewing the System Version Number

I) On the initial screen, press the I~~©I [MENU]
key.
Select menu
lEDIT20PR'}\$SYS 4MON
2) The version number of ROM of control-

[INFORMATION]
ler and DPB, and robot types are dis-
played. The screen returns to the initial Controller V 1. 01
screen after approximately two seconds.
DPB V 1. 01
Robot type 20
8-4

Using Memory Card
A memory card is made available to store backup SRC data set in DPB mode. With one
8K card enough data for 1 SRC units can be stored. With one 64K card enough data for
10 SRC units can be stored.
Saving Controller Data to a Memory Card
I) Insert the memory card in the DPB.
2) On the initial screen, press ~

[MENU]
(SYS).
Select menu
;tEDIT:iiOPRTSSYS 4MON
3) Next, press DE]] (B.UP).

[SYS]
Select menu
].PRM j;LB. UPSINIT4:PRNT
4) Press [1}] (SAVE).

[SYS-B. UP]
Select menu
lSAVE~LOAD$>FMT 4;ID
5) Specify the save area in the memory card.

[SYS-B. UP-SAVE]
Use the numerical keys, and press the
Select card AREA
[-.'key.
AREA_ [0-9]
':LID
8-5

6) If the data is stored in the selected card
[SYS-B. UP-SAVE]
area, a confirmation message is displayed,
asking if it is all right to overwrite previ- AREA 7 already saved
ously existing, data.
initialize OK?
Press [1:1] (YES) for erasing. Press
l.YES 2NO
~ (NO) to cancel.
7) This creates an ID number for the data

[SYS-B. UP-SAVE]AREA7
being saved. Using the numerical keys (0-
9), the "-" (minus) key, and the "." (pe- Make Identification
riod) key, enter a number of up to eight
------, ID =
characters and then press the!-+ key. j
Effective key [ 0---:>9-.]
8) A confirmation message asking if the data

[SYS-B.UP-SAVE]AREA7
is to be saved as appears on the screen is
shown to the right. To save the data, press Save OK?
[1:1] (yes). To cancel the procedure ID = 92.03.24
without saving the data, press ~
:lYES 2NO
(no).
9) This screen is displayed while the data is

[SYS-B.UP-SAVE]AREA7
being saved.
Saving ...
I 0) When the saving procedure has been com-

[SYS-B. UP]
pleted normally, the screen returns to that
shown at Step 3. Select menu
tl..SAVE2LOAD:3FMT 4ID
Cl-\ U JJCJJ\J
--------------------------
Never eject the memory card while data is being saved.
Do not store the DPB with the memory card set. The life of the backup batteries will be
shortened.
8-6

0~~~~2 Downloading Data From a Memory Card
I) Operations for downloading data are the same as those for "8-5-1 Saving Control-
ler Data to a Memory Card," up to Step 3.
2) Press [1_jJ (LOAD).

[SYS-B. UP]
Select menu
:11SAVEz.LOAD3FMT .(liD
3) Specify the load area in the memory card.

[SYS-B. UP-LOAD]
Use the numerical keys, and press the
Select card AREA
i-+ key.
AREA_ [ 0-9]
'lliiD
4) Select the data to be loaded.

[SYS-B. UP-LOAD]AREA3
Pressing ~ (PGM) selects program
data. Select menu
Pressing [1]] (PNT) selects point
data.
l;;PGM 4 PNT i;PRM ~tALL
Pressing ~ (PRM) selects param-
eter data.
Pressing [][!] (ALL) selects all pro-
gram, point, and parameter data.
8-7

5) If either [1]] (PGM) or ~ [SYS-B. UP-LOAD]AREA3
(PNT) was selected in Step 4, a confir-
mation message is displayed. This mes-
sage asks if it is all right to overwrite pre-
Overwrite OK ?
viously existing data .. If [1]] (yes)
is pressed, the program and point data that lyes 4no
will not be overlapped by new data will
remain as they are.
If ~ (no) is selected, all of the con-
troller data will be initialized before the
data is loaded. If [}[!] (ALL) is se-
lected in Step 4, the controller data will
also be initialized.
6) A confirmation message is displayed on

the screen, asking if it is all right to load [SYS-B. UP-LOAD]AREA3
the data. Press [l[1J (yes) to load the
data. To cancel the operation without load- Load OK ?
ing the data, press ~ (no).
7) This screen is displayed while the data is

[SYS-B. UP-LOAD]AREA3
being loaded.
Loading ...
8) If the loading process is completed nor-

[SYS-B. UP]
mally, the screen returns to that shown at
the right. Select menu
1SAVB2LOAI)3FMT 4TD
--------------------------
Never eject the memory card while loading data.
shortened.
8-8

Formatting a Memory Card
I) Operations for formatting a memory card are the same as those for "8-5-1 Saving
Controller Data to a Memory Card," up to Step 3.
2) Press [!}lJ (FMT).

[SYS-B. UP]
Select menu
!SAVEilLOAD3FMT :l!ID
3) A message like that at the right appears

[SYS-B. UP]
on the screen. To format the card, press
~ (yes). Format OK?
To cancel the operation without format-
ting the card, press ~ (no).
!yes ;!)no
4) This screen is displayed while the memory

[SYS-B. UP]
card is being formatted.
Formatting
5) If the formatting process is completed nor-

[SYS-B. UP]
mally, the screen returns to that shown at
the right. Select menu
:1SAVE2LOAD;3FMT 4ID
--------------------------
Never eject the memory card while formatting it.
shortened.
8-9

E.l ~ !} ~!} Viewing the ID Number for Memory Card Data
1) Operations are the same as those for "8-5- I Saving Controller Data to a Memory
Card," up to Step 3.
2) Press ~ (ID).
[SYS-B.UP]
Select menu
1SAVE2LOAD3FMT 4lD
3) Only the AREA 0 control number is dis-

[SYS-B.UP-ID]
played when the 8 kilobyte memory card
is used. When the 64 kilobyte memory AREA 0 92.03.24
card is used, pressing I 80~P I displays the AREA 1
control numbers in sequence, from 3 on- AREA 2 92-02-24
wards.
8- 10

CHAPTER
(g@ ~] Q)JJ lJ ~~ 0©!A\ j] fj) ~ ~
\y)J JLf lFJ 8-\ ~P ~~ TI ®(Q) Rl ~ ll.
©@ ~~] p ~ J ~ ,rj
With the SRC Controller, a personal computer can be used instead of the DPB for program and point data
editing and robot operation.
This chapter describes how to set the communication parameters required in order to carry out communications
between the personal computer and the SRC Controller. The terms used in communication are also covered.
9-1

Setting the Communication Parameters
The communication parameters on the personal computer side should be set as follows:
• Baud rate 9600 bps

• Stop bit length I bit
• Parity setting Odd
• Parity check On
• Data bit length 8 bits
• Communication method Full duplex
• X parameter Effective
• Return key transmission CR code
• CR code reception For CR/LF reception: Return+ line feed
For CR reception: Return
lo"///////////////////////////////////////...'//////////////////////////////////////...., ..............................................................................................................................................................................................,;,;
®Q~ Communication Cable Specifications

A) Connector Model
Applicable connector no.: .TBZ-25P-90 (made by J.S.T.)

Applicable connector cover no.: J-C25-2V (made by J.S.T.)
B) Connections
SINGLE-AXIS CONTROLLER SIDE COMPUTER SIDE (IBM PC-AT)

Signal Signal
Pin No. Pin No.
Name Name
F.G 1 1 F.G
TXD 2 2 TXD
RXD 3 3 RXD
RTS 4 4 RTS
CTS 5 5 CTS
D.G 7 7 D.G
6 DSR
8 DCD
Fig. 9-1 Communication Cable Connections
20 DTR
r' ' r
--------------------------
1 -
Pins 10, 12, 18 and 21 of the RS-232-C are used for DPB connection. To prevent acci-
dents, do not wire these pins.
9-2

Communication Commands
With the SRC Controller, a command interface that resembles the BASIC programming
language is provided as standard, to facilitate easy communication with a commercial
personal computer.
Communication commands are divided into the following four categories:

1) Robot movements
2) Data handling
3) Utilities
4) Special codes
Basically, all of the commands begin with the start code '@' ( =40H) and end with the
code c/r (=ODH) 1/f (=OAH). These two codes signal the controller that the instructions
between them constitute one command line. (The special codes are the only ones that do
not require a start or an end code.)
The character codes used in the SRC series, are the JIS8 unit system codes (ASCII codes
with katakana characters added).
Format:
@ [Command] [ _ ] <Extension I> <Extension 2> <Extension 3> c/r 1/f
@ : ------------- 40H, start code

[ _ ] : ----------- Space
Command : --- See Table 9-1 Commands.
Option :-------- See Table 9- I Commands. (May be omitted depending on the
command.)
c/r 1/f: ---------- OAH, end code
The code to distinguish Extensions is ',' (2CH).
9-3

Table 9-1 Command List
Category No. Command Extension 1 Extension 2 Extension 3 Command details

1. ORG/ORGN Executes origin return
2. RESET Program and 1/0 reset
3. RUN Automatic run start
4. SRUN Step run start
5. SRVO 0 Servo off execution
1 Servo on execution
6. X+IX- Axis jog movement
(including inching)
7. XINC/XDEC Axis jog movement
8. MOVD Coordinate values (mm) , Speed Executes direct movement to a
Robot
specified position (Coordinate)
Move-
9. MOVA Point number , Speed Executes movement to an absolute
ment
position at a specified speed
10. MOVI Point number , Speed Executes movement at an increment
at a specified speed A
11. MOVF Point number , Dl number , 0 or 1 conditional move to aspectfied point unless or until
the specified state of aspecified input occures
12. DO General-use output number ,0 General-use output off
,1 General-use output on
13. WAIT General-use input number , 0 or 1 General-Use input on
General-Use input off
14. TIMR Time Wait for specified time
15. p Point variable Point variable P definition
16. P+ Point variable P increment
17. P- Point variable P decrement
9-4

Table 9-1 Command List (Continued)
Category No. Command Extension 1 Extension 2 Extension 3 Command details

1. ?POS Reads current position
2. ?NO Reads current program number
3. ?SNO Reads current step number
4. ?PNO Reads current point number
5. ?STP Program number Reads total number of
steps in specified program
6. ?MEM Reads number of steps
that can be added
7. ?VER Reads ROM version number
8. ?EMG Confirms emergency stop status
9. ?SRVO Confirms servo status
10. ?ORG Confirms status of return to origin
11. ?MODE Confirms movement mode
12. ?PVA Reads current point variable P
13. ?DI General-use input number Reads general-use input status
Data 14. ?DO General-use output number Reads general-use output status
Handling 15. ?PRM Parameter number Reads specified parameter data
Parameter number ,Parameter number Reads specified multiple
parameter data
16. ?P Point number Reads specified point data
Point number , Point number Reads specified multiple
point data
17. READ Program number , Step no. , number of Reads specified program data
PGM step Reads specified all
PNT program data
Reads all point data
PRM Reads all parameter data
ALL Batch reads all program,
point and parameter data
DIO Reads input/output information
INF Reads program register information
18. WRITE PGM Writes program data
PNT Writes point data
PRM Writes parameter data
ALL Batch writes all program,
point and parameter data
9-5

Table 9-1 Command List (Continued)
Category No. Command Extension1 Extension 2 Extension 3 Command details

1. INIT PGM Initializes program data
PNT Initializes point data
PRM Initializes parameters
2. SWI Program no. Switches no. of program to
be run
Utility
3. SINS Program no. , Step no. Inserts one program step
4. SDEL Program no. , Step no. Deletes one program step
5. SMOD Program no. , Step no. Modifies one program step
6. COPY Original program no. , Destination Copies program
program no.
7. DEL Program no. Deletes specified program
8. PDEL Point number , No. of points Deletes point data
Category No. Code Command details
Special 1. AC (=03H) Interrupts RUN, SRUN, ORG, etc.

codes 2. AZ (=1AH) Ends data transmission
9-6

Details Concerning Communication Commands
..
"/////////////////////////////////////////////////•'-•"//////////////////////////////// "/////////.•'.•"////////////////////////////////,;';
Robot Movements
(1) @ORG or @ORGN

This executes a return to origin movement.
If execution ends nonnally, the machine reference amount is output.
Transmission example: @ORGc/r llf
Response example 1: OK c/r 1/f
50%c/r 1/f
OKc/r 1/f
Response example 2: NGc/r 1/f
31 : running__ c/r 1/f
The robot is running. Execute the command after stop-
ping the robot.
(2) ©RESET
This returns the program execution step to the first step of the program selected
with the '@SWI' statement, and turns all general-use outputs (000 to 004) off.
The "current position in the program", used as a reference for the relative move-
ment command (MOVI), and the point variable "P" are also cleared to 0.
Transmission example: @RESETc/r 1/f
Response example 1: OK c/r l/f
31: running __ c/r 1/f
The robot is running. Execute the command after stop-
ping the robot.
(3) ©RUN
This executes a program all the way to the last step.
Transmission example: @RUNc/r l!f
Response example I: STOP c/r 1/f
60: program_end_c/r l!f
The last step of the program has been executed.
Response example 2: NGc/r l!f
32:origin_incomplete__ c/r l!f
A return to origin has not been carried out. Execute the
command again after returning the robot to its origin po-
sition.
9-7

(4) ©SRUN
This executes only one step of a program.
Transmission example: @SRUNc/r 1/f
Response example I: OKc/r l!f
Response example 2: STOP c/r 1/f
60: program_end_c/r 1/f
The last step of the program has been executed.
Response example 3: NGc/r l!f
32: origin_incomplete _ _ c/r 1/f.
A return to origin has not been carried out.
Execute the command again after returning the robot to
its origin position.
(5) @SRVO <parameter>

This is used to turn the servo on and off.
Parameter: 0 tums the servo off, while I tums it on.
Transmission example: @SRVO_Oc/r 1/f
This turns the servo off.
Response example: OKc/r 1/f
(6) ©X+, (©X-)

This moves the robot to the+ or- side, based on the following equation.
Movement distance= PRM26 x 0.01 (mm)
PRM26: Teach movement data
Transmission example: @X+ c/r 1/f
The axis moves in the + direction by the distance equal to
the movement amount specified above.
Note: If the robot is a rotary axis, the unit is (deg).
(7) @XINC, @ XDEC (when ROM version is V1.11 or subsequent)

@XINC moves the robot to the+ side and XDEC to the- side, at the movement
speed calculated by the equation below. The robot continues moving until the AC
code is input or the robot arrives at the soft limit.
Movement speed= PRM 25 x PRM 26 (mm/sec)
Transmission example: @XINC c/r 1/f
The axis keeps moving in the+ direction at the speed speci-
fied above.
Response example: OKc/r Iff
Note: If the robot is a rotary axis, the unit is (de g).
The soft limit will not function unless a retum to origin has first been carried out.
(8) @ MOVD <coordinate value (mm data)> , <speed>

This moves the robot to a specified coordinate position.
Coordinate value: The position to be moved to is directly specified. If the
robot is a rotary axis, the unit is (deg).
Speed: A I 00-step speed from I to 100 can be set, but if PRM30
(program execution speed) is set to I 00, I 00 wi 11 be the
maximum rpm.
9-8

Transmission example: @MOVD_50.37, I OOc/r 1/f
Moves the robot to the position at 50.37 mm, at I00%
speed.
Response example 1: OKc/r 1/f
30: soft_limit over_c/r 1/f
The soft limit has been exceeded. Change the point data
or the soft limit parameter.
(9) @ MOVA <point no.> , <speed>

This moves the robot to the position indicated by the data of the specified point
number.
Point no.: This is a number assigned to any of the 255 points from 0
to 254. These points are edited with '@WRITE_PNT'.
The point variable "P" can also be used.
Speed: A I00-step speed from I to I 00 can be set, but if PRM30
(program execution speed) is set to I 00, 100 will be the
maximum rpm.
Transmission example: @MOVA_I23,100c/r 1/f
Moves the robot to Point I 23 at I00% speed.
30: soft_limit_over_c/r 1/f
(1 0) @ MOVI <point no.> , <speed>

This moves the robot from the current position by only the distance specified by
the point number data.
Speed: A 100-step speed from 1 to 100 can be set, but if PRM30
(program execution speed) is set to 100, I00 will be the
maximum rpm.
Note :No matter where the robot is, the current position immediately after RESET
is executed will be (0.00). The current position immediately after stop (!\C)
is applied will not always be the same position as where the robot is me-
chanically located. Thus, always use the MOVI statement after an absolute
position specified movement command such as MOVD or MOVA state-
ment is executed.
Transmission example: @MOVI_I23,100c/r 1/f
Moves the robot by the distance defined by the data of
Point 123, at I00% speed. (If the current position is I00.00
and PI23 = 50.00, the target position is 150.00.)
30: soft_limit_over_c/r 1/f
9-9

(11) @MOVF <Point no.>, <DI no.>, <parameter>
The robot continues movement to the specified point position until the specified
DI input enters the parameter state. Even if the specified DI input does not enter
the parameter state, the command will end correctly when the specified point is
reached. The movement speed is set with PRM9 (MOVF speed), and is not af-
fected by MRP30 (program execution speed).
DI no.: One of the general-use inputs 0 to 8 is indicated.
Parameter: 1 indicates on and 0 indicates off.
Transmission example: @ MOVF-2,5,lc/r,llf ... Moves to point 2 until DIS
becomes I.
Response example: OKc/r llf
(12) @DO <general-use output no.> , <parameter>

This is used to turn the general-use output on and off.
General-use output number: There are five general-use outputs, indicated by
numbers 0 to 4.
Parameter: 0 turns the output off, while I turns it on.
Transmission example: @00_3, I c/r 1/f
This turns general-use output 3 on.
(13) @WAIT <General-use input no.>, <parameter>

Waits until the specified general-use input enters the parameter state.
General-use input number: One of the general-use inputs 0 to 8 is indicated.
Parameter: I indicates on and 0 indicates off.
Transmission example: @WAIT_l,lc/r 1/f ... Waits until Dll becomes I.
(14) @TIMR <Time>

Waits until the specified time.
Time: Set between I and 65535 in I Oms increments.
Transmission example: @TIMR_I OOc/r 1/f ... Waits one second.
(15) @P <Point variable>

This sets the point variable P.
Point variable: A value between 0 to 254 can be specified.
Transmission example: @P_1 OOc/r llf ... Set point variable P to I 00.
Response example: OKc/r l!f
Note: The contents of point variable "P" are held even when the controller power
is tumed off, but when the program is reset or when the program reset is
applied by switching the execution program, etc., the point variable "P" will
be initialized to 0.
9 - 10

(16) @P+
Increments the point variable P. (P=-P+ I)
Transmission example: @P+c/r 1/f
Response example: OKc/r !If
(17) @P-
Decrements the point vmiable P. (P=-P-1)
Transmission example: @P-c/r !If
"////////////////////////////////////////////////////////////.,o'/////////////////////////..•'''//////////////.,o'''///////////////////////A
Data Handling
(1) @?POS
Reads the current position.
Transmission example: @?POSclr 1/f
Response example: 321.05c/r 1/f
OKc/r 1/f
(2) @?NO
Reads the current program number.
Transmission example: @?NO clr 1/f
Response example I: 31c/r 1/f ... Program N031 is being executed.
Response example 2: I 0/lc/rl/f ... The NO 1 program is the head program (pro-
gram selected with @SW I statement), and currently pro-
gram NO 10 is being executed with the JMP or CALL state-
ment, etc.
OKc/r 1/f
(3) @?SNO
Reads the current step number.
@RUN and @SRUN are executed from the step read here.
Transmission example: @?SNOc!r 1/f
Response example: 170c/r 1/f
OKc/r 1/f
(4) @?PNO
Reads the currently selected point number. This is used to find which point data is
being used for movement, or to find the point that caused an error when an error
occurs.
Transmission example: @?PNOc/r 1/f
Response example: 57c/r 1/f
OKc/r 1/f
9- 11

(5) @?STP <program no.>
Reads the total number of steps in the specified program.
Program no.: One of 32 numbers ranging from 0 to 31 which may be
assigned to a program.
Transmission example: @?STPJOc/r 1/f
Reads the total number of steps for Program No. I 0.
Response example: l40c/r 1/f
OKc/r 1/f
(6) @?MEM
Reads the number of steps that can be added.
Transmission example: @?MEMc/r 1/f
Response example: I 00 I c/r 1/f
OKc/r 1/f
Note: In addition to the number of existing steps, steps equivalent to the number
of programs are consumed internally as the program control steps. For ex-
ample. if one program is registered having 50 steps exists, the number of
free steps remaining will be as follows.
1024-1-50=973
(7) ©?VER
Reads the controller ROM version.
Transmission example: @?VERclr 1/f
Response example: 2.75 c/r 1/f
OKc/r 1/f
(8) @?EMG
Reads the emergency stop status.
Transmission example: @?EMGc/r 1/f
Response example I : Oc/r 1/f
OKc/r 1/f
Emergency stop is off.
Response example 2: I c/r 1/f
OKc/r 1/f
Emergency stop is on.
(9) @?SRVO
Reads the servo status.
Transmission example: @?SRVOc/r 1/f
Response example I: Oc/r 1/f
OKc/r 1/f
Servo is off.
Response example 2: 1c/r 1/f
OKc/r 1/f
Servo is on.
9- 12

(1 0) @?ORG
Reads whether or not a return to origin has been completed.
Transmission example: @?ORGc/r l/f
Response example I: Oc/r l/f
OKc/r l/f
Return to origin not completed.
Response example 2: lc/r l!f
OKc/r l!f
Return to origin completed.
(11) @?MODE
Reads the robot status.
Transmission example: @?MODEc/r 1/f
Response example 1: Oc/r 1/f
OKc/r 1/f
Robot is stopped.
Response example 2: 1c/r l/f
OKc/r Iff
Program from DPB or computer is being run.
Response example 3: 2c/r 1/f
OKc/r l!f
Program from I/0 is being run.
(12) @?PVA
Reads the point variable P
Transmission example: @?PVAc/r 1/f
Response example: Oc/r Iff
OKc/r 1/f
Note: The contents of point variable "P" are held even when the controller power
is turned off, but when the program is reset or when the program reset is
applied by switching the execution program, etc., the point variable "P" will
be initialized to 0.
( 13) @ ?DI <General-use input no.>

Reads the general-use input status of the specified number.
General-use input no.: One of the nine general-use inputs from 0 to 8.
Transmission example: @?DI_lc!r 1/f
OKc/r Iff
Input status off
Response example 2: lc/rl/f
OKc/r Iff
Input status on
9- 13

(14) @?DO <general-use output no.> (when ROM version is V1.08 or later)
Reads the general-use output status.
Transmission example: @?D0_2c/r 1/f
Response example I : I c/r 1/f
OKc/r 1/f
Output is on.
OKc/r 1/f
Output is off.
(15-1) @?PRM <Parameter no.>

Reads the specified parameter data.
Parameter no.: Characteristic number from 0 to 37 assigned to each
parameter.
Transmission example: @?PRMI crl/f
Reads the parameter I data.
Response example I: 350c/r 1/f
OKc/r 1/f
Response example 2: c/r 1/f
OKc/r 1/f
When parameter is not registered.
(15-2) @?PRM <Parameter no.>, <Parameter no.>

Reads multiple data from the first parameter number to the latter parameter number.
Non-registered parameters are not displayed.
Parameter no.: Characteristic number from 0 to 37 assigned to each
parameter.
Transmission example: @?PRMI,5crl/f
Reads the data from parameters I to 5.
Response example: PRM I =350c/r 1/f
PRM2=0c/r 1/f
PRM3=30c/r 1/f
PRM4= I OOc/r 1/f
PRM5=0c/r 1/f
OKc/r 1/f
(16-1) @?P <Point no.>

Reads the specified point data.
Point no.: Characteristic number from 0 to 254 assigned to each point.
Transmission example: @?P254crl/f
Reads the point 254 data.
Response example I: -0.05c/r 1/f
OKclr 1/f
Response example 2: c/r 1/f
OKc/r 1/f
When point data is not registered.
9- 14

(16-2) @ ?P <Point no.>, <Point no.>
Reads multiple point data from the first point number to the latter point number. If
a non-registered point exists, it will be skipped.
Point no.: Characteristic number from 0 to 254 assigned to each point.
Transmission example: @?P 15,22crl/f
Reads the data from points 15 to 22.
Response example: Pl5=100.00c/r 1/f
Pl6=32.llc/r 1/f
P20=220.00c/r 1/f
P22=0.50c/r 1/f
OKc/r 1/f
( 17-1) @READ <program no.> , <step no.> , <no. of steps>

Reads the specified step number data for the specified program number.
Transmission example: @READ_3,50, 1
Reads one step of data from step 50 in Program No.3.
Response example 1: MOVA_29, 1OOc/r 1/f
AZ(=lAH)
OKc/r 1/f
42: cannot_find_step_ _c/r 1/f
The specified step number has not been registered.
(17-2) @READ PGM

Reads all of the program data.
Transmission example: @READ_PGMc/r 1/f
Response example: NOOc/r 1/f
MOVA_O, I OOc/r 1/f
JMPF_ 0,31, 13c/r !If
N031c/r 1/f
STOPc/r 1/f
AZ(= lAH)
OKc/r 1/f
(17-3) @READ PNT

Reads all point data.
Transmission example: @READ _PNTc/r 1/f
Response example: PO=O.OOc/r 1/f
P 1=350.00c/r 1/f
P2= 196.47c/r 1/f
P254=-0.27c/r 1/f
AZ(=lAH)
OKc/r 1/f
9- 15

(17-4) @READ PRM
Reads all parameter data.
Transmission example: @READ_PRMc/r 1/f
Response example: PRM0=20c/r 1/f
PRM I =350.00c/r 1/f
I
PRM31 =I OOc/r 1/f

AZ(=IAH)
OKc/r 1/f
(17-5) @READ ALL

Batch reads all data (parameters, programs, points). The data groups (parameters,
programs, points) are distinguished only when there is a carriage return.
Transmission example: @READ_ALLc/r 1/f
Response example: PRM0=20c/r 1/f
PRM I =350c/r 1/f
I
PRM37= I OOc/r 1/f

c/r 1/f
NOOc/r 1/f
MOVA_O, I OOc/r 1/f
MOVA_I, IOOc/r 1/f
NOJOc/r 1/f
CALL_O, 1Oc/r 1/f
STOPc/r 1/f
c/r 1/f
PO=O.OOc/r 1/f
PI =550.00c/r 1/f
1\z (=IAH)
OKc/r 1/f
(17-6) @READ DIO

Reads the ON/OFF status for DIO.
Transmission example: @READ_DIOc/r 1/f
Response example: DI_OOOOOOOO_OOOOOOOOc/r 1/f
00_10000000_0: I_S: l_c/r 1/f
OKc/r 1/f
(17-7) @READ INF

Reads the status registered for the program.
Transmission example: @READ_INFc/r 1/f
Response example: NOO-_ 43_stepsc/r 1/f
NO 1-_52_stepsc/r 1/f
I
N031-_21_stepsc/r 1/f
AZ(=IAH)
OKc/r 1/f
9- 16

(18-i) @WRITE PGM
Writes the program data. The controller will transmit READY when this command
is received. Confirm that READY is received, and then transmit the program data.
Always transmit "Z (=lAH) at the end of the data.
Transmission example: Send Receive
@WRITE_PGMc/r 1/f
READYc/r 1/f
NOOc/r 1/f
MOVA_0,31, 12c/r llf
JMPF_0,31, 12c/r 1/f
N031c/r llf
STOPc/r 1/f
"Z(=lAH)
OKc/r 1/f
Note: When WRITE_PGM is executed previous data is left as it is as long as the
program number being written does not overlap a previous program number.
(18-2) @WRITE PNT

Writes the point data. The controller will transmit READY when this command is
received. Confirm that READY is received, and then transmit the program data.
Always transmit "Z (=lAH) at the end of the data.
@WRITE_PNTc/r 1/f
READYc/r 1/f
PO=O.OOc/r 1/f
Pl=350.00c/r 1/f
P254=-0.27c/r 1/f
"Z(=IAH)
OKc/r 1/f
Note: When WRITE_PNT is executed, previous data is left as it is as long as the
point number being written does not overlap a previous point number.
(18-3) @WRITE PRM

Writes the parameter data. The controller will transmit READY when this com-
mand is received. Confirm that READY is received, and then transmit the program
data. Always transmit "Z (= l AH) at the end of the data.
@WRITE_PRMc/r 1/f
READY c/r 1/f
PRM I =550.00c/r 1/f
PRM2= I O.OOc/r 1/f
"Z(=IAH)
OKc/r llf
9- 17

(18-4) @WRITE ALL
Batch writes all data (parameters, programs and points). The controller will trans-
mit READY when this command is received. Confirm that READY is received,
and then transmit the program data. Always transmit "Z (=I AH) at the end of the
data.
@WRITE_ALLc/r 1/f
READY c/r 1/f
PRM0=20c/r 1/f
PRM I =350c/r 1/f
c!r 1/f
NOIOc/r 1/f
CALL_O, 20c/r 1/f
STOPc/r 1/f
c/r 1/f
P1=550.00c/r 1/f
"Z(=lAH)
OKc/r 1/f
Note: Always leave one or more blank space to distinguish the data groups (pa-
rameters, programs, points). There is no specification in the data group row.
There can be data groups that are not written in. When WRITE_ALL is
executed, if the write block is not duplicated with the previous program
number and if the previous program number and write point number are not
duplicated, the previous data will not be lost.
9- 18

:J ~ ~~ ~ J Utilities
(1-1) @!NIT PGM

Initializes all program data.
Transmission example: @INIT_PGMc/r 1/f
(1-2) @!NIT PNT

Initializes all point data.
Transmission example: @INIT_PNTc/r 1/f
(1-3) @INIT PRM <robot type no.>
Initializes parameter data.
Transmission example: @INIT_PRM20c/r 1/f
Parameter data is initialized for the LT standarr:l type.
(2) @ SWI <program no.>

Switches the execution program number. When program reset is executed hereaf-
ter, the first step of the program selected here will be returned to. The program will
be reset when the '@SWI' command is executed.
Transmission example: @SWI_31 c/r 1/f
(3) @SINS <program no.>, <step no.>

Inserts data in a specified step of a specified program. The data following the
specified step will be shifted behind the inserted data. If the step following the last
step is specified, a new step will be added. If the first step of a program that does
not exist is specified, a new program will be created. The controller will transmit
READY when this command is received. Confirm that READY is received, and
then transmit the insertion data.
Transmission example I: Send Receive
@SINS_l9,4c/r 1/f
READYc/r 1/f
TIMR_50c/r 1/f
OKc/r 1/f
Transmission example 2: Send Receive

@SINS_I9,4c/r 1/f
NGc/r 1/f
43: cannot_find_PGM __c/r 1/f
9 - 19

(4) @SDEL <program no.>, <step no.>
Deletes a step.
Transmission example: @SDEL_31 ,99 c/r 1/f
Deletes Step 99 of Program No. 31.
The specified step number has not been registered.
42: cannot_find_step _ _c/r l!f
(5) @SMOD <program no.>, <step no.>

Modifies data in a specified step. The controller will transmit READY when this
command is received. Confirm that READY is received, and then transmit the
modification data.
Transmission example I: Send Receive
@SMOD_0,5c/r 1/f
READYc/r 1/f
TIMR_50c/r 1/f
OKc/r 1/f
Transmission example 2: Send Receive

®SMOD_O,Sc/r 1/f
NGc/r 1/f
43: cannot_find PGM __c/r 1/f
(6) @COPY <no. of original program>, <no. of destination program>

Copies a program. If a program exists in the copy destination, the program will be
rewritten.
Transmission example: @COPY _0, lc/r 1/f
Copies Program No. 0 to Program No. 1.
43: cannot_find_PGM _ _c/r 1/f
The program to be copied has not been registered.
(7) @DEL <Program no.>

Deletes a program.
Transmission example: @DEL 1Oc/r l!f
Deletes Program No. 10.
Response example I: OKc/r 1/f
43: cannot_find_PGM _ _c/r 1/f
The program to be deleted has not been registered.
(8) @PDEL <point no.> , <no. of points>

Deletes point data Deletes the specified number of points starting with the point
number specified.
Transmission example: @PDEL_I6, I Oc/r 1/f
Deletes I0 points starting from Point 16 (up to Point 25).
Response example I: OKc/r 1/f
9-20

CHAPTER
This section lists all of the messages that can be displayed on the DPB or sent to the personal computer to
inform the operator of an error in operation or to relate a current status. For a list of the alarm messages
displayed if your equipment breaks down, please refer to Chapter II.
1 0- 1

-u ©""~ Error Messages
Message transmission format:
[Error No.] : [Error message] cr/lf
The length of the [error message] character string is 17 characters. (Spaces are added
until the message contains 17 characters.) Thus, the character string length containing
the cr/lf will be 22 characters.
Table 10-1 Error Messages Related to Commands
EnorNo. 20 Message no start code

------ -------------------------------------
Cause The start code (@) has not been added at the beginning of the com-
man d.
------ -------------------------------------
Remedy Always made sure the command begins with a start code (@ ).
Error No. 21 Message illegal type
------ ----------------------------- - - - - - - - -
Cause The command is enoneous.
------ -------------------------------------
Remedy Use the correct command.
Enor No. 22 Message line buf over
------ -------------------------------------
Cause The number of characters in one line exceeds 30.
------ ----------------------- - - - - - - - - - - ---
Remedy Limit the number of characters per line to 30 or less.
Error No. 23 Message data error
------ ----------------------- ---------------
Cause There is an error in numeric data.
------ ----------------------- --------------
Remedy Correct the data.
10- 2

Table 10-2 Error Messages Related to Operations
Error No. 30 Message soft limit over

------ -------------------------------------
Cause When a command is executed, the robot's position exceeds the soft
limit set by the parameter.
- - - - - - -------------------------------------
Remedy Review the point data or soft limit parameter.
Error No. 31 Message running
------ -------------------------------------
Cause Another command is already being executed, so the command cannot
be accepted.
------ -------------------------------------
Remedy Wait until execution of the current command finishes before input-
ting another command.
Error No. 32 Message origin incomplete
------ -------------------------------------
Cause The command cannot be executed because a return to origin has not
yet been completed.
------ -------------------------------------
Remedy Complete a return to origin first.
Error No. 33 Message emergency stop
------ -------------------------------------
Cause The command cannot be executed because an emergency stop is in
effect.
------ -------------------------------------
Remedy Cancel the emergency stop.
Error No. 34 Message servo off
------ -------------------------------------
Cause The command cannot be executed because the servo is off.
------ -------------------------------------
Remedy Tum the servo on.
10- 3

Table 10-3 Error Messages Related to the Program
Error No. 40 Message stack overflow

------ -------------------------------------
Cause More than six successive call statements have been used within a call
statement.
- - - - - - -------------------------------------
Remedy Call statements can only be used up to 5 times within a call statement.
Error No. 41 Message cannot find label
------ -------------------------------------
Cause The specified label cannot be located.
------ -------------------------------------
Remedy Create the required label.
Error No. 42 Message cannot find step
------ -------------------------------------
Cause The specified step cannot be located.
------ -------------------------------------
Remedy Check whether the step number is the wrong one.
Error No. 43 Message cannot find PGM
------ -------------------------------------
Cause The specified program cannot be located.
- - - - - - -------------------------------------
Remedy Check whether the program number is the wrong one.
Error No. 44 Message PGM memory full
------ -------------------------------------
Cause The total number of steps in all of the programs has exceeded 1024.
- - - - - - -------------------------------------
Remedy Delete unnecessary programs or steps.
Error No. 45 Message step over
------ -------------------------------------
Cause The total number of steps in one program has exceeded 255.
- - - - - - -------------------------------------
Remedy Delete unnecessary steps or split the program into two pm1s.
10- 4

Table 10-4 Error Messages Related to the System
Error No. 50 Message system error

------ ------------ -------------- --------
Cause An unexpected error without a logical cause.
------ -------------------------------------
Remedy Contact Yamaha and describe the problem.
Error No. 51 Message illegal opecode
------ ---------------------------- --------
Cause There is an error in a registered program.
------ -------------------------------------
Remedy Check the program.
Error No. 52 Message no point data
------ -------------------------------------
Cause No data has been registered for the specified point number.
------ -------------------------------------
Remedy Register the point data.
Error No. 53 Message PRMO data error
------ -------------------------------------
Cause The robot type number has been set incorrectly.
------ -------------------------------------
Remedy Check the robot type number table and correct the parameter initiali-
zation.
Error No. 54 Message PRM8 data error
------ -------------------------------------
Cause The number of conditional input points is set to something other than
1-8.
------ -------------------------------------
Remedy Correct the setting for the PRM 8 parameter.
10- 5

Table 10-5 DPB Error Messages
The following messages are displayed only during DPB operation.
Message SIO error

-------- - - - - - - - - - - - - ------------------------
Cause I. Parity error in data received from controller.
I 2. DPB was connected when special-use command input was on.
-------- ------------------------------------
Remedy I. Contact Yamaha for consultation.
2. Turn all special-use command inputs off before connecting the DPB.
Message bad format
--------- ---------------------- - - - - - - - - - - - - - · - -
2 Cause The memory card is not formatted.
- - - - - - - - ------------------------------------
Remedy Format the memory card.
Message save error
-------- ---------------------- --------------
3 Cause Error in writing to the memory card.
- - - - - - - - ---------------------- --------------
Remedy Replace the memory card.
Message load error
-------- ------------------------------------
4 Cause The memory card data is damaged.
- - - - - - - - ------------------------------------
Message checksum error
-------- - - - - - - - - - - - - - - - - - - - - - - --------------
5 Cause The memory card data is damaged.
-------- ---------------------- --------------
Message battery error
-------- ------------------------------------
6 Cause The memory card battery voltage dropped.
- - - - - - - - ------------------------------------
Remedy Replace the memory card battery.
Message printer busy!!
- - - - - - - - ------------------------------------
7 Cause The printer is not ready.
- - - - - - - - ------------------------------------
Remedy Set the printer in the PRINT status.
10- 6

Stop Messages
Message transmission format:
[Error No.] : [Stop message] cr!lf
The length of the [stop message] character string is 17 characters. (Spaces are added
until the message contains 17 characters.) Thus, the character string length containing
the cr/lf will be 22 characters.
Table 10-6 Error Messages for Stop Commands
Message program end

No. 60 ------ -------------------------------------
Meaning Execution has stopped because the program has ended.
Message stop key
No. 61 ------ -------------------------------------
Meaning Execution has stopped because the Stop key on the DPB was pressed.
Message interlock
No. 62 ------ -------------------------------------
Meaning Execution has stopped because an I/0 interlock was applied.
Message stop command
No. 63 ------ -------------------------------------
Meaning Execution has stopped because the STOP command was received.
10- 7

MEMO
10- 8

CHAPTER
11-1

lJ ~ o:> lJ Breakdowns
The steps to be taken when a breakdown occurs are divided into two general categories,
depending on whether or not a controller alarm is output. When contacting Yamaha
regarding a breakdown, please include the following information, in as much detail as
possible.
Table 11-1 Information Needed to Asses a Breakdown
Item Content (Example)

What is the name of the model? • Controller model name: SRC-1-1 00 ...
• Robot type name: LT. BS, LS ...
When did the problem happen? • Did the problem occur right after the unit was
purchased?
• How long was it used for, and under what
conditions, when the problem occurred?
• Did it happen when the power was turned on?
One hour after the power was turned on?
Under what conditions did it happen? • During automatic operation
• While writing a program
• The position of the robot when the problem occurs
What happened when the problem occmTed? • The servo doesn't lock.
• An alarm is output.
• The motor makes an unusual sound.
• A program disappeared.
How frequently does the problem occur? • The problem always occurs.
• It occurs once an hour.
•It can't be reproduced.
1 1-2

SJ ~ Q~ Handling Alarms
Whenever the READY signal goes off, if the equipment is not in emergency stop status,
an alarm is judged to have been output. If this happens, please leave the power on and
connect the DPB, in order to check the contents of the alarm. An alarm message will be
displayed on the DPB to let you know the content.
(Example)
Alarm No. - - - - t - OJ: OVER LOAD-+-- Alarm Message
The Table 11-21ists the alann number, the corresponding message, the probable cause of
the alarm, and indicates what to do in case of an alarm. After an alarm has occurred,
operation cannot be restarted until the power has been turned off and then on again.
Table 11-2 Alarm Solutions

Alarm No. Alarm Message Meaning Probable Cause Remedy
Ol OVERLOAD Excessive load on ( l) The current t1owing to the motor (I) Lower the operational load on the
motor has exceeded the rated value. robot.
Reduce the acceleration parameter.
(2) Defective motor (2) The armature resistance of the motor
is too low. If the motor feels
unusually heavy and resists being
turned by hand. replace it.
(3) Defective parameter (3) Initialize the parameter.
02 OVER Excessive current ( l ) Shorted motor cable ( l) Test the motor cables for
CURRENT to motor conductivity. and replace any that
have problems.
(2) Defective motor (2) Replace the motor if there are any
internal short circuits.
(3) Defective controller (3) If the resistance between motor
terminals MA and MB is less than l
kQ. the output transistor is broken and
the controller should be replaced.
(4) Defective parameter (4) Initialize the parameter (check the
robot type).
03 OVERHEAT Transistor has (I) Rise in ambient temperature ( l) Correct the ambient environmental
heated to 90°C or (within 40"C) conditions.
above. (2) Excessive load on motor (2) Lower the operational duty on the
robot.
(.1) Defective transistor (.1) lfthe e4uipment is being used
correctly. the transistor may be
defective. so the controller should he
replaced.
11 - 3

Table 11-2 Alarm Solutions (Continued)
04 POWER DOWN Power supply (I) Insufficient capacitance of power (I) Check the power supply capacitance
voltage has drop- supply line and increase it if necessary.
ped to less than (2) Wrong power supply voltage (2) Check the voltage specifications of
90% of rated value. being used the controller on the seal affixed to it.
05 BATT.LOW- Low voltage in (I) Battery life is up. (I) Replace battery.
VOLTAGE backup battery (2) Defective battery (2) Replace battery.
06 WIRE TROUBLE Motor or encoder ( 1) Motor cable is disconnected or ( 1) Check motor cable connections.
cable is improperly wired.
disconnected or (2) Encoder cable is disconnected or (2) Check encoder cable connections.
wired incorrectly. improperly wired.
(3) Defective or disconnected (3) Apply 24 V to brake line and check
electromagnetic brake brake release.
07 P.E. COUNTER Overflow in (I) Mechanical lock (I) Check whether mechanism in
OVER position deviation movable part of robot is locked.
(2) Motor cable is disconnected or (2) Check encoder cable connections.
improperly wired.
(3) Defective or disconnected (3) Apply 24 V to brake line and check
electromagnetic brake brake release.
(4) Abnormal parameter (4) l ni ti ali ze parameter.
08 PNTDATA Point data has (I) Defective backup circuit (I) (2)
DESTROY been damaged. (2) Power was turned off while In emergency stop status. turn on the
writing data. power supply and check the point
data. If part of the data is defective.
correct it. If all of the data is
defective. initialize the point data and
then reload it. If there is no problem
with the data. any data can be used. so
substitute different data for the
damaged points.
09 PRM DATA Parameter data ( 1) Defective backup circuit ( 1) (2)

DESTROY has been (2) Power was turned off while In emergency stop status. turn on the
damaged. writing data. power supply and initialize the
parameters.
10 PGM DATA Program data has (I) Defective backup circuit (I) (2)
DESTROY been damaged. (2) Power was turned off while In emergency stop status. turn on the
writing data. power supply and check the point
data. If part of the data is defective.
correct it. If all of the data is
defective. initialize the point data and
then reload it. If there is no problem
with the data. any data can be used. so
substitute different data for the
damaged points.
11-4

Table 11-2 Alarm Solutions (Continued)
II SYSTEM FAULT Software problem (I) External noise or other factors (I) Check the environment for noise.
have disrupted software program.
(2) Reception buffer overt1ow (2) Select XON/XOFF control
When communicating with a
personal computer, the XON/
XOFF control communication
parameter has not been selected
on the personal computer side.
12 BADORG- Origin sensor ( 1) Origin sensor wire breakage (1)

SENSOR defect (2) Origin sensor defect (2) Replace the origin sensor ass'y
(3) Incorrect origin dog adjustment (3) Readjust
13 BADPZ Encoder Z-phase ( 1) Encoder PZ-phase wire breakage (I) Repair wiring or replace motor ass'y.
defect (2) Encoder defect (2) Replace motor ass'y.
14 FEEDBACK Reverse (I) Reverse connection of motor wire (1) Check motor wire connection.
ERROR! connection of (2) Reverse connection of encoder (2) Check encoder wire connection.
motor and wire
encoder wires (3) Incorrect parameter (3) Initialize parameters.
15 FEEDBACK Breakage in mode ( 1) Motor wire breakage ( 1) Check motor wire connection.
ERROR2 or encoder wire (2) Encoder wire breakage (2) Check encoder wire connection.
(3) Defect or wire breakage in (3) Apply 24V on brake wire. and
magnetic brakes confirm that brakes are released.
Brake defect
(4) Incorrect parameter (4) Initialize parameters.
(5) Drop in voltage at stopper origin (5) Check power capacity.
16 ABNORMAL Regenerative ( 1) Rise in regenerative absorption ( 1) Lower the robot rotation duty.
VOLTAGE circuit did not resistor temperature( over 120°C). Install a forced cooling fan.
function and (2) Controller defect (2) If there is no problem in the usage. the
abnormal regenerative circuit is defective.
overvoltage Replace the controller.
occurred
17 SYSTEM Detection of ( 1) Internal LSI is defective or ( 1) If the fault occurs after an emergency
FAULT2 controller internal malfunctioning stop or servo ON/OFF. turn the power
LSI error ON again. If the fault occurs
frequently. the LSI is defective so
replace the controller.
11 - 5

--------------------------
( 1) If an alarm listed on the previous page occurs when the power is turned on, try
turning on the power while an emergency stop is in effect. Alarm detection is not
carried out under these circumstances, so data can be checked, corrected, and ini-
tialized. Alarm detection will resume once the emergency stop is canceled and the
servo is turned on.
(2) The one exception to the above is detection of low voltage in the backup battery.
Use the DPB operations or the I/0 Reset signal to turn on the servo during an
emergency stop if this alarm occurs when the power is on and the battery can not be
replaced immediately. This alarm is the only one for which detection is not canied
out when the servo is turned on after canceling an emergency stop. However, the
battery should be replaced as quickly as possible.
,. . .,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,. . ,._......
,. ..,...-..-.......-..-...-..-..-...-...-...-...-..-..-...-..-...-..-...-..-...-..-...-..-..-..-..-z,.....-.l'.i
Handling Other Types of Breakdowns
If any problems develop while the equipment is being used, check the items below for
the appropriate way to handle them. If the problem cannot be corrected using the steps
listed below, please contact a Yamaha dealer or representative right away.
Table 11-3 Breakdowns and Solutions Involving Robot Movement

No Symptom Probable Cause Items to Check Remedy
I The servo of the robot I) Power is not being Check whether the "POWER" lamp Check the power supply plug voltage.
does not lock when supplied. on the controller panel is lighted. Check whether the fuse for the I 00 VAC
the power is tumed on. in the power supply switch unit has
blown. (See Chapter 12-5 for instructions
on replacing fuses.)
2) An emergency If the READY signal of the 110 Check whether the Emergency Stop
stop is in effect. connector is off and no alarm has switch of the DPB or the 110 emergency
been issued. an emergency stop is in stop input (between EMG I and EMG2) is
effect. on.
Check the fuse in "FUSE" on the
controller panel.
3) The servo is off. Check whether the servo has been Turn on the servo using either the 1/0
turned off in the program. and Reset signal or DPB operation.
whether the ESC switch has heen
held down when the DPB connector
was unplugged.
4) An alarm has Connect the DPB and check whether Take the appropriate measures for
occurred. an alarm is displayed. handling the alarm.
2 Ahnormal noise or I) A coupling has I) Check parts that should he I) If any couplings are loose. tighten
vibration is occurring. not heen tightened tightened. them.
properly.
12) A screw is loose 2) Check the locations where the 2) If screws are loose. tighten them.
in the cover. cover is attached.
1 1-6

Table 11-3 Breakdowns and Solutions Involving Robot Movement (Continued)
2 Abnormal noise or 3) Surfaces where the Measure degree of leveling. Correct if outside the tolerance limit.
vibration is occuning. robot is attached are
not tlat and even.
4) Guide abnormality Check for foreign matter, damage. or Replace the guide.
deformation. Check to make sure guide is being used
properly.
5)Ballscrew Check for foreign matter, damage, or Replace the ballscrew.

abnormality deformation. Check to make sure the robot is being
used properly.
6) Bearing Inspect for noise or vibration around Replace the bearing

abnormality the axes.
7) Defective encoder Try replacing the motor. If operation returns to normaL replace the
motor.
8) Defective motor Measure to see if the resistance If the resistance value is too high, repair
case grounding between the motor case and theE any places where the robot cable is
terminal of the controller is 1 or less. disconnected or not connected properly.
9) Defective Try using a different controller. If operation returns to normaL replace the
controller controller.
Check the controller model
3 When a position offset l)A coupling is not Check the coupling that should be If loose, tighten.
occurs, at first leave tightened correctly. tightened.
the power on and
execute a return to 2)A ballscrew is Check the ballscrew that should be If loose, tighten.
origin. Depending on loose. tightened.
the results of the
return to origin. there 3) Dcfecti ve robot Make sure there are no loose parts If loose, tighten.
are two possible attachment where the robot is attached.
causes of the problem:
4) Defective encoder Try replacing the motor. If operation returns to normal, replace the
If the position offset is motor.
not corrected by the
return to migin: 5) Erroneous Check whether the motor case is Check connections or cable and
t movement because grounded. connectors.
Mechanical offset-see of noise Measure the resistance between the Also, if using the equipment near a unit
causes I to .1 motor case and the E terminal of the that generates noi,e, such as welding
controller to see if it is 1 or less. machines and electric discharge
If the position offset is Check whether the E terminal of the machines, move it as far away as
corrected by the return controller is grounded. possible. If the entire unit cannot he
to origin: moved. at least move the power supply
t away. Noise filters and isolating:
Electrical offset -see tramformers can also be inserted.
causes 4 to 6
6) Defective Try using a different controller. If operation returns to normaL replace the
controller controller.
11 - 7

Table 11-3 Breakdowns and Solutions Involving Robot Movement (Continued)
4 When a return to !)Defective origin Remove the cover and check the sensor If the LED does not respond, replace the
origin is carried ouL point sensor operation by looking at the LED. origin point sensor.
the alarm stops atier Origin position: LED goes out.
the robot bumps into Other positions: LED lights.
the stroke end
(overload). 2) Defective encoder Check the zero signal of the encoder If PZ is not output, replace the motor.
*
With the FT. BS. LT. or encoder cable (robot I/0 PZ signal) with an
LR. and LS types. no oscilloscope.
origin point sensor is Zero position:O V
used, so cause I Other positions: 5 V
cannot apply.
*
With the FROP. MT. 3) Erroneous or Sub-parameter PRM 13 should be set If PRM 13 is abnormaL try initializing
MS, HS and HSL defective setting of to 1. the parameter.
types, cause 3 cannot parameter
apply.
'i When the power is 1) Motor cables have Check connections of MA and MB on Make the connections correctly.
turned on. the robot been reversed. controller terminal base.
moves at high speed.
* The controller has a 2) Defective encoder Remove the motor cover and check If 5V and OV are normal but PA or PB is
built-in sensor to the encoder signals (PA. PB. 5V, OV) not output, the encoder is defective, and
detect disconnected with an oscilloscope. the motor should be replaced. In any
cables, but the items other instances, see the following item.
at the right should
be checked anyway. 3) Defective Check the encoder signals (PA. PB, If 5V and OV are normal but PA or PB is
connection of 5V, OV) of the robot I/0 connectors not output, see the previous item. If 5V or
encoder cable or with an oscilloscope. OV is abnormal, check for improperly
connector connected cables or connectors and
correct them.
6 The robot speed is 1) Erroneous setting Make sure the robot type parameter If they do not match, initialize the
abnormally fast or of parameter (PRM 0) and the actual robot type parameter and input the correct value.
slow. match.
11-8

Table 11-4 l/0-Related Breakdowns and Corrective Action
I OUT signal cannot be I) Error in external Check wiring. Referring to the diagram in the instruction
controlled. wiring manual, connect the wiring conectly.
2) Error in program Connect the DPB and check the Change the program.
program.
3) Output transistor Measure the voltage at the PLC input Replace the controller.
has broken down. terminal.
ON: 0.5 V max.
OFF:+24 V
4) Fuse for 24 VDC Check for blown fuse. Check whether there is a short in the 24
has blown. VDC circuit. and then replace the fuse
(see Chapter 12-5 for instructions on fuse
replacement).
2 The robot does not I) Return to origin has Execute the return to origin properly.
move even though the not been completed.
Dl command signal is
input. 2) Program cannot be Connect the DPB and check the
executed. conditions.
3)Signal pulse width Input does not turn OFF until BUSY
is too narrow. turns ON.
4) Interlock signal has Check the signal (PLC output LED.

remained off. etc.).
5)Another Dl Check the signal (PLC output LED.

command signal is etc.).
on somewhere.
11 - 9

MEMO
1 1 - 10

CHAPTER
l~J J.\ Ju\1 J ~ u~ ~ lRl (G ~
w,g j.\ ~ [¥1 ~ mJ lY \y
For safety purposes, always turn the power off before starting maintenance, cleaning or repairs, etc., of the
robot.
12- 1

~J ~Q~ Warranty
The following warranty is provided to cover any problems that may arise with the Yamaha
robot you have purchased.
Warranty Content:
Any breakdowns occurring as a result of genuine Yamaha parts used in the construction
of Yamaha robots, in the materials used in those parts, or in the construction of the robot
itself, will be repaired at no expense to the purchaser. (This is hereafter referred to as
"Guaranteed Repair".)
Warranty Period:
This Warranty remains in effect until any of the following occur:
1) Eighteen months have passed since the date of shipping.
2) One year has passed since the date of installation.
3) 2400 hours of running time have passed.
Items Not Covered by Warranty
The following items are not covered by the terms of this Warranty.
1) Problems occurring as a result of time passing or wearing down after extensive

usage (natural discoloration of the paint, plating, and other materials; deterioration
of consumable parts, etc.).
2) Minor and abstract phenomena which have no effect upon the quality or functions
of the robot (noise generated by the computer, motor rotation noise, etc.).
Repair of problems attributed to the following causes is not covered under the terms of
this Warranty.
I) Damage incurred as a result of earthquake, typhoon, flood damage, lightning, and

other natural disasters; accident, fire, etc.
2) Improvement or additions not authorized by Yamaha or a Yamaha dealer or repre-
sentative
3) Use of parts other than genuine Yamaha parts or application of grease other than the
specified type of lubrication grease
4) Deficient or erroneous maintenance and inspection
5) Servicing by other than a specified dealer or agent
1 2- 2

c::J ~~c::.9'2 Changing the Power Supply Voltage
Specifications
If the controllers power supply voltage specifications must be changed, refer to the fol-
lowing description.
Incorrect wiring could cause trouble, so take special care when wiring .
..........................................................................................................................................................................................................................................................'"/.../////.•'//////////////,.'/////////////////////////////"/.,,//......h
·J ~~~~ ·J SRC DC servo series

1. Disconnect all connectors from the controller, and remove the upper cover.
2. The control board (PCB with RS-232-C connector and 1/0 connector) will be vis-
ible. Remove this control board.
3. The power supply terminal block will be visible, refer to Figs. 12-1 and 12-2 to
change the power supply voltage specifications.
4. Install the control board.
5. Install the upper cover, and change the power supply voltage label on the front of
the controller.
0
0 i---01
I ~L
I
f------
I Transformer ·<\\
I I\
'\
I
! Input/ I i
•
I
~61
I
i
I I
Yellow X 2 AC input I
E
rcsn
((
"'\
I
~ l_JJ
\
White
I~
1
Power board ASSY f(~@Y__ r

~
~-
11---
--------------.
:
!
i
( - II' !
li '~~d --~iii
'L.l___/~ L~ Gray , 1!
~ i :~1!
~ I :1 Power supply inlet I
I C2 Bl~_l<__/!) Jj[ I I
~
I i_ -----------------------
l_gj Terminal base
I
iol
Fig. 12-1 Layout of SRC DC Controller Interior
12- 3

1 White
1 Gray
1 Black
1 White
AC IN
1 Gray 1 Gray
AC IN
1 Black 1 Black
AC IN AC IN
100VAC 120VAC
1 White
AC IN
1 Gray
AC IN
1 Black
1 White
1 Black 1 Black
AC IN AC IN
200VAC 220VAC
1 White
AC IN
AC IN are both yellow wires
1 Black
AC IN
240VAC
Fig. 12-2 Terminal Base Connections
1 2- 4

·J 2 ~ 2 ~ 2 SRC AC servo series
I Disconnect all connectors from the controller, and remove the upper cover.
2 The control board (PCB with RS-232-C connector and 1/0 connector) will be vis-
ible. Remove this control board.
3 The power supply terminal block will be visible, refer to Fig. 12-3 to change the
power supply voltage specifications. There is a terminal for switching the power
supply at the center of the power board. To change the specifications to I 00/1 OOV,
move the harness to the 1OOV side, and to change to 200/220V, move the harness to
the 200V side.
4 Install the control board.
5 Install the upper cover, and change the power supply voltage label on the front of
the controller.
Power
supply
inlet
Fig. 12-3 Layout of the SRCA AC Controller Interior

(SRCA AC servo series)
100-120V 100-110V
200-240V 200-220V
Controller having the signs above can be used for the range of± I 0% of each voltage
shown.
Tap setting change not needed for the inlet voltage difference of I OOV- and 200V-.
12- 5

Replacing the Battery
The following describes how to replace the battery if an alarm is issued indicating that
the battery voltage is low.
• Battery product number: ER4/VC, made by Toshiba

• Please refer to Fig. I 2-4 when replacing the battery.
• When the battery is replaced, it is possible that all data in the controller will be lost.
Please make sure data has been backed up on an IC memory card before replacing the
battery.
Replacement Procedure
I. Disconnect the connector that connecta the control board and the lithium battery.
2. Cut the Insulock tie fixing the battery, and replace the battery.
3. Securely fix the battery with a new Insulock tie, and insert the connector until
a click is heard.
After replacing the battery, all data should be initialized.
;o"///////////////////////////////////,•'/.l'///////////////////,•'."/////////////////////////////////////////'/.1'//////////////////////////,
1J ~~~ Replacing the ROM

Yamaha may request, on occasion, that you replace the ROM in your equipment. The
method for doing this is described below.
• Refer to Fig. 12-4 while replacing the ROM.

• When the ROM is replaced, it is possible that all data in the controller will be lost.
Please make sure data has been backed up on an IC card before replacing the ROM.
• When removing the ROM, use tweezers or a similar tool, being careful not to damage
the ROM or the socket.
• When inserting the new ROM, pay attention to which way it is facing, and be careful
not to bend the pins.
After replacing the ROM, all data should be initialized.
(DC series)
Control board
(AC series)
Controller exterior
Overview of the controller board assembly

Fig. 12-4. Replacing the Battery and ROM
1 2- 6

Replacing Fuses
Two types of fuses are used in the controller, one for the AC power supply and one for
the 24 VDC power supply. The product numbers and locations of the fuses are listed
below.
Specifications
For 24 VDC 250 VI A f 6.3
For AC power For SRC-1, 2
250V 6A f5.2
For SRC-4
250 V 10 A f 5.2
For SRCA-2, 3
250 V T6.3A f 5.2
For DC 24V
[For AC Power supply]
(AC Type) (DC Type)
Fig. 12-4 Replacing Fuses
12- 7

MEMO
1 2- 8

CHAPTER
SAFETY
Considerations are made for the Yamaha robot controller for export to Europe so that the following safety
standards are complied with.
(DEN 292-2 :Set. 1991

Safety of machinery- Basic concepts, general principles for design
Part 2: Tecnical principles and specifications
@60204-1 :Oct. 1992 (IEC 204-1)

Safety of machinery- Electrical equipment of machines
Part I : General requirements
@775 :Oct. 1992 (ISO 10218)

Manipulating industrial robots- Safety
@)ISO 9946 :1991

Manipulating industrial robots-Presentation of characteristics
13- 1

~ ~c:. ~ SRC Controller
Table 13-1 Specifications Listed by Controller Model (DC Setvo)
~el SRC-1 SRC-2 SRC-4

Sp
Applicable motor capacitance 24 V 40 W max. 75 V 11 0 W max. 75 V 400 W max.
Max. power consumption 200VA 400VA 1000VA
External dimensions (mm) W78 x H275 x 0190 W95 X H275 X 0250
Weight 4.5kg 6.5kg
Used power supply voltage Single-phase AC 100/120/200/220/240 V, within ±1 0% 50/60Hz
Table 13-2 RobotType NumberTable
BS FT FS LT LTI LSI LSI I LR BFS BFSII MT MS HS HSL

Standard structure 12 10 14 20 28 28 20 22 24 26 32 30 40 42
-8 10 20 28 28 20 22 32 30
-V 15 21 21 21 21 23 31 41
-BV 11 21 21 21 21 23 31
BFS: Revised name of BLS (From Jan. 1, '94)

FROP
F 16
(M) 33
Table 13-3 Applicable Robots Listed by Controller Model
~I
t
SRC-1 SRC-2 SRC-4
~ t
SRC-1 SRC-2 SRC-4
BS () X X MT X X 0
FT 0 X X 0
.D MS X X 0
2
FS X 0 0 (j)
')(
HS X X 0
0
.D LT X 0 0 (1j
a, HSL X X ~p
2 0,
(j)
')(
(1j
LT I X 0 0 c
i:/5
FROP-F X .o I -0
a,
0,
LSI X o. 0 FROP-M X X I 0
c
i:/5
LS II X 0 0 ZO X 0 0
LR X 0 0 ~ RO X 0 0
Ql
.r:
BFS X 0 0 6 zs X 0 0
BLS II X 0 0 ZH X X 0
13- 2

Table 13-4 Specifications Listed by Controller Model (AC Servo)
~el SRCA-2 SRCA-3 SRCA-4

SOE
Applicable motor capacitance 200 V 100 W max. 200 V 400 W max. 200 V 400 W max.
with regenerator
Max. power consumption 400VA 1000VA 1000VA
External dimensions (mm) W100 x H275 x 0210 W1 00 x H275 X 0250
Weight 3.6kg
Used power supply voltage *) Single-phase AC 100/110/200/220 V Single-phase AC 100/110/200/220 V
Single-phase AC 100-120/200-240 V, Single-phase AC 100-110/200-220 V
within ±1 0% 50/60Hz within ±1 0% 50/60Hz
*) Upper • The controllers whose voltage specifications are shown on a label on the front panel.
Lower • The controllers whose voltage specifications are directry printed on the front panel.
Table 13-5 RobotType NumberTable

Robot models currently sold (as of Dec. 1, 1997)
BSt PS BPS FTt FSt LSI LTt LR! BFSt BLSt BLSH! LSHt LTHt MSt
Standard structure 12 10 13 10 28 20 20 22 25 26 27 32 32 30
-B 13 10 28 20 20 22 32 32
-V 11 72 21 21 23 76 76 31
-BV 11 72 21 21 23 76 76
HSt HSLt BHS MSC HSC FROP

Standard structure 40 42 44 30 40 Ft 16
-B St 17
-V 41 31 41 Mt 33
-BV
Previous robot models (sold prior to Sept. 1, 1997)

FTA FSA LSA LTA LRA BFSA BLSA MTA MSA HSA HSLA
Standard structure 10 14 20 20 22 24 26 32 30 40 42
-B 10 20 20 22 32
-V 11 15 21 21 23 31 41
-BV 11 21 21 23
FROP
FA 16
MA 33
HA 34
13- 3

Table 13-3 Applicable Robots Listed by Cont10ller Model
SRCA-2 SRCA-3 SRCA-4 ~I SRCA-2 SRCA-3 SRCA-4
BSt . .···.o ·o . ··. o FTA

PS o ·. . o o···. FSA
0 ·. 0 .···· .·. 0
BPS LSA 1 .. o . c ·..... ··.o
FTt I 0 0 I O······. LTA
FSt LRA 0 ( ·. · 0 ·.
0 o o·· . . . · o ·. .
LSt .0 BFSA
2
LTt o·.······· o 1 o··•·· -~
X
BLSA
LRt ctl MTA X ·. · 0 0
tb
BFSt rn MSA (Normal) X 0 ·•••·· .· .. 0
c
BLSt i:J5 MSA(-V) X X 0
BLSHt X 0•·· ... 0 HSA (Normal) X 0 0 ··.
LSHt (Normal) X o··. r·o HSA (-V) X X
LSHt (-V) X X .... Q HSLA X .· o. 0
LTHt (Normal) x <o ·. . o ·. FROP-FA ..·····0 . .·. 0
LTHt(-V) X X .··. 0 FROP-MA X 0 ••.. 0
MSt (Normal) FROP-HA X
MSt(-V) X X o···••· ZP
•o a·····. · . o
HSt (Normal) ZF .·. ·.·9··
HSt(-V) X X ··• 0 zs 0 ••... 0
HLSt X () 0 ··. ZL X
~
BHS X X > .0 Ql ZH
..c
MSC (Normal) X ... 0 1 0 •. Q ZFA
MSC (-V) ZSA
HSC (Normal) X 0 C> . ·.· ZLA X X 0
HSC (-V) X X 0 ZHA X X 0
FROP-Ft ··o ··o ·o
FROP-St 0 0 .•. 0
FROP-Mt X .. • Q 0 .·
13- 4

Table 13-5 Sbared Controller Specifications
Specification item Details

Axis control No. of controllable axes I axis
Control method Software servo PTP
Position detection method Incremental pulse encoder with zero pulse
Speed setting 100-step setting possible per program step
Acceleration/deceleration setting Automatically set according to robot type and transpor-
tation weight. I 00-step setting is also possible with ac-
celeration parameter.
Servo adjustment Handled with parameters (special). Servo gain, current
limit, etc.
No. of encoder pulses Set with parameters (special). (500P/R to 2500P/R)
Lead length Set with parameters (special). (5mm to 36mm)
Memory ROM 32Kbytes
RAM 8Kbytes with lithium battery backup (5-year life)
No. of program steps 1024 steps/total or less, 255 steps/program
No. of programs 32
No. of points 255 points
Teaching method MDI (coordinate value input), teaching playback, direct
teaching
Auxiliary memory unit IC memory is available as DPB option
I/0 I/0 input General-use 9 points, special-use 7 points
I/0 output General-use 5 points, special-use 3 points Open collec-
tor output, internal 24V can be used up to 600mA
Brake output Relay output (24/300mA for brake) Battery (24V) is
built-in
Origin sensor input Connection of DC24V sensor is possible. Note that de-
pending on the motor specifications, origin search with
stroke end detection can be used with the parameters.
Emergency stop input Normal closed contact input (origin return not required
after emergency stop is released)
Serial interface One RS-232C channel (for communication with DPB or
general purpose personal computer)
General Ambient temperature 0 to 40 degrees
specifi- Storage temperature -I 0 to 65 degrees
cations Ambient humidity 35 to 85%RH (with no condensation)
Noise withstand level 1500V, lflsec
13- 5

DPB
Table 13-6 DPB Specifications
Specification Item Details

Keyboard 28 keys, membrane switch + Emergency Stop switch
Display Liquid crystal, 20 characters x 4 lines
Auxiliary memory device Memory card (8 KB/64KB SRAM, battery backup system)
Serial interface RS-232C, one channel, for communications with controller
Power supply Supplied by controller or AC adapter (9 V)
Power consumption 5 V 200 mA max.
Ambient temperature ooc to 40°C
Ambient humidity 35 to 85% RH (with no condensation)
External dimensions w 107 X H 235 X D 47
Weight 590 g
Cable length Standard 3.5 m
13- 6

CHAPTER
J}\J®uJ3QD©~rocDJ~~ [F©~
}J £ ~ lQ) [b] [N] (Ql @ ~¥] © mJ@)
14- 1

'J ~c::; 'J Handling the Memory Card
The memory card is a device that can be connected to the DPB programming unit, which
is used with the SRC controller, so that program data can be backed up.
With one 8K card enough data for I SRC units can be backed up. With one 64K card
enough data for I 0 SRC units can be backed up.
1. Using the card

a) Insert the card in the DPB as shown in Fig. 14-2.
b) For the backup procedure, please refer to Chapter 8-5 "Using Memory Card" .
...l£l:::J Battery
Memory card 0+
~~~~;%;'
~
Terminal
Fig. 14-2 Memory Card Holder terminal
Fig. 14-3 Battery Holder (viewed from rear)
2. Precautions when using the card

a) Make sure the card is inserted all the way, until some resistance is felt.
b) Be careful not to insert the card facing the wrong direction. The YAMAHA seal
should be facing upward. (A pin is provided on the card to keep it from being
inserted the wrong way.)
c) The card should only be withdrawn while the power to the DPB is on.
d) Never eject the card while backing up data.
e) The card should be used under the following environmental conditions:
Ambient temperature range : -I 0 to 40°C
Ambient humidity range : Relative humidity 85% max.
Storage temperature range : -20 to 60°C
t) Do not leave the card stored inside the DPB, as this can shorten the life of the
battery.
The battery life is approximately 5 years at an ambient temperature of 25°C.
If the battery voltage drops, a message appears on the DPB. Refer to Fig. 14-3 to
replace the battery.
14- 2

Handling the 1/0 Checker
1. An overview
This device is connected to the 1/0 connector of the SRC Controller made by
Yamaha Motor Corporation. When connected, the unit functions as a monitor for
pseudo-input created by means of switches, and for LED monitoring input and
output.
2. Connecting the 1/0 checker

(I) Connector marked <Fujitsu>
Connect this to the connector marked <1/0> on the control panel.
(2) Connector marked <JAE 34P>
Connect this to the <CN I> connector at the right of the 1/0 board, and make sure
it locks.
(3) To the <CN2> connector on the left of the 1/0 board, plug in the connector that
will be joined to the <1/0> connector of the SRC Contmller.
CN2 f-- r- CN1
f!W!%@t
r-
f-- ~
1/0 Checker 1/0 connector

'---
SRC control ler
PLC
Fig. 14-4 Connecting the 1/0 Checker
3. Operation method
(I) The LED monitor goes on (lights) and off (goes out) in conjunction with the input
and output.
(2) The pseudo-input switch is on when set to the upper side and off when set to the
lower side.
However, the <INTERLOCK> and <EMG> switches are opposite; they are on
when set to the lower side and off when set to the upper side.
Thus, if all of the switches are set to the lower side at first, the unit can be used for
pseudo-input and as an 1/0 monitor.
(3) The input changeover switch should be set to the <EXTERNAL> (upper) side to
receive external input from a PLC or a similar unit.
If the switch is set to the <INTERNAL> (lower) side, the switch signals from the
1/0 board are input. In either case, the input monitor is handled by means of
LEDs.
14- 3

YAMAHA SINGLE-AXIS
ROBOT CONTROLLER
SRC Series
INSTRUCTION MANUAL
January. 1998
©YAMAHA MOTOR CO., LTD.
IM OPERATIONS
All rights reserved. No part of this publication may
be reproduced in any form without the permis-
sion of YAMAHA MOTOR CO., LTD.

~YAMAHA
YAMAHA MOTOR CO., LTD.
1M COmpany
An In-house Company
of YAMAHA MOTOR CO., LTD.
882 Soude, Nakaku, Hamamatsu,
Shizuoka, 435-0054, Japan
Telephone (Sale promotion dMsionJ
81-53-460-61 03
Telephone (Service dMsionJ
81-53-460-6140
Facsimile 81-53-460-6811

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Chapter 2: INSTALLATION AND WIRING

Chapter 3: 1/0 Interface

Chapter 4: BASIC OPERATION OF THE DPB

Chapter 7: OPERATING THE ROBOT

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Chapter 9: COMMUNICATIONS WITH A PERSONAL

Chapter 10: MESSAGE TABLES

Chapter 11: TROUBLESHOOTING

Chapter 12: MAINTENANCE AND WARRANTY

Chapter 13: SPECIFICATIONS

Chapter 14: INSTRUCTIONS FOR HANDLING OPTIONS

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The SRC Controller offers the following features:

• A high-performance single-chip CPU is used for high-speed, high-precision

• Programs are written in easy-to-learn robot instructions that closely resemble

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Operation II Information to be Familiar With I Contents Reference

Installing the controller 2-1

Connecting the power supply 2-2

Understanding of the basic --- --------------------------------------------- Chapter 4

Running the robot Return to origin

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1. Escape Switch (ESC switch)

3. Robot I/0 Connector

5. Power Display Lamp

7. I/0 Power Supply Fuse

8-1. Power Supply Inlet

8-2. AC Power Supply Fuse

8-3. Power Supply Switch

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Fig. 1-1 E xterior of the SRC Controller

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The figure in the ( ) indicates the SRC-4 dimension.

_ _2o~---- ______25o 1".1QL __________ _

100 ;----t------------"7--.l ---·""T

The figure in the ( ) indicates the SRCA-2 and 3 dimension.

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I. Liquid Crystal Display

Fig. 1-4 Exterior of the DPB

Fig.l-5 Exterior of the DPB

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Programming Board DPB

& IC memory card

Fig. 1-6 System Configuration Diagram

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2. Power supply connector: 4204,4240-07, made by OTTO HElL

The following options are available for the SRC Controller:

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Table 2-1 Installation Location

_ _2o~---- 25o 1".1QL ____ _

:: ~_:__________ ---0 ~-' ~..;-------=·

A5 c-:-·· Dl_..cO,_ c----~