Document Outline

• General Contents
• Chapter 1 OVERVIEW
  • 1-1 Features of the SRCP Series Controller
  • 1-2 Setting Up for Operation
  • 1-3 External View and Part Names
    • 1-3-1 SRCP controller
    • 1-3-2 TPB
  • 1-4 System Configuration
    • 1-4-1 System configuration
  • 1-5 Accessories and Options
    • 1-5-1 Accessories
    • 1-5-2 Peripheral options
• Chapter 2 INSTALLATION AND CONNECTION
  • 2-1 Installing the SRCP Controller
    • 2-1-1 Installation method
    • 2-1-2 Installation location
  • 2-2 Connecting the Power Supply
    • 2-2-1 Power supply
    • 2-2-2 Connecting the power supply
    • 2-2-3 Installing an external leakage breaker
    • 2-2-4 Installing a circuit protector
    • 2-2-5 Installing current control switches
    • 2-2-6 Insulation resistance and voltage breakdown tests
  • 2-3 Grounding
  • 2-4 Connecting the SRCP to the Control Unit
  • 2-5 Connecting to the Robot
    • 2-5-1 Robot I/O connector and signal table
    • 2-5-2 Motor connector and signal table
  • 2-6 Connecting to the I/O. CN Connector
  • 2-7 Connecting to the EXT. CN Connector
  • 2-8 Connecting to the Regenerative Unit
• Chapter 3 I/O INTERFACE
  • 3-1 I/O Signals
    • 3-1-1 I/O. CN connector signals
    • 3-1-2 EXT. CN connector signals
  • 3-2 Input Signal Description
    • 3-2-1 Dedicated command input
    • 3-2-2 General-purpose input (DI0 to DI7)
    • 3-2-3 SERVICE mode input (SVCE)
    • 3-2-4 Interlock (LOCK)
    • 3-2-5 Emergency stop inputs 1, 2 (EMG1, EMG2)
  • 3-3 Output Signal Description
    • 3-3-1 Dedicated output
    • 3-3-2 General-purpose output (DO0 to DO4)
    • 3-3-3 Feedback pulse output (PA±, PB±, PZ±, PZM±)
  • 3-4 I/O Circuits
    • 3-4-1 I/O circuit specifications
    • 3-4-2 I/O circuit and connection example
  • 3-5 I/O Connection Diagram
    • 3-5-1 Connection to PLC output unit
    • 3-5-2 Connection to PLC input unit
  • 3-6 I/O Control Timing Charts
    • 3-6-1 When turning the power on
    • 3-6-2 When executing a dedicated input command
    • 3-6-3 When interlock signal is input
    • 3-6-4 When emergency stop is input
    • 3-6-5 When alarm is issued
    • 3-6-6 When executing a point movement command
• Chapter 4 BASIC OPERATION OF THE TPB
  • 4-1 Connecting and Disconnecting the TPB
    • 4-1-1 Connecting the TPB to the SRCP controller
    • 4-1-2 Disconnecting the TPB from the SRCP controller
  • 4-2 Basic Key Operation
  • 4-3 Reading the Screen
    • 4-3-1 Program execution screen
    • 4-3-2 Program edit screen
    • 4-3-3 Point edit screen (teaching playback)
    • 4-3-4 DIO monitor screen
  • 4-4 Hierarchical Menu Structure
  • 4-5 Restricting Key Operation by Access Level
    • 4-5-1 Explanation of access level
    • 4-5-2 Changing an access level
• Chapter 5 PARAMETERS
  • 5-1 Setting the Parameters
  • 5-2 Parameter Description
• Chapter 6 PROGRAMMING
  • 6-1 Basic Contents
    • 6-1-1 Robot language and point data
    • 6-1-2 Using the TPB to enter the robot language
    • 6-1-3 Program specifications
  • 6-2 Editing Programs
    • 6-2-1 Creating programs after initialization
    • 6-2-2 Creating a new program
    • 6-2-3 Adding a step
    • 6-2-4 Correcting a step
    • 6-2-5 Inserting a step
    • 6-2-6 Deleting a step
  • 6-3 Program Utility
    • 6-3-1 Copying a program
    • 6-3-2 Deleting a program
    • 6-3-3 Viewing the program information
• Chapter 7 EDITING POINT DATA
  • 7-1 Manual Data Input
  • 7-2 Teaching Playback
  • 7-3 Direct Teaching
  • 7-4 Manual Control of General-Purpose Output
  • 7-5 Manual Release of Holding Brake
  • 7-6 Deleting Point Data
  • 7-7 Tracing Points (Moving to a registered data point)
• Chapter 8 ROBOT LANGUAGE
  • 8-1 Robot Language Table
  • 8-2 Robot Language Syntax Rules
    • 8-2-1 Command statement format
    • 8-2-2 Variables
  • 8-3 Program Function
    • 8-3-1 Multi-task function
  • 8-4 Robot Language Description
    • 8-4-1 MOVA
    • 8-4-2 MOVI
    • 8-4-3 MOVF
    • 8-4-4 JMP
    • 8-4-5 JMPF
    • 8-4-6 JMPB
    • 8-4-7 L
    • 8-4-8 CALL
    • 8-4-9 DO
    • 8-4-10 WAIT
    • 8-4-11 TIMR
    • 8-4-12 P
    • 8-4-13 P+
    • 8-4-14 P-
    • 8-4-15 SRVO
    • 8-4-16 STOP
    • 8-4-17 ORGN
    • 8-4-18 TON
    • 8-4-19 TOFF
    • 8-4-20 JMPP
    • 8-4-21 MAT
    • 8-4-22 MSEL
    • 8-4-23 MOVM
    • 8-4-24 JMPC
    • 8-4-25 JMPD
    • 8-4-26 CSEL
    • 8-4-27 C
    • 8-4-28 C+
    • 8-4-29 C-
    • 8-4-30 D
    • 8-4-31 D+
    • 8-4-32 D-
    • 8-4-33 SHFT
  • 8-5 Sample Programs
    • 8-5-1 Moving between two points
    • 8-5-2 Moving at an equal pitch
    • 8-5-3 Positioning 2 points and sending job commands to a PLC ateach position
    • 8-5-4 Robot stands by at P0, and moves to P1 and then to P2 topick and place a workpiece
    • 8-5-5 Picking up 3 kinds of workpieces flowing on the frontconveyor and placing them on the next conveyors whilesorting
    • 8-5-6 Switching the program from I/O
    • 8-5-7 Axis movement and I/O multi-task
    • 8-5-8 Turning ON general-purpose outputs during robotmovement after a certain time has elapsed
    • 8-5-9 Turning ON a general-purpose output during robotmovement when it has passed a specified position
• Chapter 9 OPERATING THE ROBOT
  • 9-1 Performing Return-to-Origin
  • 9-2 Using Step Operation
  • 9-3 Using Automatic Operation
  • 9-4 Switching the Execution Program
  • 9-5 Emergency Stop Function
    • 9-5-1 Initiating an emergency stop
    • 9-5-2 Recovering from an emergency stop
  • 9-6 Displaying the Memory I/O Status
  • 9-7 Displaying the Variables
• Chapter 10 OTHER OPERATIONS
  • 10-1 Initialization
  • 10-2 DIO Monitor Display
    • 10-2-1 Display from the monitor menu
    • 10-2-2 Display from the DIO key operation
  • 10-3 System Information Display
  • 10-4 SERVICE mode function
    • 10-4-1 Safety settings for SERVICE mode
    • 10-4-2 Enabling/disabling the SERVICE mode function
    • 10-4-3 Setting the SERVICE mode functions
  • 10-5 System utilities
    • 10-5-1 Viewing hidden parameters
  • 10-6 Using a Memory Card
    • 10-6-1 Saving controller data to a memory card
    • 10-6-2 Loading data from a memory card
    • 10-6-3 Formatting a memory card
    • 10-6-4 Viewing the ID number for memory card data
  • 10-7 Duty (load factor) monitor
    • 10-7-1 Measuring the duty (load factor)
  • 10-8 Using the internal flash ROM
    • 10-8-1 Saving the parameter data onto the flash ROM
    • 10-8-2 Manually loading the data from flash ROM
    • 10-8-3 Initializing the flash ROM data
• Chapter 11 COMMUNICATION WITH PC
  • 11-1 Communication Parameter Specifications
  • 11-2 Communication Cable Specifications
    • 11-2-1 Connecting to the computer with a 25-pin D-sub connector
    • 11-2-2 Connecting to the computer with a 9-pin D-sub connector
  • 11-3 Communication Command Specifications
  • 11-4 Communication Command List
  • 11-5 Communication Command Description
    • 11-5-1 Robot movements
    • 11-5-2 Data handling
    • 11-5-3 Utilities
• Chapter 12 MESSAGE TABLES
  • 12-1 Error Messages
    • 12-1-1 Error message specifications
    • 12-1-2 Command error message
    • 12-1-3 Operation error message
    • 12-1-4 Program error message
    • 12-1-5 System error message
    • 12-1-6 Multi-task error message
  • 12-2 TPB Error Messages
  • 12-3 Stop Messages
    • 12-3-1 Message specifications
    • 12-3-2 Stop messages
  • 12-4 Displaying the Error History
• Chapter 13 TROUBLESHOOTING
  • 13-1 If A Trouble Occurs
  • 13-2 Alarm and Countermeasures
    • 13-2-1 Alarm specifications
    • 13-2-2 Alarm message list
  • 13-3 Troubleshooting for Specific Symptom
    • 13-3-1 Relating to the robot movement
    • 13-3-2 Relating to the I/O
    • 13-3-3 Other
  • 13-4 Displaying the Alarm History
• Chapter 14 MAINTENANCE AND WARRANTY
  • 14-1 Warranty
    • 14-1-1 Warranty description
    • 14-1-2 Warranty Period
    • 14-1-3 Exceptions to the Warranty
  • 14-2 Replacing the System Backup Battery
  • 14-3 Updating the System
• Chapter 15 SPECIFICATIONS
  • 15-1 SRCP sereis
    • 15-1-1 Basic specifications
    • 15-1-2 Robot number list
    • 15-1-3 LED display
  • 15-2 TPB
    • 15-2-1 Basic specifications
  • 15-3 Regenerative Unit (RGU-2)
    • 15-3-1 Basic specifications
    • 15-3-2 Dimensions
• Chapter 16 APPENDIX
  • 16-1 How to Handle Options
    • 16-1-1 Memory card
    • 16-1-2 POPCOM communication cable