SRCD/SRCP YAMAHA NETWORK BOARD ERCX/SRCX/DRCX PROFIBUS User’s Manual ENGLISH E YAMAHA MOTOR CO., LTD. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan URL http://www.yamaha-motor.jp/robot/index.html E88-Ver. 2.
INTRODUCTION Thank you for purchasing the PROFIBUS unit for the YAMAHA single-axis/dual-axis robot controllers SRCP/SRCD/ERCX/SRCX/DRCX series. This is an optional unit to allow connecting YAMAHA single-axis/dual-axis robot controllers SRCP/SRCD/ERCX/SRCX/DRCX series (hereafter called "controller") to the PROFIBUS widely used as a fieldbus.
MEMO
Contents Cautions To Ensure Safety ............................................................1 1-1 1-2 1-3 1-4 1-5 1-6 Basic safety points ............................................................................. 2 System design safety points .............................................................. 2 Installation and wiring safety points ................................................... 3 Start-up and maintenance safety points.............................................
2-10-2 2-10-3 2-10-4 2-10-5 JMPF ............................................................................................ 56 JMPB ............................................................................................ 57 DO ................................................................................................ 57 WAIT ............................................................................................ 58 2-11 Emulated Serialization on parallel DIO ................................
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CHAPTER1 Cautions To Ensure Safety 1-1 Basic safety points Besides reading this instruction manual and the controller user’s manual, also be sure to handle the equipment correctly while paying sufficient attention to safety. Points regarding safety in this instruction manual only list items involving this product. Please refer to the controller instruction manual for information regarding safety when using this unit with the controller.
CHAPTER1 Cautions To Ensure Safety 1-3 Installation and wiring safety points ! CAUTION Always cut off all power to the controller and the overall system before attempting installation or wiring jobs. This will prevent possible electrical shocks. After the controller has been on for a while, some points in the controller may be extremely hot or remain at high voltages. After cutting off the power when installing or removing the unit, wait at least 5 minutes before starting work.
CHAPTER1 Cautions To Ensure Safety 1-4 Start-up and maintenance safety points ! CAUTION Never attempt to disassemble the robot or controller. When a robot or controller component must be repaired or replaced, contact us for details on how to perform the servicing. ! CAUTION Always cut off all power to the controller and the overall system before attempting maintenance or servicing. This will prevent possible electrical shocks.
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CHAPTER2 PROFIBUS Unit 2-1 PROFIBUS unit features PROFIBUS is a fieldbus standard jointly developed by Siemens, Bosch, ABB, etc. in Germany in the 1980s. The PROFIBUS specifications were established in 1989 and the organization called "PNO" (PROFIBUS Nutzerorganisation) was founded in Germany to start activities to spread the PROFIBUS.
CHAPTER2 PROFIBUS Unit 2-2 PROFIBUS system concept In order to understand how the controller and sequencer (PLC) operate on the PROFIBUS system, let’s first take a look at how the system communicates. Each unit connected in the PROFIBUS system is classified by function into a master station and a slave station. The master station determines data communication and is equivalent to a master PLC (sequencer) unit.
CHAPTER2 PROFIBUS Unit 2-3 BROFIBUS cable connections PROFIBUS cable connections require a 9-pin D-sub connector with pin assignments as shown in the table below. Pin No. 1 2 3 4 5 6 7 8 9 5 9 4 8 3 7 2 6 1 Signal — — RxD/TxD-P RTS GND 5V — RxD/TxD-N — Meaning — — Signal in line A — Signal in line B — PROFIBUS-DP connector Plug the bus connector on the PROFIBUS cable into this connector. ! CAUTION When wiring the bus connector, always follow the manufacturer's instructions to avoid miswiring.
CHAPTER2 PROFIBUS Unit 2-4 Parallel I/O connector The I/O connector must be wired into the controller so install as shown below even if not using the controller’s parallel I/O. ■ When the ERCX/SRCX/DRCX series controllers are used: 1. Short Pin No. A-24 (EMG 1) and B-24 (EMG 2). 2. Short Pin No. B-4 (LOCK) and A-15, to B-15 (0V). 3. Connect an external 24 volts to Pin No. A-13, B-13 (+IN COM).
CHAPTER2 PROFIBUS Unit ■ When the SRCP/SRCD series is used: 1. Short Pin No. 1 (EMG 1) and Pin No. 2 (EMG 2) of the EXT.CN connector. 2. Short Pin No. B-4 (LOCK) of the I/O.CN connector and Pin No. 4 (24G) of the EXT.CN connector. (This wiring can be eliminated by disabling bit 6 (Interlock function setting) of PRM34 (System mode selection).) 3. Connect Pin No. 3 (24V) and Pin No. 4 (24G) of the EXT.CN connector to an external 24 volt supply. If Step 1 is not completed, an emergency stop will occur.
CHAPTER2 PROFIBUS Unit 2-5 Controller (slave station) system setting The station address must be set so that the controller can be correctly identified as a slave station on the PROFIBUS system. Communication speed is automatically recognized. The PROFIBUS unit station address is set from the HPB. This setting is enabled after the controller is restarted.
CHAPTER2 PROFIBUS Unit 2-5-2 Setting the station address The station address can be set from 0 to 126. 1) Press F3 (SYS) on the initial screen. [MENU] select menu 2) Press F4 (next) to switch to the func- 1EDIT2OPRT3SYS 4MON tion display and then press F2 (OPT). [SYS] select menu 3) 1SAFE2OPT 3UTL 4next Press F2 (NODE). [SYS-OPT] select menu 4) The currently set station address is displayed. To change this setting, enter the new station address with the number pad keys, and then press the key.
CHAPTER2 PROFIBUS Unit 2-5-3 Checking the communication speed Communication speed is automatically recognized as any of 9.6K, 19.2K, 93.75K, 187.5K, 500K, 1.5M, 3M, 6M and 12M in units of bps. 1) Press F3 (SYS) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to switch to the function display and then press F2 (OPT). [SYS] select menu 1SAFE2OPT 3UTL 4next 3) Press F3 (SPD).
CHAPTER2 PROFIBUS Unit 2-6 Sequencer (master station) settings The master station sequencer (or PLC) in the PROFIBUS system can make line tests on the slave station. Use this function to check whether or not the controller is identified as a slave station on the PROFIBUS system before starting any actual work. Refer to the instruction manual for the master station sequencer (PLC) for detailed information.
CHAPTER2 PROFIBUS Unit 2-7 I/O information On/off (I/O) information handled by the PROFIBUS unit consists of 16 dedicated inputs, 32 general-purpose I/O inputs, 16 dedicated outputs and 32 general-purpose outputs. Dedicated inputs are sub-grouped by assigned function into 13 dedicated command inputs, interlock, service mode and emergency stop inputs. * Some ports are currently reserved for future use and not available for dedicated command input and dedicated outputs.
CHAPTER2 PROFIBUS Unit Address Im+4.0 Im+4.1 Im+4.2 Im+4.3 Im+4.4 Im+4.5 Im+4.6 Im+4.7 Im+5.0 Im+5.1 Im+5.2 Im+5.3 Im+5.4 Im+5.5 Im+5.6 Im+5.7 Im+6.0 to Im+7.7 OUTPUT (Slave→Master) Signal Name SO216 SO217 SO218 SO219 SO220 SO221 SO222 SO223 SO224 SO225 SO226 SO227 SO228 SO229 SO230 SO231 Address Qn+4.0 Qn+4.1 Qn+4.2 Qn+4.3 Qn+4.4 Qn+4.5 Qn+4.6 Qn+4.7 Qn+5.0 Qn+5.1 Qn+5.2 Qn+5.3 Qn+5.4 Qn+5.5 Qn+5.6 Qn+5.7 Qn+6.0 to Qn+7.
CHAPTER2 PROFIBUS Unit ■ Bit input/output I ■ Word input/output QW8 1. 2 Bit address (from 0 to 7) Byte address (from 0) QB8 76543210 Q8.7 QB9 76543210 Q8.0 Q9.7 Q9.0 Address identifier 2-7-2 Dedicated command inputs Dedicated command inputs are inputs from the sequencer (PLC) to the controller for performing specific processing such as origin return or servo recovery.
CHAPTER2 PROFIBUS Unit ■ Point movement command with absolute (ABS-PT) When origin point coordinates are set at 0, this command moves the robot to a position specified in data by point No. (See “2-7-3 General-purpose inputs”) specified by SI200 through SI209, and at a speed specified by SI210 and SI211. On dual-axis controllers, the axis to be moved can be specified with SI213, SI214 by making PRM10 varid.
CHAPTER2 PROFIBUS Unit ■ Origin return command (ORG-S) This command performs origin return when the search method was selected as the origin detection method, or checks the origin return status if the mark method was selected. On dual-axis controllers, you can specify the axis for origin return with SI213, SI214 by making PRM10 varid.
CHAPTER2 PROFIBUS Unit ■ Reset command (RESET) This command returns the program step to the first step of the lead program, and turns DO0 - DO12*1, SO200 - SO231, and the memory I/O all off. The point variable “P” is also cleared to 0. (Does not clear the counter variables “C” and “D”. * The output from a parallel I/O port used for emulated serialization does not change even if reset with the RESET command.
CHAPTER2 PROFIBUS Unit 2-7-3 General-purpose inputs (SI200 - SI231) General-purpose inputs are inputs freely available to the user for handling as data in the program. As a special usage method, SI200 - SI209 can specify point numbers, and SI210 - SI211 can specify movement speed during running of ABS-PT or INC-PT point movement commands. As shown in the table below, a binary code should be entered in SI200 SI209 to specify the point numbers P0 - P999.
CHAPTER2 PROFIBUS Unit 2-7-4 Interlock (LOCK) These are inputs to temporarily stop robot movement. Robot operation can be stopped by setting this input to OFF during running of dedicated commands from the I/O, during running of a program by HPB (or personal computer), or during return to origin. (Of course, the program operation also stops.) When this input is OFF however, dedicated commands from the I/O and running of programs from the HPB (or personal computer) as well as origin return are all disabled.
CHAPTER2 PROFIBUS Unit 2-7-6 Service mode (SVCE) This input is valid when the service mode function of the controller main body is valid. The service mode input is used to inform the controller whether the current status is the service mode status or not. In the service mode status, keep this input OFF (the contact is open.). MEMO When the status of the service mode input varies during robot operation, the operation execution will be interrupted.
CHAPTER2 PROFIBUS Unit 2-7-7 Dedicated outputs Dedicated outputs inform the sequencer (PLC) of controller status. ■ "Preparation completed" output (READY) The dedicated output is ON while the controller system is operating normally. However the output turns OFF under any of the following conditions and the motor becomes "free". • During emergency stop The READY output turns ON again when emergency stop is canceled.
CHAPTER2 PROFIBUS Unit ■ "Servo status" output (SRV-O) Displays the robot servo status. This turns ON when all axes are at servo-ON. However, this output is OFF if even just one axis is in servo-OFF status. * This servo status output is always enabled, even if the "servo status output selection" parameter (single-axis controllers: PRM46, dual-axis controllers: PRM21) does not have to be changed. ■ "Origin return status" output (ORG-O) This outputs the robot origin return status.
CHAPTER2 PROFIBUS Unit 2-8 Timing chart Timing charts are included so please refer to them when creating a sequencer (PLC) program. 2-8-1 Right after controller power turns on Normal startup Power supply 10s or less END When alarm has occurred Power supply END ■ After power is turned on, the END output turns on when the controller has started up normally and communication is allowed. So first check that the END output is on before inputting commands.
CHAPTER2 PROFIBUS Unit 2-8-2 Dedicated input command execution ■ The BUSY output turns ON when a dedicated command input is received. Whether or not the received command ended normally is checked by the END output at the point when the BUSY output turns OFF. In other words, the END output that is ON at this time, shows the command ended normally. However the command did not end normally if the END output is OFF. ■ Always input the dedicated command input as a pulse signal.
CHAPTER2 PROFIBUS Unit (2) When a short execution time command runs and ends normally (In the following cases, when the dedicated command input is turned OFF, the command has already ended, and END has turned ON.) • When running a movement command (ABS-PT, INC-PT) with an extremely short movement distance. • When RESET was run. • When running steps of a command having an extremely short processing time such as L or DO statements.
CHAPTER2 PROFIBUS Unit Dedicated command execution completion Even after dedicated command execution completion, the END signal does not turn on until the dedicated command input turns off. Dedicated command BUSY END 30ms or less 1ms or less 1ms or less 1ms or less (3) When running a command was impossible from the start (In the following cases, END will not turn ON, when running of command was impossible from the start.
CHAPTER2 PROFIBUS Unit (4) When an on-going command becomes impossible to run (In the following cases, END will not turn ON, when running of an on-going command becomes impossible.) • When an interlock or emergency stop was triggered during running of a dedicated command. • When a jump to an unregistered program was made during automatic operation, a move to an unregistered point was made or some kind of error occurred.
CHAPTER2 PROFIBUS Unit 2-8-3 When interlock signal is input Interlock LOCK Dedicated command BUSY END Differs according to execution command ■ The BUSY output turns OFF when an interlock signal is input during running of a dedicated command. The READY output and the END output remain unchanged.
CHAPTER2 PROFIBUS Unit 2-8-4 When emergency stop signal is input Emergency stop EMG Dedicated command BUSY END READY 5ms or less 1ms or less ■ The READY output turns OFF. The BUSY output turns OFF during running of a dedicated command. The END output is unchanged. ■ To resume robot operation, after canceling emergency stop and checking that the READY output is ON, input the SERVO command.
CHAPTER2 PROFIBUS Unit 2-8-5 When an alarm is issued Alarm occurs Dedicated command BUSY END READY 5ms or less 1ms or less ■ The READY, BUSY and END outputs all turn off. ■ To troubleshoot an alarm that occurred on the controller, refer to “Alarm and Countermeasures” in the controller instruction manual.
CHAPTER2 PROFIBUS Unit 2-8-6 When point movement commands are run ■ When executing a point movement command (ABS-PT, INC-PT), the point data and speed data must be input before inputting the dedicated command. When specifying the moving axis, the axis selection data must be input. The point data and speed data inputs are designated with SI200 to SI211. The axis selection data input is designated with SI213 to SI214. (Refer to “2-7-3 Generalpurpose input (SI200 to SI231)”.
CHAPTER2 PROFIBUS Unit 2-9 I/O assignment change function 2-9-1 Changing the I/O assignment The I/O assignment change function changes the function assigned to each input/output (I/O) signal. I/O assignment can be changed by setting the I/O assignment selection parameter (singleaxis controllers: PRM59, dual-axis controller: PRM26). For the contents of I/O assignment, refer to "2-9-2 I/O assignment list".
CHAPTER2 PROFIBUS Unit 2-9-2 I/O assignment list The table below shows the function assigned to each input/output (I/O) signal by setting the I/O assignment selection parameter. For details on the I/O assignment selection parameter, refer to "2-9-3 I/O assignment selection parameter description". For details on each I/O signal, refer to "2-9-4 I/O signal description".
CHAPTER2 PROFIBUS Unit Im.0 SRV-O SRV-O SRV-O SRV-O SRV-O Im.1 (ZONE0) (ZONE0) (ZONE0) (ZONE0) (ZONE0) Im.2 (ZONE1) (ZONE1) (ZONE1) (ZONE1) (ZONE1) Im.3 (ZONE2) (ZONE2) (ZONE2) (ZONE2) (ZONE2) Im.4 (ZONE3) (ZONE3) (ZONE3) (ZONE3) (ZONE3) ORG-O ORG-O ORG-O ORG-O ORG-O END END END END Im.5 Im.6 Im.7 Im+1.0 Output (Slave → Master) Im+1.1 Im+1.2 Im+1.3 Cannot Im+1.4 Im+1.5 END be used. Im+1.6 BUSY BUSY BUSY BUSY BUSY Im+1.
CHAPTER2 PROFIBUS Unit 2-9-3 I/O assignment selection parameter description The I/O assignment selection parameter (single-axis controllers: PRM59, dual-axis controllers: PRM26) selects the function to be assigned to each I/O signal. This parameter setting allows changing the function assigned to each I/O signal. This makes it possible to output the destination point number and perform jog movement. After changing the I/O assignment, the controller must be restarted to enable the changes.
CHAPTER2 PROFIBUS Unit e Point zone judgment method selection The position judgment parameter is selected when the point output selection is "2" (point zone output) or "3" (movement point zone output). Value Description 0 OUT valid position 1 Positioning-completed pulse MEMO • The Point zone judgment method selection is supported by the following controller versions: ERCX, SRCX : Ver. 13.64 or later DRCX : Ver. 18.64 or later SRCP, SRCD : Ver. 24.21 or later SRCP30 : Ver. 24.
CHAPTER2 PROFIBUS Unit 2-9-4 I/O signal descripion The meaning of each signal is explained below. For the meaning of signals not described here, refer to "2-7-2 Dedicated command input" and the following sections. ■ Point number designation inputs 200 to 205 (PI200 to PI205) These inputs designate the point number of the target position where the robot moves with a point movement command (ABS-PT, INC-PT). (For details on the ABS-PT and INC-PT commands, see 2-7-2, "Dedicated command input" in this chapter.
CHAPTER2 PROFIBUS Unit Axis selection example SI214 SI213 OFF OFF ON ON OFF ON OFF ON JOG+, JOGSelected axis X-axis X-axis Y-axis X-axis ! CAUTION • If the CHG (mode switch input) signal is switched during jog movement, the robot comes to an error stop. • When selecting the axis of a dual-axis controller, the status of SI213 and SI214 must first be determined. (Refer to "Jog movement (JOG+, JOG-)" in "2-9-5 Timing chart".
CHAPTER2 PROFIBUS Unit ■ Point data write command (PSET) Writes the current position data in the specified point number. To use this command, the point number for writing the current position data must first be specified using a PI (point number designation input) input. The PSET is enabled only when return-to-origin has been completed.
CHAPTER2 PROFIBUS Unit Target position point numbers for point movement commands (ABS-PT, INC-PT) are output as binary values. The same applies to point numbers which correspond to the point zone output function and the movement point zone output function. The PO output format is specified in the "hundreds" place of the I/O assignment selection parameter setting (single-axis controllers: PRM59, dual-axis controllers: PRM26) 0: PO output occurs at normal movement completion.
CHAPTER2 PROFIBUS Unit MEMO When using PO as an output signal that indicates the target position's point number for point movement commands (ABS-PT, INC-PT): • When a point movement is received through a parallel I/O, the target position's point number is output to the corresponding parallel I/O (PO0 to PO5). When received through a serial I/O such as a CC-Link, the target position's point number is output to the corresponding serial I/O (PO200 to PO205).
CHAPTER2 PROFIBUS Unit 2-9-5 Timing chart This section shows timing charts for the operations that are added by changing the I/O assignment. ■ Jog movement (JOG+, JOG-) CHG (Mode switch input) Data retention Axis designation data * SI213, SI214 JOG+/JOG (JOG movement command) END BUSY READY Robot movement Robot movement 30ms or more 30ms or less 1ms or less 30ms or less 1ms or less * For dual-axis controllers only.
CHAPTER2 PROFIBUS Unit ■ Point data write (PSET) CHG (Mode switch input) PSET (Point data write command) PI200 to 205 * (Point number designation inputs 200 to 205) Data retention END BUSY READY Point data write Point data writing 30ms or more 30ms or less 1ms or less 30ms or less * The number of point number outputs that can be used depends on the I/O assignment type. Precondition: The CHG signal is on before and during point data writing (until the following procedure is complete).
CHAPTER2 PROFIBUS Unit ■ Target position's point number output (PO) (1) Outputting the point number at the timing that movement is normally completed Data retention q Axis designation data *1 SI213, SI214 ABS-PT/INC-PT (Point movement command) Data retention w Command q PO200 to 205 *2 (Target position's point number outputs 200 to 205) Command w Point number output q Point number output w END BUSY Movement q Robot movement 30ms or more 30ms or less 1ms or less Movement w 30ms or more 1ms or
CHAPTER2 PROFIBUS Unit ↓ [Point movement command execution w] (8) Execute the next point movement command. (9) Point movement ends. (10) The END signal turns on. The previous target position's point number being output from the specified point number (PO200 to PO205) is cleared and the current target position's point number is then output.
CHAPTER2 PROFIBUS Unit (2) Outputting the point number at the timing that a movement command is received Data retention q Axis designation data *1 SI213, SI214 ABS-PT/INC-PT (Point movement command) Data retention w Command q PO200 to 205 *2 (Target position's point number outputs 200 to 205) Command w Point number output q Point number output w END BUSY Movement q Robot movement 30ms or more 30ms or less 1ms or less Movement w 30ms or more 1ms or less 30ms or less 1ms or less 1ms or less
CHAPTER2 PROFIBUS Unit [Point movement command execution w] (8) Execute the next point movement command. (9) When the controller received the point movement command and the BUSY signal turned on, the previous target position's point number being output from the specified point number (PO200 to PO205) is cleared and the current target position's point number is then output.
CHAPTER2 PROFIBUS Unit (3) Outputting the corresponding point number by the point zone output function Zone outputs (ZONE 0, ZONE 1) are also explained here. PO 203 (23) PO 202 (22) PO 201 (21) PO 200 (20) m-No. is output as binary value PO200 to 203 (Target position's point number outputs 200 to 203) PO 203 (23) PO 202 (22) PO 201 (21) PO 200 (20) OFF OFF OFF OFF Point output (point m) PO 203 (23) PO 202 (22) PO 201 (21) PO 200 (20) n-No.
CHAPTER2 PROFIBUS Unit (2) (3) (4) (5) Outputs the corresponding point number through PO200 to PO203 since the current robot position is within the point zone output range (Pm ± OUT valid position range). ZONE 0 and ZONE 1 output signals are still off since the robot does not yet enter the zone output range. As with (1), all the target position's point number outputs PO200 to PO203, ZONE 0 signal and ZONE 1 output signal are off.
CHAPTER2 PROFIBUS Unit (4) Outputting the corresponding point number by the movement point zone output function Zone outputs (ZONE 0) are also explained here.
CHAPTER2 PROFIBUS Unit (3) (4) The corresponding point number P6 is output to PO200 through PO203 (P201, P202 are on; P200, P203 are off) because the robot is within the P6 ± OUT valid position range (point zone output range), and because P6 is the movement point. ZONE 0 remains off at this time because the robot is not within the specified zone output range. The ZONE 0 output turns on because the robot is within the specified zone output range (P900 to P901).
CHAPTER2 PROFIBUS Unit 2-10 Robot language The robot language expanded by using in the PROFIBUS unit. 2-10-1 MOVF Function: Format: Example: Moves until the specified DI or SI No. is input. MOVF MOVF 1,2,1 This command moves the robot towards P1, ends movement when D12 turns ON, and proceeds to the next step. Explanation: MOVF is used when searching for the target position with sensors, etc.
CHAPTER2 PROFIBUS Unit 2-10-2 JMPF Function: Jumps to the specified label of the specified program when the jump condition input matches the value that was set. Format: JMPF
CHAPTER2 PROFIBUS Unit 2-10-3 JMPB Function: Jumps to the specified label when the specified general-purpose input or memory input or serial general-purpose input is on (or off). Format: JMPB
CHAPTER2 PROFIBUS Unit 2-10-5 WAIT Function: Waits until the specified general-purpose input or memory input or serial general-purpose input sets to the specified status. Format: WAIT Example: WAIT 5,1 Waits until DI5 sets to ON. Explanation: The WAIT command adjusts the timing according to the status of the general-purpose input or memory input or serial general-purpose input.
CHAPTER2 PROFIBUS Unit 2-11 Emulated Serialization on parallel DIO This is a function to directly send the input from the master sequencer (PLC) to the external parallel I/O, or to directly send an external parallel I/O input to a master sequencer (PLC). An I/O port set for this function, can be controlled by the master sequencer (PLC), independently of the robot program so outputs can be handled as if from a separate slave station. This function is selected on the HPB, and can be set for any I/O.
CHAPTER2 PROFIBUS Unit 1) Press F3 (SYS) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F4 (next) to switch to the function display. When the function display [SYS] appears, then press F2 (OPT). select menu 1SAFE2OPT 3UTL 4next 3) Press F4 (next) to switch the function display. To directly send the external parallel I/O input to the master sequencer (PLC) press F1 (D→SO).
CHAPTER2 PROFIBUS Unit 2-12 Remote command When the remote register is used, the message command can be issued directly from the sequencer (PLC). The high-ranked commands such as MOVD command (movement command which directly specifies the position coordinates), which must use RS-232C unit conventionally, can be easily executed. The method to use these commands is explained in this section. 2-12-1 Remote command specifications The following functions are assigned to the remote register.
CHAPTER2 PROFIBUS Unit 2-12-2 Remote command & status value list The remote command code and status code are expressed in the hexadecimal mode. Remote Command Remote Command (QWn+10,QWn+8) 0000xxxx 0001xxxx Meaning of command The command of the code xxxx is executed. The command of the code xxxx is executed with the current position information indicated at IWm+16 to IWm+22.
CHAPTER2 PROFIBUS Unit No. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 28. 29. 30. 31. 32.
CHAPTER2 PROFIBUS Unit 2.
CHAPTER2 PROFIBUS Unit 3. Utility No. 1. 2. 3. 4. Remote Command (QWn+8) Command option Command details register Option Code 0301 Execution program No. switching Program number QWn+12 QWn+12 Task number 0302 Execution task No. switching Parameter number QWn+12 0303 Parameter data write Parameter data QWn+18, QWn+16 QWn+12 Point number 0304 Point data write QWn+14 Axis QWn+18, X axis data QWn+16 QWn+22, Y axis data QWn+20 Command response response register 4. Special commands No. 1. 2.
CHAPTER2 PROFIBUS Unit 2-12-3 Remote command details (robot operation) (1) Return-to-origin execution .................................................... Code 0101 The return-to-origin operation of all axes or specified axis is executed, or the return-to-origin status is judged. If the search system is selected for the origin-point detection system, the return-to-origin operation is executed, and if the mark system is selected, the return-to-origin status is judged.
CHAPTER2 PROFIBUS Unit ! CAUTION In return-to-origin of the stroke end origin system, do not stop return-to-origin operation during origin detection (mechanical limit in contact). The alarm stop results from the overload of the controller, and it is necessary to turn ON the power supply again. ! CAUTION If return-to-origin of the stroke end origin system is inevitably repeated, provide an interval of 5 seconds or more between the repeated operations.
CHAPTER2 PROFIBUS Unit (2) Program reset ......................................................................... Code 0102 Return the step of the program to the 1st step of the head program, and turn OFF all DO0 to DO12*1, SO200 to SO231 and memory I/O. Moreover, also clear the point variable "P" to 0. (Do not clear the counter variables "C" and "D".
CHAPTER2 PROFIBUS Unit (3) Automatic operation start ...................................................... Code 0103 The program is executed to the final step. In the multi task program, all tasks are executed. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Example) Transmission example 1: Automatic operation is started.
CHAPTER2 PROFIBUS Unit (4) Step operation start ............................................................... Code 0104 The program is executed by one step. In the multi task program, the task selected at the time is executed. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Example) Transmission example 1: The step operation is started.
CHAPTER2 PROFIBUS Unit (5) Servo status change .............................................................. Code 0105 The servo of all axes or specified axis is turned ON and OFF. QWn+22 QWn+20 Command option QWn+18 QWn+16 IWm+22 IWm+20 Command response IWm+18 IWm+16 (Details) Axis: Status: QWn+14 Status QWn+12 Axis IWm+14 IWm+12 0 means all axes, 1 means X axis and 2 means Y axis. On dual-axis controllers, all axes are also specified when 3 is set.
CHAPTER2 PROFIBUS Unit (6) JOG movement (inching) ....................................................... Code 0106 The specified axis moves in the specified direction at the stroke shown with the following formula. Movement stroke = 1 × (Teach movement data (%)*/100 (mm) QWn+22 QWn+20 Command option QWn+18 QWn+16 IWm+22 IWm+20 Command response IWm+18 IWm+16 (Details) Axis: Direction: QWn+14 Direction QWn+12 Axis IWm+14 IWm+12 1 means X axis, and 2 means Y axis.
CHAPTER2 PROFIBUS Unit (7) JOG movement ....................................................................... Code 0107 The specified axis continues moving in the specified direction at the movement speed shown with the following formula until the interlock input is OFF or it reaches the software limit.
CHAPTER2 PROFIBUS Unit (8) Direct position specification movement execution ............ Code 0108 It moves to the specified coordinate position. QWn+22 QWn+20 Y axis position Command option QWn+18 QWn+16 X axis position QWn+14 Speed QWn+12 Axis IWm+22 Command response IWm+18 IWm+16 IWm+14 IWm+12 IWm+20 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis. On dual-axis controllers, all axes are also specified when 3 is set.
CHAPTER2 PROFIBUS Unit (9) Position specification movement execution ....................... Code 0109 The specified axis moves the position of the data of the point No. specified with the number. QWn+22 QWn+20 IWm+22 IWm+20 Command option QWn+18 QWn+16 Speed QWn+14 Point number QWn+12 Axis Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis. On dual-axis controllers, all axes are also specified when 3 is set.
CHAPTER2 PROFIBUS Unit (10) Movement stroke specification movement execution ............................................................. Code 010A The specified axis moves from the current position by the data of the point number specified. QWn+22 QWn+20 IWm+22 IWm+20 Command option QWn+18 QWn+16 Speed QWn+14 Point number QWn+12 Axis Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis.
CHAPTER2 PROFIBUS Unit (11) General-purpose input response movement execution ............................................................. Code 010B Until the conditions of DI/SI input are established, the specified axis continues moving to the specified point position. When the DI/SI conditions are established, the robot stops and the command is normally ended. Even if any DI/SI condition is not established, the command is normally ended at the step where it reaches the target point.
CHAPTER2 PROFIBUS Unit (12) Pallet work position specification movement execution ............................................................. Code 010C It moves to the pallet work position specified with the matrix. QWn+22 QWn+20 IWm+22 IWm+20 Command option QWn+18 QWn+16 Speed QWn+14 Pallet work position QWn+12 Axis Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis.
CHAPTER2 PROFIBUS Unit (13) Position specification arch motion definition .................... Code 010D The arch motion of the position specification is defined. QWn+22 QWn+20 Command option QWn+18 QWn+16 IWm+22 IWm+20 Command response IWm+18 IWm+16 QWn+14 Specified position QWn+12 Axis IWm+14 IWm+12 (Details) Axis: It is the execution axis number of the arch motion. 1 means X axis, and 2 means Y axis.
CHAPTER2 PROFIBUS Unit (14) Distance specification arch motion definition .................... Code 010E The arch motion of the distance specification is defined. QWn+22 QWn+20 Command option QWn+18 QWn+16 IWm+22 IWm+20 Command response IWm+18 IWm+16 QWn+14 Specified distance QWn+12 Axis IWm+14 IWm+12 (Details) Axis: It is the execution axis number of the arch motion. 1 means X axis, and 2 means Y axis.
CHAPTER2 PROFIBUS Unit (15) General-purpose output or memory output status change .............................................. Code 010F ON/OFF control of the general-purpose output or memory output is performed.
CHAPTER2 PROFIBUS Unit (16) General-purpose input or memory input wait ..................... Code 0110 It waits until the specified general-purpose input or memory input comes into the specified state.
CHAPTER2 PROFIBUS Unit (17) Specified time waiting ............................................................ Code 0111 It waits for the specified time alone. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Time IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Time: It can be specified in the range of 1 to 65535 in the 10 millisecond units. (Example) Transmission example 1: It waits for 1 second.
CHAPTER2 PROFIBUS Unit (18) Matrix definition ...................................................................... Code 0112 The matrix is defined. QWn+22 QWn+20 IWm+22 IWm+20 Command option QWn+18 QWn+16 Pallet number Command response IWm+18 IWm+16 QWn+14 Line number QWn+12 Array number IWm+14 IWm+12 (Details) Array number, Line number: A value of 1 to 255 can be applied to each matrix. Pallet number: It is the inherent number of 0 to 31 for the matrix discrimination.
CHAPTER2 PROFIBUS Unit (19) Movement matrix specification. ............................................ Code 0113 The movement matrix is specified with the pallet work position specification movement execution command (code: 010C). QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Pallet number IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Pallet number: It is the inherent number of 0 to 31 for matrix discrimination.
CHAPTER2 PROFIBUS Unit (20) Point variable P definition ..................................................... Code 0114 The point variable P is set. Command option QWn+22 QWn+20 QWn+18 QWn+16 QWn+14 QWn+12 Point number IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Point number: A value of 0 to 999 can be specified. (Example) Transmission example 1: The point variable P is set to 100.
CHAPTER2 PROFIBUS Unit (21) Addition of specified value to point variable P ................... Code 0115 The specified value is added to the point variable P. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Addition value IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Addition value: A value of 1 to 999 can be specified. (Example) Transmission example 1: 10 is added to the point variable P.
CHAPTER2 PROFIBUS Unit (22) Subtraction of specified value from point variable P .............................................................. Code 0116 The specified value is subtracted from the point variable P. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Subtraction value IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Subtraction value: A value of 1 to 999 can be specified. (Example) Transmission example 1: 10 is subtracted from the point variable P.
CHAPTER2 PROFIBUS Unit (23) Arrangement element specification of counter arrangement variable C ....................................... Code 0117 The arrangement elements of the counter arrangement variable C used are specified. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Arrangement element No. IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Arrangement element No.
CHAPTER2 PROFIBUS Unit (24) Counter arrangement variable C specification .................... Code 0118 The counter value is set at the counter arrangement variable C specified with the arrangement element specification command (code 0117). QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Counter value IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Counter value: A value of 0 to 65535 can be specified.
CHAPTER2 PROFIBUS Unit (25) Addition of specified value to counter arrangement variable C ....................................... Code 0119 The specified value is added to the counter arrangement variable C specified with the arrangement element specification command (code 0117). QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Addition value IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Addition value: A value of 1 to 65535 can be specified.
CHAPTER2 PROFIBUS Unit (26) Subtraction of specified value from counter arrangement variable C ................................. Code 011A The specified value is subtracted from the counter arrangement variable C specified with the arrangement element specification command (code 0117). QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Subtraction value IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Addition value: A value of 1 to 65535 can be specified.
CHAPTER2 PROFIBUS Unit (27) Counter variable D definition ............................................... Code 011B The counter variable D is set. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Counter value IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Counter value: A value of 0 to 65535 can be specified. (Example) Transmission example 1: 200 is set to the counter variable D.
CHAPTER2 PROFIBUS Unit (28) Addition of specified value to counter variable D .............. Code 011C The specified value is added to the counter variable D. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Addition value IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Addition value: A value of 1 to 65535 can be specified. (Example) Transmission example 1: 10 is added to the counter variable D.
CHAPTER2 PROFIBUS Unit (29) Subtraction of specified value from counter variable D ........................................................ Code 011D The specified value is subtracted from the counter variable D. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Subtraction value IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Addition value: A value of 1 to 65535 can be specified. (Example) Transmission example 1: 10 is subtracted from the counter variable D.
CHAPTER2 PROFIBUS Unit (30) Shift execution of position data ............................................ Code 011E The position data is shifted by the specified point data. It is valid until this code is executed again or the program reset is applied. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Point number IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Point number: It is the inherent number which is assigned to a total of 1000 points of 0 to 999.
CHAPTER2 PROFIBUS Unit (31) Linear interpolation movement execution ........................... Code 011F It moves to the position of the data of the specified point number in the linear interpolation mode. QWn+22 QWn+20 IWm+22 IWm+20 Command option QWn+18 QWn+16 Speed QWn+14 Point number QWn+12 Axis Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Axis: In the linear interpolation movement, 0: All axes alone can be assigned.
CHAPTER2 PROFIBUS Unit (32) Circular interpolation movement execution ........................ Code 0120 The circular interpolation movement which passes the specified point is executed. If the point specification number is n, it moves on the circular locus on which the current position is the start point, the point n is passed, and the point n+1 is the end point.
CHAPTER2 PROFIBUS Unit ! CAUTION This command is invalid for single-axis controllers. ! CAUTION The applicable radius is max. 1000mm and min. 2mm. ! CAUTION The SCARA robot, etc. which do not operate in the cartesian coordinates cannot be moved in the circular interpolation mode.
CHAPTER2 PROFIBUS Unit 2-12-4 Remote command details (data handling) (1) Current position read ............................................................. Code 0201 The current positions of all axes or specified axes are read. QWn+20 Command option QWn+18 QWn+16 IWm+22 IWm+20 Y axis position Command response IWm+18 IWm+16 X axis position QWn+22 QWn+14 QWn+12 Axis IWm+14 IWm+12 (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis.
CHAPTER2 PROFIBUS Unit (2) Current program number read .............................................. Code 0202 The execution program number is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Program number (Details) Program number: It is the inherent number of 0 to 99 assigned to each program. (Example) Transmission example 1: The execution program is read.
CHAPTER2 PROFIBUS Unit (3) Current step number read ..................................................... Code 0203 The current step number is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Step number (Details) Step number: It is the inherent value of 1 to 255 assigned to each step. (Example) Transmission example 1: The execution step number is read.
CHAPTER2 PROFIBUS Unit (4) Current task number read ..................................................... Code 0204 The task number currently selected is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Task number (Details) Task number: It is the inherent number of 0 to 3 assigned to each task. (Example) Transmission example 1: The execution task number is read.
CHAPTER2 PROFIBUS Unit (5) Current point No. read ........................................................... Code 0205 The point number currently selected is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Point number (Details) Point number: It is the inherent value of 0 to 999 assigned to each point. (Example) Transmission example 1: The current point number is read.
CHAPTER2 PROFIBUS Unit (6) ROM version number read .................................................... Code 0206 The controller system version value is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Version value (Details) Version value: It is the system version which is possessed by the controller. If the version is V13.30, 1330 (=532 (hexadecimal)) is indicated.
CHAPTER2 PROFIBUS Unit (7) Number of axes read .............................................................. Code 0207 The total number of operable axes is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Axis number (Example) Transmission example 1: The total number of axes is read.
CHAPTER2 PROFIBUS Unit (8) Emergency stop status check............................................... Code 0208 The status of the emergency stop is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Emergency stop (Details) Emergency stop: 1 means the emergency stop status, and 0 means that the emergency stop is canceled. (Example) Transmission example 1: The status of the emergency stop is read.
CHAPTER2 PROFIBUS Unit (9) Servo status check ................................................................. Code 0209 The servo statuses of all axes or specified axes are read. When all axes are specified, the result becomes 1 only if the servos of all axes are on. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Axis IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Servo status (Details) Axis: 0 means all axes, 1 means X axis and 2 means Y axis.
CHAPTER2 PROFIBUS Unit (10) Return-to-origin status check .............................................. Code 020A It reads that the return-to-origin is completed in all axes or specified axes. In thee all-axis specification mode, the result becomes 1 only when all axes are completely returned to the origin.
CHAPTER2 PROFIBUS Unit (11) Service mode status check .................................................. Code 020B The service mode status is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Status (Details) Status: 1 means that the servo mode is valid, and 0 means that it is invalid. (Example) Transmission example 1: The service mode status is read.
CHAPTER2 PROFIBUS Unit (12) Operation mode check .......................................................... Code 020C The robot status is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Operation mode (Details) Operation mode: 0: Stop status 1: The program is being executed with the communication of HPB, personal computer , etc. 2: The program is being executed with I/O command.
CHAPTER2 PROFIBUS Unit (13) Matrix definition content read .............................................. Code 020D The matrix definition content is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 IWm+22 IWm+20 Command response IWm+18 IWm+16 QWn+14 QWn+12 Pallet number IWm+14 Line number IWm+12 Array number (Details) Pallet number: It is the inherent number of 0 to 31 for matrix discrimination. Array number, Line number: It is the value of 1 to 255.
CHAPTER2 PROFIBUS Unit (14) Currently specified matrix number read ............................. Code 020E The pallet number of the currently specified matrix is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Pallet number (Details) Pallet number: It is the inherent number of 0 to 31 for matrix discrimination. Array number, Line number: It is the value of 1 to 255.
CHAPTER2 PROFIBUS Unit (15) Current point variable P read ................................................ Code 020F The point variable P is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Point number (Details) Point number: It is the inherent number assigned to the point of 0 to 999. (Example) Transmission example 1: The point variable P is read.
CHAPTER2 PROFIBUS Unit (16) Arrangement element number read of currently specified C ................................................. Code 0210 The element number of the counter arrangement variable C currently specified is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Element No. (Example) Transmission example 1: The element number of the counter arrangement variable C is read.
CHAPTER2 PROFIBUS Unit (17) Counter arrangement variable C read .................................. Code 0211 The value of the counter arrangement variable C of the specified element number is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Element No. IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Counter value (Details) Element No.: The number specifies the arrangement element in the range of 0 to 31. (Example) Element No.
CHAPTER2 PROFIBUS Unit (18) Current counter variable D read ........................................... Code 0212 The value of the counter variable D is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Counter value (Example) Transmission example 1: The value of the counter variable D is read.
CHAPTER2 PROFIBUS Unit (19) Current shift data read ........................................................... Code 0213 The currently set shift data is read. QWn+20 Command option QWn+18 QWn+16 IWm+22 IWm+20 Y axis position Command response IWm+18 IWm+16 X axis position QWn+22 QWn+14 QWn+12 IWm+14 IWm+12 (Details) Axis position: The shift data is indicated (unit: 0.01mm). When the robot is set at the rotary axis, the unit of the position is 0.01 degrees.
CHAPTER2 PROFIBUS Unit (20) General-purpose input and memory input status read ..................................................... Code 0214 The status of the general-purpose input or memory input is read.
CHAPTER2 PROFIBUS Unit (21) General-purpose output and memory output status read ................................................... Code 0215 The status of the general-purpose output or memory output is read.
CHAPTER2 PROFIBUS Unit (22) Specified parameter data read .............................................. Code 0216 The specified parameter data is read. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Parameter number IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 Parameter value (Details) Parameter number: The inherent number assigned to each parameter is 0 to 63 for single-axis controllers, and is 0 to 127 for dual-axis controllers.
CHAPTER2 PROFIBUS Unit (23) Specified point data read ....................................................... Code 0217 The specified point data is read. QWn+20 Command option QWn+18 QWn+16 IWm+22 IWm+20 Y axis position Command response IWm+18 IWm+16 X axis position QWn+22 QWn+14 QWn+12 Point number IWm+14 IWm+12 (Details) Point number: It is the inherent number of 0 to 999 assigned to each point. (Example) Transmission example 1: Data of P254 is read.
CHAPTER2 PROFIBUS Unit 2-12-5 Remote command details (utilities) (1) Execution program number switching ................................. Code 0301 The execution program number is switched. If the program reset is hereafter executed, it will return to the 1st step of the program selected here. When this command is issued, the program reset will be applied.
CHAPTER2 PROFIBUS Unit (2) Execution task number switching. ....................................... Code 0302 The execution task number is switched. If the step operation is hereafter executed, the program of the task selected here will be executed as one step. QWn+22 QWn+20 Command option QWn+18 QWn+16 QWn+14 QWn+12 Task number IWm+22 IWm+20 Command response IWm+18 IWm+16 IWm+14 IWm+12 (Details) Task number: It is the inherent number of 0 to 3 assigned to each task.
CHAPTER2 PROFIBUS Unit (3) Parameter data write .............................................................. Code 0303 Data is written into the specified parameter. QWn+22 QWn+20 IWm+22 IWm+20 Command option QWn+18 QWn+16 Parameter data Command response IWm+18 IWm+16 QWn+14 QWn+12 Parameter number IWm+14 IWm+12 (Details) Parameter number: The inherent number assigned to each parameter is 0 to 63 for single-axis controllers, and is 0 to 127 for dual-axis controllers.
CHAPTER2 PROFIBUS Unit (4) Point data write ....................................................................... Code 0304 The data is written into the specified point. QWn+22 QWn+20 Y axis position Command option QWn+18 QWn+16 X axis position QWn+14 Axis QWn+12 Point number IWm+22 Command response IWm+18 IWm+16 IWm+14 IWm+12 IWm+20 (Details) Point number: It is the inherent number of 0 to 999 assigned to each point. Axis: 0 means all axes, 1 means X axis and 2 means Y axis.
CHAPTER2 PROFIBUS Unit 2-12-6 Remote command details (Special commands) (1) No execution (status clear) ................................................... Code 0000 The status is cleared to 0000 for the command ready (remote command acceptable status). (2) Initialization of response register ......................................... Code 0401 The command option register is copied to the response register. If 0000 (hexadecimal) is set to QWn+12 to QWn+22, the response will be initialized.
CHAPTER2 PROFIBUS Unit 2-12-7 Status details When the controller receives the command, the relevant process will be executed, and the result (status) will be informed to the master sequencer (PLC) side via IWm+8. The meanings indicated with the statuses are described in this section. Code 0000 .............................................................................. Command ready It indicates that the remote command is not executed and can be newly received.
CHAPTER2 PROFIBUS Unit 2-12-8 Current position indication mode The current position indication mode is selected by setting 0001 to QWn+10. In the current position indication mode, the current position of the robot is always output to IWm+16 to IWm+22 regardless of the execution status or no-execution status of the remote command. The position of the robot can be always grasped by selecting the current position indication mode.
CHAPTER2 PROFIBUS Unit MEMO If the robot position cannot be judged due to the incomplete origin position status, cable breakage, etc., the robot position will not be determined. 2-12-9 Sending/receiving example The sending/receiving example is shown when the direct position specification movement execution (code 0108). (Values are expressed in the hexadecimal mode.
CHAPTER2 PROFIBUS Unit 2-13 Other operations 2-13-1 Serial I/O display Serial I/O (input/output) status can be displayed on the screen. Both initial screen and OPRT screen are used for display. 1) Press F4 (MON) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Since the parallel input/output state continues displayed, press DIO here.
CHAPTER2 PROFIBUS Unit 5) 6) Press DIO (above in 4), and the screen will be switched to the remote register mode. Each remote register will be displayed in the hexadecimal mode. (Each register is indicated with 4 characters.) The top row displays the statuses of QWn+14, QWn+12, QWn+10 and QWn+8 from the left. The 2nd row indicates the statuses of QWn+22, QWn+20, QWn+18 and QWn+16 from the left. The 3rd row indicates the statuses of IWm+14, IWm+12, IWm+10 and IWm+8 from the left.
CHAPTER2 PROFIBUS Unit 10) Press F1 (SI01) to display the Qn+3.7 to Qn.0 and Im+3.7 to Im.0 status. Press F2 (SI02) to display the Qn+7.7 to Qn+4.0 and Im+7.7 to Im+4.0. Press F3 (WIO) to display the status of the remote register. 11) Continue displaying the status of each serial I/O. If F1 (SI01) was pressed above in step 10), then the Qn+1.7 to Qn.0, Qn+3.7 to Qn+2.0, Im+1.7 to Im.0 and Im+3.7 to Im+2. status is displayed from the upper row. If F2 (SI02) was pressed above in step 10), then the Qn+5.
CHAPTER2 PROFIBUS Unit 2-13-2 Manual control of general-purpose output The serial general-purpose output can be manually controlled from HPB. 1) Press F1 (EDIT) on the initial screen. [MENU] select menu 1EDIT2OPRT3SYS 4MON 2) Press F2 (PNT). [MENU] select menu 1PGM 2PNT 3UTL 3) Press F2 (TCH) or F3 (DTCH). [EDIT-PNT] The teaching play back screen is explained in the subsequent steps.
CHAPTER2 PROFIBUS Unit 2-14 Error Message Regarding PROFIBUS system, the following error message is added. Message Error No. Cause 38 Remedy net link error connection was forcibly disconnected because an error occurred in the network connection. Remedy the network connection error, and then restart.
CHAPTER2 PROFIBUS Unit 2-15 Troubleshooting Check the following items if any problems occur during operation. Also, refer to “Troubleshooting” in the controller instruction manual and always refer to the section on troubleshooting in the master station sequencer (PLC) instruction manual. If the following items do not eliminate the problem, promptly contact your Yamaha dealer or Yamaha for assistance. No.
CHAPTER2 PROFIBUS Unit No. 3 Symptom Causes Checkpoints 1) Error occurred on • Check if an error has occurred by Program the PROFIBUS monitoring the network status stops by itself system during information on master PLC. during communication. automatic operation. • Referring to “2-5-1 Validating the 2) Controller is defective. PROFIBUS unit”, invalidate the PROFIBUS unit and try operating the robot separately with the controller.
CHAPTER2 PROFIBUS Unit 2-16 Specifications Spec. Item Model PROFIBUS Unit Controller models SRCP/SRCD/ERCX/SRCX/DRCX series controllers Communication profile PROFIBUS-DP slave Number of occupied nodes 1 node Station address setting 0 to 126 (Address is set from HPB.) Communication speed 9.6K/19.2K/93.75K/187.5K/500K/1.
CHAPTER2 PROFIBUS Unit 2-17 Supplement 2- 2-17-1 GSD files The contents of GSD file 1 are shown below just for your reference. ;****************************************************************************** ;* * ;* GSD File for SRCP/SRCD/ERCX/SRCX/DRCX series * ;* ROBOT CONTROLLER * ;* * ;* Version : 1.00 * ;* Date : January 1, 2004 * ;* * ;* (C) Copyright YAMAHA MOTOR CO.,LTD. 2004, * ;* All Right Reserved * ;* * ;* YAMAHA MOTOR CO.,LTD.
CHAPTER2 PROFIBUS Unit ; Auto_Baud_supp =1 ; Supported ; 9.6_supp =1 ; 9.6kbps 19.2_supp =1 ; 19.2kbps 93.75_supp 187.5_supp =1 =1 ; 93.75kbps ; 187.5kbps 500_supp =1 ; 500kbps 1.5M_supp 3M_supp =1 =1 ; 1.5Mbps ; 3Mbps 6M_supp =1 ; 6Mbps 12M_supp =1 ; 12Mbps ; Max. response times: MaxTsdr_9.6 = 15 ; MaxTsdr_19.2 MaxTsdr_93.75 = 15 = 15 ; ; MaxTsdr_187.5 = 15 ; MaxTsdr_500 = 15 ; MaxTsdr_1.
MEMO
Revision record Manual version Issue date Description Ver. 1.06 Dec. 2007 Addition of SRCP30 to supporting controller version. Clerical error corrections, etc. Ver. 2.00 Oct. 2009 Addition of I/O assignment function. Addition of customize function for END output timing in execution of dedicated I/O command. Clerical error corrections, etc. Ver. 2.01 Jun. 2011 The description regarding "Warranty" was changed. User's Manual SRCD/SRCP ERCX/SRCX/DRCX Single-axis/Dual-axis Robot Controllers Jun.
