SR1 U/M English - Yamaha Robotics

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Transcript

User’s Manual ENGLISH E
YAMAHA SINGLE-AXIS ROBOT CONTROLLER
SR1 series
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html
YAMAHA MOTOR CO., LTD.
E102-Ver. 3.10
i Introduction
About this manual
Introduction
Thanks for your purchase of this YAMAHA SR1 series single-axis robot controller (hereafter
called "SR1 controller" or simply "SR1"). Read this manual and related equipment manuals
carefully to ensure correct and safe use of the SR1 controller.
About this manual
This manual consists mainly of "Using The Robot Safely", "SR1 Controller Manual" and
4 supplementary manuals as shown below. Read each part according to your particular
objective so that you can use the SR1 controller and optional products more efficiently.
After reading this manual, keep it handy for easy reference when needed and make sure it
is always available in good condition for the end user.
This manual
Using the robot safely
SR1 controller manual
HPB operation guide
Programming guide
RS-232C communication
command guide
Remote command guide
Describes precautions you must take when handling the
SR1 and optional products such as the HPB. Always
read these precautions carefully before using the SR1
and comply with the instructions.
Explains how to install and operate the SR1. Always
read this manual carefully before using the SR1 and
follow the instructions.
Explains how to use the HPB (option) for editing robot
programs and point data as well as for operating robots.
Describes the YAMAHA robot language for operating
robots and lists typical programming samples.
Read this command guide when editing robot programs
and point data and controlling the robot from a PC
through the RS-232C communication.
Describes remote commands in detail.
Supplementary manuals
Every effort was made to ensure that this manual is accurate and complete. However,
please contact us if any errors, misprints or omissions are noticed.
Refer to the particular product instruction manual for information on the robot unit,
support software and other optional products that will be used with the SR1 controller.
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Safety information
Using The Robot Safely
Safety information
Before using the YAMAHA robot controller, be sure to read this manual and related
manuals, and follow their instructions to use the robot controller safely and correctly.
Warnings and cautions listed in this manual relate to YAMAHA robot controllers. To ensure
safety of the user's final system that includes YAMAHA robots and controllers, please take
appropriate safety measures as required by the user's individual system.
Industrial robots are highly programmable machines that provide a large degree of
freedom in movement. To use YAMAHA robots and controllers safely and correctly, be sure
to comply with the safety instructions and precautions described in this chapter. Failure
to take necessary safety measures or incorrect handling may result not only in trouble or
damage to the robot and controller, but also in serious accidents involving injury or death
to personnel (robot installer, operator, or service personnel).
This manual describes safety precautions and operating points using the following symbols
and signal words.
wDANGER "DANGER" indicates an imminently hazardous situation which, if not avoided,
will result in death or serious injury.
wWARNING "WARNING" indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury.
cCAUTION "CAUTION" indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury or damage to the equipment or loss
of data.
nNOTE Explains the key point in the operation in a simple and clear manner.
MEMO
Gives supplementary information related to robot controller operation.
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Particularly important cautions
Use any of the following approaches to this manual when installing, operating and
adjusting the YAMAHA robot and/or controller so that you can quickly refer to this manual
when needed.
1. Keep the printed version of this manual (available for an additional fee) handy for
ready reference.
2. View the CD-ROM version of this manual on your PC screen.
3. Print out the necessary pages of this manual from the CD-ROM and keep them
handy for ready reference.
To use YAMAHA robots and controllers safely and correctly, always comply with the safety
rules and instructions.
Please note, however, this supplementary manual cannot cover all items regarding safety.
So it is extremely important that the operator or user have knowledge of safety and make
correct decisions regarding safety.
Particularly important cautions
Particularly important cautions for handling and operating the robot and controller are
described below. Additional cautions are also described in each chapter. Be sure to
comply with those instructions to ensure safety.
■ System design safety points
wDANGER • YAMAHA robot controllers and robots are designed and manufactured for
general-purpose industrial equipment. They should not be used in the
following applications:
• Medical equipment or systems which will affect human life
• Equipment designed to carry or transport persons
• Equipment or systems which will seriously affect society or public
policy
• Use in environments subject to vibration, such as vehicles and ships
• Each robot controller has an emergency stop input terminal to trigger
emergency stop. Using this terminal, configure a safety circuit so that the
system including the robot controller will work safely.
wWARNING • To check the operating status of the robot controller, refer to this manual
and related user's manual. Build the system including the robot controller
so that it will always work safely.
• Install a signal light (signal tower, etc.) at an easy-to-see position so that
the operator will know the stop status of the robot (temporary stop,
emergency stop, error stop, etc.).
cCAUTION • Do not bundle control lines or communication cables together or in close
contact with the main power supply circuit or power lines. As a general
rule, separate them by at least 100mm. Failure to follow this instruction
may cause malfunctions due to noise.
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v Particularly important cautions
■ Installation safety points
wWARNING • Always ground the ground terminal of the power terminal block to avoid
electrical shock.
• Securely install the connectors into the robot controller, and when wiring
the connectors, make the crimp, press-contact or solder connections
correctly, using the tool specified by the manufacturer.
• Always shut off all phases of the power supply externally before starting
installation or wiring work. Failure to shut off all phases may cause
electrical shock or product damage.
• YAMAHA robots and robot controllers are not designed to be explosionproof. Do not use them in locations exposed to inflammable gases,
gasoline or solvent that could cause explosion or fire. Failure to observe
this instruction may cause serious accidents involving injury or death, or
lead to fire.
• Use the robot controller within the environment specifications listed in this
manual.
Using the controller in an environment outside the specification range
may cause electrical shock, malfunctions, product damage or
deteriorated performance.
• Install the robot controller and programming box at a location outside the
robot's working envelope yet where it is easy to operate the robot and
view its motion.
• Install the controller in locations with enough space to perform work
(teaching, inspection, etc.) safely. Limited space not only makes it
difficult to perform work, but can also be a cause of injury.
• Install the robot controller in a stable, level location and secure it firmly.
Avoid installing the robot controller upside down or in a tilted position.
• Provide sufficient clearance around the robot controller for good
ventilation. Poor ventilation may cause malfunction, breakdown or fire.
• Never directly touch the conductive sections and electronic parts other
than the connectors, rotary switches, and DIP switches on the outside
panel of the robot controller.
• Securely tighten the screws on the L-shaped brackets to install the robot
controller. If not securely tightened, the screws may become loose
causing the controller to drop.
• Securely install each connection cable connector into the receptacles or
sockets. Poor connections may cause equipment malfunctions.
■ Wiring safety points
wWARNING • Always shut off all phases of the power supply externally before starting
installation or wiring work. Failure to shut off all phases may cause
electrical shock or product damage.
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Particularly important cautions
cCAUTION • Make sure that no foreign matter such as cutting chips or wire scraps
enter the robot controller. Malfunctions, breakdown or fire may result if
they have entered.
• Always store the cables connected to the robot controller in a conduit or
clamp them securely in place. If the cables are not stored in a conduit or
properly clamped, excessive play or movement or mistakenly pulling on
the cable may damage the connector or cables, and poor cable contact
may cause equipment malfunctions.
• Do not modify the cables and do not place any heavy object on them.
Handle them carefully to avoid damage. Damaged cables may cause
malfunction or electrical shock.
• If there is a possibility that the cables connected to the robot controller
may be damaged, protect them with a cover, etc.
• Do not apply excessive loads or impacts to the connectors when making
cable connections. The connector pins may become bent or the internal
PC board may be damaged.
• When disconnecting the cable from the robot controller, detach by
gripping the connector itself and not by tugging on the cable. Loosen the
screws on the connector (if fastened with the screws), and then
disconnect the cable. Detaching by pulling on the cable itself may
damage the connector or cables, and poor cable contact may cause
equipment malfunctions.
■ Start-up and maintenance safety points
wDANGER • Never enter the robot's working envelope while the robot is operating or
the main power is turned on. Failure to follow this instruction may cause
serious accidents involving injury or death. Install a safeguard (safety
enclosure) or a gate interlock with an area sensor to keep all persons
away from the robot's working envelope.
• When it is necessary to operate the robot while you are within the robot's
working envelope, such as for teaching or maintenance/inspection,
always carry the programming box with you so that you can immediately
stop the robot operation in case of an abnormal condition. Also set the
robot operating speed to 3% or less. Failure to follow this instruction may
cause serious accidents involving injury or death.
• Check the following points before operating the robot.
• No one is within the ROBOT'S working envelope.
• The programming box is at the specified position.
• There is no abnormal state in the robot and related devices.
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Particularly important cautions
wWARNING • Only personnel trained in safety and robot operation may operate the
robot. Operation by any person who has not received the proper training
is very dangerous and must be avoided.
• The robot and robot controller are not designed to be explosion-proof. Do
not use them in locations exposed to inflammable gases, gasoline or
solvent that could cause explosion or fire. Failure to follow this instruction
may cause serious accidents involving injury or death, or lead to fire.
• Do not touch any electrical terminal of the robot controller. Doing so may
cause electrical shock or equipment malfunctions.
• Always connect the robot and robot controller in the correct combination.
Using them in an incorrect combination may cause fire or breakdown.
• Always shut off all phases of the power supply externally before cleaning
or tightening the terminal screws. Failure to shut off all phases may cause
electrical shock, product damage or malfunctions.
• Do not touch the robot controller and robot during operation. Some parts
in the robot controller or robot are hot during operation. Touching them
may cause burns.
• Do not handle or operate the robot controller or programming box with
wet hands. Touching them with wet hands may result in electrical shock
or breakdown.
• Immediately turn off power if unusual odors, noise or smoke are noticed
during operation. Continuous operation under such a condition may
result in electrical shock, fire or breakdown. Stop using and contact our
sales office or sales representative.
• Do not disassemble or modify any part in the robot controller and
programming box. Do not open any cover. Failure to follow this instruction
may cause electrical shock, breakdown, malfunction, injury, or fire.
• If a component used in the robot or controller needs to be replaced or
repaired, always follow the instructions from YAMAHA. Inspection and
maintenance of the controller or robot by any person who does not have
the required knowledge and expertise is dangerous and must be
avoided.
• When performing maintenance or inspection of the robot controller under
our instructions, wait at least 5 minutes after turning the power off. Some
components in the robot controller may be hot or still retain a high
voltage shortly after operation, so burns or electrical shock may occur if
those parts are touched.
• During startup or maintenance work, display an easy to understand sign
or message on the programming unit or operation panel to prevent
anyone other than personnel for that work from mistakenly operating a
start or selector switch. If needed, take other measures such as locking
the cover on the operation panel.
• Decide on "work instructions" in cases where personnel must work within
the robot's working envelope to perform startup or maintenance work.
Make sure the workers know these "work instructions" well.
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Particularly important cautions
cCAUTION • When using ferrite cores for noise elimination, fit them to the power cable
as close to the robot controller and/or the robot as possible, to prevent
malfunctions due to noise.
• Back up the robot controller internal data in an external storage device.
The robot controller internal data (programs, point data, etc.) may be lost
or deleted for unexpected reasons. Always make a backup of the
internal data.
• Do not use thinner, benzene, and alcohol to wipe clean the surface of the
programming box. The surface sheet may be damaged or printed letters
or marks might be erased. Use a soft, dry cloth and gently wipe the
surface.
• Do not use a hard or pointed object to operate the keys on the
programming box. Malfunction or breakdown may result if the keys are
damaged. Use your fingers to operate the keys.
• Do not insert any SD memory card other than specified into the SD
memory card slot of the programming box. Malfunction or breakdown
may result if a wrong memory card is used.
• Do not leave the SD memory card inserted into the programming box.
Doing so may cause malfunction or breakdown. Insert the SD memory
card into the programming box only when making a data backup or
loading the backup data.
■ Safety precautions during robot operation
wDANGER • Never enter the robot's working envelope while the robot is operating or
the main power is turned on. Failure to follow this instruction may cause
serious accidents involving injury or death. Install a safeguard (safety
enclosure) or a gate interlock with an area sensor to keep all persons
away from the robot's working envelope.
• When it is necessary to operate the robot while you are within the robot's
working envelope, such as for teaching or maintenance/inspection,
always carry the programming box with you so that you can immediately
stop the robot operation in case of an abnormal condition. Also set the
robot operating speed to 3% or less. Failure to follow this instruction may
cause serious accidents involving injury or death.
wWARNING • Only personnel trained in safety and robot operation may operate the
robot. Operation by any person who has not received the proper training
is very dangerous and must be avoided.
■ Precautions for disposal
cCAUTION • When disposing of this product discard it as industrial waste. Take
appropriate measures in compliance with legal regulations in your
country or entrust its proper disposal to a company authorized to handle
industrial waste.
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ix Safety measures for robots
Safety measures for robots
■ Safety measures for single-axis robots
(1) Protective measures against electrical shock:
Use the protective ground terminal to ensure safety.
Refer to the robot user's manual for details.
Motor overload precautions
Since abnormal operation (such as overload) of the motor is detected by software, the
controller parameters must be set correctly to match the motor type used in the robot
connected to the controller.
Prior to shipping, the controller parameters are preset to match the robot model to be
used. However, please check the robot model again when connecting it to the controller.
Warning labels and marks
■ Warning labels
The warning labels shown below are affixed to the controller. To use the YAMAHA robot and
controller safely and correctly, be sure to observe the instructions and caution on the labels.
(1) "Read Instruction Manual" label
READ INSTRUCTION
MANUAL
This label means that important information you must know is described in the manual.
Before using the controller, be sure to read this manual carefully.
When in particular configuring an external safety circuit or connecting a power supply
to the controller, read this manual carefully and follow the instructions.
Connectors have a particular orientation, so insert each connector in the correct
direction.
■ Warning marks
The following warning marks are shown on the controller. To use the YAMAHA robot and
controller safely and correctly, be sure to observe the instructions and caution of the
marks.
(1) "Electric Hazard" mark
This mark indicates that a high voltage is present.
This mark warns you of possible electrical shock. Do not touch the terminal block and
connectors to avoid electrical shock.
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Industrial robot operating and maintenance personnel
(2) "CAUTION" mark
!
This label means that important information you must know is described in the manual.
Before using the controller, be sure to read this manual carefully.
When in particular configuring an external safety circuit or connecting a power supply
to the controller, read this manual carefully and follow the instructions.
Connectors have a particular orientation, so insert each connector in the correct
direction.
(3) "High Temperature Hazard" mark
Indicates that the area around this mark may become very hot.
Heatsinks and regenerative unit become hot during and shortly after operation. Do not
touch them to avoid burns.
Industrial robot operating and maintenance personnel
Operators or persons who handle the robot such as for teaching, programming, movement
check, inspection, adjustment, and repair must receive appropriate training and also have
the skills needed to perform the job correctly and safely. They must read the user's manual
carefully to understand its contents before attempting the robot operation.
Tasks related to industrial robots (teaching, programming, movement check, inspection,
adjustment, repair, etc.) must be performed by qualified persons who meet requirements
established by local regulations and safety standards for industrial robots.
Make daily and periodic inspections
Always make sure that daily and periodic inspections are performed, and make a pre-work
check to ensure there are no problems with the robot or related equipment. If a problem
or abnormality is found, then promptly repair it or take other measures as necessary.
x MEMO
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General Contents
Using The Robot Safely
Safety information ii
Particularly important cautions iii
■ System design safety points iii
■ Installation safety points iv
■ Wiring safety points iv
■ Start-up and maintenance safety points v
■ Safety precautions during robot operation vii
■ Precautions for disposal vii
Safety measures for robots viii
■ Safety measures for single-axis robots viii
Motor overload precautions viii
Warning labels and marks viii
■ Warning labels viii
■ Warning marks viii
Industrial robot operating and maintenance personnel ix
Make daily and periodic inspections ix
Chapter 1 Overview
1.1 SR1 series model number designation 1-1
1.2 Functions and features 1-2
1.3 Checking the product 1-3
1.4 Part names and functions 1-4
1.5 System configuration 1-5
Chapter 2 Operation sequence
2.1 Operation sequence 2-1
Chapter 3 Installation and connections
3.1 Installation method 3-1
3.2 Installation conditions 3-2
3.3 Wiring 3-3
3.3.1 Connecting the power supply 3-3
3.3.2 Connecting to the robot 3-7
3.3.3 Connecting to the HPB or PC 3-9
3.3.4 Connecting the regenerative unit 3-10
3.3.5 Connecting the absolute battery (X type) 3-11
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3.4 Connecting the I/O signals 3-12
3.4.1 Connecting the SAFETY connector 3-13
3.4.2 Connecting an I/O unit 3-16
3.4.3 Connecting the monitor I/O connector 3-21
3.5 Configuring external safety circuits 3-22
3.5.1 SAFETY connector functions and roles 3-22
3.5.2 SERVICE mode function 3-24
Chapter 4 Operation
4.1 Operation modes 4-1
4.2 Initial setting 4-2
4.2.1 Absolute/incremental mode setting (X type) 4-2
4.2.2 Power-on and servo recovery 4-2
4.2.3 Return-to-origin and coordinate polarity setting 4-4
4.2.4 Semi-absolute 4-5
4.2.5 Setting the movement range (soft limit setting) 4-6
4.2.6 Setting the payload 4-6
4.3 I/O interface 4-7
4.3.1 Overview 4-7
4.3.2 I/O unit setting and I/O list 4-8
4.3.2.1 NPN type and PNP type 4-8
4.3.2.2 CC-Link 4-9
4.3.2.3 DeviceNet 4-13
4.3.2.4 PROFIBUS 4-17
4.3.2.5 I/O assignment function 4-20
4.3.3 Monitor I/O (input/output) list 4-22
4.3.4 Operation via input/output signals 4-23
4.3.4.1 Control sequence 4-23
4.3.4.2 Servo recovery 4-27
4.3.4.3 Return-to-origin 4-28
4.3.4.4 Point trace operation 4-30
4.3.4.5 Torque limiting 4-39
4.3.4.6 Program operation 4-46
4.3.4.7 Jog movement and point teaching 4-47
4.3.4.8 Position information output 4-50
4.3.4.9 Alarms and resetting 4-55
4.3.4.10 Limitless movement function 4-56
4.3.4.11 Remote commands (serial I/O) 4-62
4.4 RS-232C communication 4-68
4.4.1 Communication parameter specifications 4-68
4.4.2 Communication cable specifications 4-70
4.4.3 Communication command specifications 4-73
4.4.4 Communication command lists 4-74
Chapter 5 Data setting
5.1 Data concept 5-1
5.1.1 Parameter data 5-1
5.1.2 Point data 5-1
5.1.3 Program data 5-2
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5.2 Parameter data 5-6
5.2.1 Robot number 5-6
5.2.2 Parameter lists 5-7
5.2.3 Parameter description 5-11
Chapter 6 Other functions
6.1 Various monitor functions 6-1
6.1.1 DIO monitor 6-1
6.1.2 Duty (load factor) monitor 6-4
6.1.3 Alarm information monitor 6-6
6.2 Checking and setting the clock 6-6
6.3 LED status 6-6
6.4 Analog monitor output 6-7
Chapter 7 Message lists
7.1 Error messages 7-1
7.1.1 Message specifications 7-1
7.1.2 Command error messages 7-1
7.1.3 Operation error messages 7-2
7.1.4 Program error messages 7-3
7.1.5 System error messages 7-4
7.1.6 Multi-task error messages 7-4
7.2 Stop messages 7-5
7.2.1 Stop message specifications 7-5
7.2.2 Stop messages 7-5
7.3 Error history 7-6
Chapter 8 Troubleshooting
8.1 If trouble occurs 8-1
8.2 Alarm and countermeasures 8-2
8.2.1 Alarm specifications 8-2
8.2.2 Alarm message list 8-3
8.2.3 Alarm and countermeasures 8-4
Chapter 9 Warranty
9.1 Warranty 9-1
Chapter 10 Specifications and dimensions
10.1 "X type" specifications and dimensions 10-1
10.1.1 "X type" basic specifications 10-1
10.1.2 Dimensional outlines 10-2
10.2 "P type" specifications and dimensions 10-3
10.2.1 "P type" basic specifications 10-3
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v 10.2.2 Dimensional outlines 10-4
10.3 I/O unit specifications 10-5
10.4 Peripheral equipment specifications and
dimensional outlines 10-7
10.4.1 Regenerative unit 10-7
10.4.2 Absolute battery 10-8
10.4.3 Connectors 10-9
HPB Operation Guide
1. An overview of the HPB H1-1
1.1 HPB functions H1-1
1.2 Part names and functions H1-2
2. Connecting and disconnecting the HPB H2-1
2.1 Connecting to the SR1 controller H2-1
2.2 Disconnecting from the SR1 controller H2-4
3. Basic operations H3-1
3.1 HPB operation keys H3-1
3.2 Basic key operation H3-3
3.3 How to read the screens H3-5
3.4 Hierarchical menu structure H3-6
4. Restricted key operation by access level H4-1
4.1 Access levels H4-1
4.2 Changing an access level H4-2
5. Setting the parameters H5-1
5.1 How to set the parameters H5-1
6. I/O unit setting H6-1
6.1 Setting the CC-Link unit H6-1
6.1.1 Validating the CC-Link unit H6-1
6.1.2 Setting the station No. H6-2
6.1.3 Setting the communication speed H6-3
6.2 Setting the DeviceNet unit H6-4
6.2.1 Validating the DeviceNet unit H6-4
6.2.2 System setting H6-5
6.2.3 Selecting the profile type H6-6
6.2.4 How to check MAC ID and communication speed (hardware setting) H6-7
6.2.5 Setting the MAC ID H6-8
6.2.6 Setting the communication speed H6-9
6.3 Setting the PROFIBUS unit H6-10
6.3.1 Validating the PROFIBUS unit H6-10
6.3.2 Setting the station address H6-11
6.3.3 Checking the communication speed H6-12
7. Programming H7-1
7.1 Robot language list H7-1
7.2 Relation between robot language and point data H7-2
7.3 Entering a robot language command H7-2
7.4 Program specifications H7-3
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7.5 Creating or editing a program H7-3
7.5.1 Creating a new program (after initialization) H7-4
7.5.2 Creating a new program H7-6
7.5.3 Adding a step H7-7
7.5.4 Changing a step H7-8
7.5.5 Inserting a step H7-10
7.5.6 Deleting a step H7-11
7.6 Program utility H7-12
7.6.1 Copying a program H7-12
7.6.2 Deleting a program H7-13
7.6.3 Viewing the program information H7-14
8. Editing point data H8-1
8.1 Manual data input H8-2
8.2 Teaching playback H8-3
8.3 Direct teaching H8-6
8.4 Manual control of general-purpose output H8-8
8.5 Manual release of the holding brake H8-9
8.6 Deleting point data H8-10
8.7 Point trace (moving to a registered data point) H8-11
9. Operating the robot H9-1
9.1 Performing return-to-origin H9-2
9.1.1 Return-to-origin by the search method H9-2
9.1.2 Return-to-origin by the mark method H9-3
9.2 Using step operation H9-6
9.3 Using automatic operation H9-9
9.4 Changing the execution program H9-11
10. Other operations H10-1
10.1 Emergency stop function H10-2
10.1.1 Initiating an emergency stop H10-2
10.1.2 Resuming operation after emergency stop H10-2
10.2 Initializing the program and data H10-4
10.3 Displaying the DIO monitor H10-6
10.3.1 Displaying from the monitor menu H10-6
10.3.2 Displaying from the DIO key H10-7
10.4 Displaying the memory I/O status H10-8
10.5 Displaying the variables H10-8
10.6 Displaying the system information H10-9
10.7 Using the duty (load factor) monitor H10-10
10.8 SERVICE mode function H10-11
10.8.1 Safety control description H10-12
10.8.2 Setting the SERVICE mode function on or off H10-14
10.8.3 Setting the SERVICE mode safety control H10-15
10.9 Displaying the hidden parameters H10-17
10.10 Using SD memory cards H10-18
10.10.1 Before using an SD memory card H10-18
10.10.2 Saving controller data to an SD memory card H10-23
10.10.3 Loading SD memory card data to the controller H10-26
10.10.4 Creating directories on the SD memory card H10-29
10.10.5 Deleting files and directories from the SD memory card H10-32
10.10.6 Displaying SD memory card file content H10-33
10.11 Displaying the error and alarm histories H10-35
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10.12 Displaying the alarm information H10-37
10.13 Setting the clock H10-38
11. Error and alarm H11-1
11.1 HPB error message list H11-2
12. Specifications H12-1
12.1 HPB specifications H12-1
12.2 Dimensions H12-2
Programming Guide
Robot language quick-reference list P-1
Robot language syntax rules P-2
Command statement format P-2
Variables P-3
Program function P-4
Multi-task function P-4
Robot language description P-5
Sample programs P-32
RS-232C Communication Command Guide
Communication parameter specifications C-1
Communication cable specifications C-3
Communication command specifications C-6
Communication command lists C-7
Communication command description C-10
Robot movements C-10
Data handling C-21
Utilities C-34
Remote Command Guide
Remote command lists R-1
Robot movement R-4
Data handling R-24
Utilities R-37
Special commands R-40
Current position indication mode R-41
Index
Chapter 1 Overview
Contents
1.1 SR1 series model number designation 1-1
1.2 Functions and features 1-2
1.3 Checking the product 1-3
1.4 Part names and functions 1-4
1.5 System configuration 1-5
1-1
1-1
Chapter 1 Overview
1
O
verview
1.1 SR1 series model number designation
SR1 X 05
Controller Type Driver
R
Regenerative unit
X: For FLIP-X
P: For PHASER
05
10
20
None
R: With regenerative unit
CC
I/O selection
N:NPN
P:PNP
CC:CC-Link
DN:DeviceNet
PB:PROFIBUS
B
Battery
None
(Incremental specifications)
B: Absolute specifications
(1) Type
"X" is a controller that supports FLIP-X series robots, while "P" is a controller that
supports PHASER series robots.
(2) Driver
Drivers "05", "10" and "20" are provided according to the mechanical capacity for each
series. The following table shows controllers and robots that can be used together.
Controller Type Driver Connectable Robots
SR1-X
(For FLIP-X series)
05
T4H, T5H, T6, T7, T9, F8, F8L, F8LH, F10, F14,
B10, B14, B14H, R5, C6, C8, C8L, C8LH, C10,
C14
10 T9H, F14H, R10, R20, C14H
20 N15, N18, F17, F17L, F20, F20N, C17, C20
SR1-P
(For PHASER series)
05 MR12, MR12A, MR16, MR16A
10
MR16H, MR16HA, MR25, MR25A, MF7, MF7A,
MF15, MF15A, MF20, MF20A
20
MR20, MR20A, MF30, MF30A, MF50, MF50A,
MF75, MF75A
(3) Regenerative unit RG1/RGU-2
The regenerative unit absorbs regenerative current produced during motor speed
reduction and radiates it as heat. A regenerative unit is required when operating a
robot specified by YAMAHA or a load with a large inertia.
(4) I/O selection
One of the following I/O types is selected.
Ordering Code Name Type
N NPN
Parallel I/O
P PNP
CC CC-Link
Serial I/ODN DeviceNet
PB PROFIBUS
* DeviceNet is a registered trademark of Open DeviceNet Vendor Association, Inc. (ODVA).
(5) Battery (X type)
This indicates whether an absolute battery is selected for position data retention.
1-2
Chapter 1 Overview
O
verview
1
1-3
1.2 Functions and features
n Operation modes
The SR1 series performs the following operations.
(1) Point trace operation
Uses a movement command such as ABS-PT to move the robot to a position that is
registered beforehand as point data by teaching, etc.
(2) Program operation
Operates the robot according to a registered program. Besides robot movement,
positioning and I/O signal control, a multi-task function is also provided to run two
or more programs simultaneously.
(3) Operation using RS-232C communication
Uses a communication command through the RS-232C interface to send/receive
various data and perform a program operation, movement and positioning.
n Use of two power supplies
Two power supplies, a main power supply and a control power supply, are used. Even
if the main power supply is turned off in conjunction with an alarm or emergency
stop, the control power supply still works, making it easier to perform maintenance,
especially in cases where an alarm has occurred.
n Position data hold time
Using a new ASIC greatly extends the absolute position data hold time when power
is not supplied. The data hold time, which was a maximum of 340 hours, has been
improved to one year, allowing the controller to retain the current position data even
during a long vacation, rest and maintenance, or transportation.
n Feedback pulse output
Provides differential output of position data to let the host device know the current
robot position in real time.
n Current position output
Outputs the current position as general-purpose I/O output.
n I/O assignment change
Changes I/O assignments according to how to use the controller.
n Torque limiting
Limits the maximum torque setting to a specified level at any desired timing. This is
effective in press-fit and workpiece gripping actions. Two types of torque limiting are
provided for the SR1 series: one is by parameter data values and the other is by analog
voltage input.
n SERVICE mode
Restricts the SR1 controller operations to ensure operator safety in cases where work
must be performed within the safety enclosure.
n Various monitor functions
The SR1 controller allows monitoring various conditions such as by an I/O status
monitor, duty monitor and analog monitor.
1-2 1-3
Chapter 1 Overview
1
O
verview
1.3 Checking the product
(1) Make sure that there is no damage, missing parts or dents/scratches on the product
body.
Item Note
1. Controller 1 –
2. Power connector 1 A wire-release lever supplied
3. SAFETY connector 1 –
4. HPB connector 1 –
5. Mounting L-shape brackets 2 Mounting screws supplied
6. I/O connector * 1 Depends on input/output selection.
* A dedicated I/O connector 6 is supplied when "N", "P", "CC" or "DN" is selected as the I/O type.
* For detailed information on accessories, refer to 10.4.3, "Connectors", in Chapter 10.
(2) Check the specification label to find whether the product is the same item as ordered.
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
DA DB DG SLD FG
CC-Link connector
NPN, PNP connector
DeviceNet connector
* A dedicated I/O connector is
supplied when "N", "P", "CC" or
"DN" is selected as the I/O type.
Serial number label
Controller
model name
Ratings display
Details on specification label
Specification
label
2. Power connector
3. SAFETY connector
4. HPB dummy connector
5. Mounting L-shape bracket
6. I/O connector *
1. Controller
MODEL :
S/N :
MANUFACTURED
YAMAHA MOTOR CO.,LTD. MADE IN JAPAN
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054, Japan
INPUT : 1Ø, 100-115V, 50/60Hz, 4A
1Ø, 200-230V, 50/60Hz, 2A
OUTPUT : 3Ø, 0-230V, 0-333Hz, 0.95A
MODEL : SR1-X05
S/N : 09X0001
YAMAHA MOTOR CO.,LTD. MADE IN JAPAN
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054, Japan
MANUFACTURED NOV. 2009
1-4
Chapter 1 Overview
O
verview
1
1-5
1.4 Part names and functions
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
Connects to the servo motor
power line.
Motor connector
(MOTOR)
Connector for supplying power
to the main and control power
supplies.
Power input connector
(AC IN)
Terminals for selecting input power voltage.
AC 200 to 230V: Open between these terminals.
AC 100 to 115V: Short between these terminals.
Input power select terminals
This ground terminal must be
grounded properly to prevent
electrical shock.
Connects to a regenerative unit.
LED indicators showing the
operating status of the robot
and controller.
Connector for robot I/O signals
such as position signals and
origin sensor signals.
Input connector for external
safety circuits including
emergency stop and interlock.
Connects to an absolute battery.
Only "-X" type has this connector.
Connects to an HPB or
RS-232C port on a PC.
This I/O connecter type can be
selected from among NPN, PNP,
CC-Link, DeviceNet and
PROFIBUS when ordering.
Outputs internal monitor data
as feedback pulse output or
analog monitor output.
Ground terminal
Regenerative unit
connector (RGEN)
Status LED lamp
(PWR, ERR)
Robot I/O connector
(ROB I/O)
SAFETY connector
(SAFETY)
Absolute battery
connector (BAT)
I/O connector (I/O)
HPB connector (HPB)
Monitor I/O connector
(Bottom view)
(NOTE): The above drawing shows the external view of the SR1-X05. The SR-1-X20 and SR1-P are
slightly different from this drawing.
1-4 1-5
Chapter 1 Overview
1
O
verview
1.5 System configuration
n System configuration diagram
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
* Programming box, HPB
and support software
POPCOM are sold
separately.
SR1 controller
Programming box
HPB
SD memory card
Single-axis robot X series
Gripper, limit switch, etc.
External control (PLC, etc.)
I/O control
RS-232C
communication
control
or Support software
POPCOM
PC
S
D
M
E
M
O
R
Y
C
A
R
D
1-6
MEMO
Chapter 2 Operation sequence
Contents
2.1 Operation sequence 2-1
2-1
2-1
Chapter 2 Operation sequence
2
O
peration sequence
2.1 Operation sequence
The basic sequence from purchase of the SR1 to actual operation is shown below.
Operation check
Chapter 3: Installation and connections
Chapter 5: Data setting
Chapter 4: Operation
Chapter 7: Message lists
Chapter 8: Troubleshooting
When using existing data
Chapter 4, section 4.3, "I/O interface"
Remote commands
Communication commands
for robot operation via RS-232C
• Direct communication command
• Program operation
Programming
Installation, wiring connection, power-on
Was alarm issued at power-on?
Data setting
When creating new data
Set parameters
Create point data
Create programs
Save or load data
Trial operation and actual operation
When using I/O interface
• Point trace operation
• Remote command
• Program operation
When using
RS-232C communication
Alarm occurs?
On the SR1-X, an alarm is always issued
when the controller is first turned on after
making connections. In this case, turn off
the power and turn it back on.
Turn the servo on and perform return-toorigin and jog operation to make sure that
the robot moves correctly, while using the
HPB, etc.
Set or change operation conditions to
match required specifications.
Register target position data by MDI,
teaching playback or direct teaching.
When operating the robot with a program,
create and register the program using the
robot language.
2-2
MEMO
Chapter 3 Installation and connections
Contents
3.1 Installation method 3-1
3.2 Installation conditions 3-2
3.3 Wiring 3-3
3.3.1 Connecting the power supply 3-3
3.3.2 Connecting to the robot 3-7
3.3.3 Connecting to the HPB or PC 3-9
3.3.4 Connecting the regenerative unit 3-10
3.3.5 Connecting the absolute battery (X type) 3-11
3.4 Connecting the I/O signals 3-12
3.4.1 Connecting the SAFETY connector 3-13
3.4.2 Connecting an I/O unit 3-16
3.4.3 Connecting the monitor I/O connector 3-21
3.5 Configuring external safety circuits 3-22
3.5.1 SAFETY connector functions and roles 3-22
3.5.2 SERVICE mode function 3-24
3-1
3-1
Chapter 3 Installation and connections
3
Installation and connections
3.1 Installation method
Install the SR1 controller as shown below by attaching the L-shape brackets to the front or
to the rear, which is suitable for the installation location.
In the same manner, install the regenerative unit using the L-shape brackets
Attaching the L-shape brackets
to the rear
BAT
PWR
ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:AC100V
OPEN:AC200V
Attaching the L-shape brackets
to the front
BAT
PWR
ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:AC100V
OPEN:AC200V
3-2
Chapter 3 Installation and connections
Installation and connections
3
3-3
3.2 Installation conditions
n Installation location
Install the controller inside the
control panel.
n Installation direction
Install the controller on a vertical
wall.
n Space requirement
Allow a sufficient space (20mm or
more) around the SR1 and install in
locations with good ventilation. (See
the drawing at right.)
n Operating temperature and humidity
Install the SR1 in locations where the
following conditions are met.
• Ambient temperature : 0 to 40°C
• Ambient humidity : 35 to 85%RH
(no condensation)
If used outside these conditions, the required performance might not be obtained or
the SR1 might malfunction.
To enhance reliability, we recommend using the SR1 in locations where temperature
and humidity do not change too much.
n Environments that must be avoided
To operate the SR1 in a correct and safe manner, avoid using it in the following
environments.
• Locations where corrosive gases such as sulfuric acid or hydrochloric acid gas are
present, or in atmosphere containing flammable gases or liquids.
• Locations subject to excessive dust
• Locations subject to cutting chips, oil or water from other machines
• Locations subject to excessive vibration
• Locations where electromagnetic noise or electrostatic noise is generated
• Locations exposed to direct sunlight
cCAUTION • Do not install the controller upside down or at an angle. Doing so could reduce
the cooling capacity and cause performance deterioration or malfunctions.
• Provide a specified distance between the SR1 controller and the control panel
inner surface or any other devices. Failure to do so may cause malfunctions.
• Avoid using the SR1 controller in environments other than those specified.
Failure to do so may cause product deterioration or malfunctions.
• • •
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
20mm or more
20mm or more
20mm or more
3-2 3-3
Chapter 3 Installation and connections
3
Installation and connections
3.3 Wiring
3.3.1 Connecting the power supply
l Power supply connection examples
n AC 200V power supply voltage
AC IN
L
N
L1
N1
Wiring breaker
SHORT:
AC100V
OPEN:
AC200V
SR1 controller
AC200V
Noise filter Electromagnetic
contactor
n AC 100V power supply voltage
AC IN
L
N
L1
N1
Wiring breaker
SHORT:
AC100V
OPEN:
AC200V
SR1 controller
AC100V
Noise filter Electromagnetic
contactor
(NOTE 1)
(NOTE) 1. The input voltage select terminals must be shorted when using AC 100V.
2. AC 100V power can be used only when the driver type is "-05" or "-10".
cCAUTION Be careful not to make the wrong connections. Otherwise malfunctions may
result.
3-4
Chapter 3 Installation and connections
Installation and connections
3
3-5
l Power connector terminal names and functions
Terminal
symbol
Name Driver Function
L, N
Main power
input terminal
-05, -10
AC 100 to 115 / 200 to 230V ±10%, single phase,
50/60Hz
-20 AC 200 to 230V ±10%, single phase, 50/60Hz
L1, N1
Control power
input terminal
-05, -10
AC 100 to 115 / 200 to 230V ±10%, single phase,
50/60Hz
-20 AC 200 to 230V ±10%, single phase, 50/60Hz
Ground terminal -05, -10, -20 Connect to power supply ground terminal.
l Wiring to the power connector
(1) Preparing the wire
Use the wire size specified below. Strip the cable sheath as shown below, and the
wire can then be used as is.
• Wire cross-section 1.25 sq mm
(AWG16) or more
(2) Connection method
Insert the core wire into the terminal hole of the power connector by using either of
the following methods. Make sure the wire does not come loose if pulled.
L
N
L1
N1
Wire-release lever
When using the supplied
wire-release lever
When using a small
flat-blade screwdriver
cCAUTION • Unplug the power connector from the controller before wiring.
• Only one wire can be inserted into one wire hole of the power connector.
• When inserting the wire into the terminal, be careful not to bring the core wire
braid into contact with other conductive parts.
• If for some reason the inserted portion of the wire is frayed, cut off that frayed
portion and restrip the wire. Then reconnect the wire securely.
8 to 9mm
3-4 3-5
Chapter 3 Installation and connections
3
Installation and connections
l Wiring to the input voltage select terminals
Wiring to the input voltage select terminals depends on the line voltage.
Line voltage Wiring to input voltage select terminals
AC 200 to 230V No wiring (Terminals are open)
AC 100 to 115V Short between terminals.
(1) Preparing the wire
Use the wire size specified below. Strip the cable sheath as shown below, and the
wire can then be used as is.
• Wire cross-section 1.25 sq mm
(AWG16) or more
(2) Connection method
When you have prepared a wire of about 70mm long, with the sheath stripped at
both ends, insert each end into the terminal holes as shown. The terminal holes
open by pushing into the left slot with a flat-blade screwdriver.
N1RGEN
SAFETY
P
N
SHORT:
AC100VOPEN:AC200V
Screwdriver insertion slot
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
cCAUTION • Only one wire can be inserted into one wire terminal hole.
• When inserting the wire into the terminal, be careful not to bring the core wire
braid into contact with other conductive parts.
• If for some reason the inserted portion of the wire is frayed, cut off that frayed
portion and restrip the wire. Then reconnect the wire securely.
l Ground terminal
The SR1 must be grounded to prevent electrical shocks in case of electrical leakage
and prevent equipment malfunctions due to electrical noise. We strongly recommend
that Class D or higher grounding (grounding resistance of 100 ohms or less) be
provided.
wDANGER Grounding must be done securely.
5 to 6mm
3-6
Chapter 3 Installation and connections
Installation and connections
3
3-7
l Installing wiring breakers
• Leakage breaker
Since the SR1 series drives the motors by PWM control, high frequency leakage
current flows. This might cause the external leakage breaker to malfunction. When
installing an external leakage current breaker, it is important to choose the optimum
sensitivity current rating (IDn). (Check the leakage breaker manufacturer's data sheets
to select the optimum product compatible with inverters.)
Power supply type Leakage current
Main power supply (L, N)
1mA in total
Control power supply (L1, N1)
(NOTE) 1. Leakage current was measured with a leak tester (Hioki Electric 3283) with a lowpass filter (100Hz) turned on.
2. When using two or more controllers, sum the leakage current of each controller.
3. Make sure that the controller is securely grounded.
4. Stray capacitance between the cable and FG may vary depending on the cable
installation condition, causing the leakage current to fluctuate.
• Circuit protector
An inrush current, which might be from several to nearly 10 times higher than the
rated current, flows at the instant that the SR1 series controller is turned on or the
robot motors start to operate. When installing an external circuit protector, select a
circuit protector that provides optimum operating characteristics. (Refer to the circuit
protector manufacturer's data sheets for making the selection.)
Line voltage Driver Rated current Operating characteristics
AC 200V
-05 2
Medium to slow response type with inertial delay
-10 3
-20 7
AC 100V
-05 4
-10 6
• Current control switch
When controlling the power on/off of the SR1 series from an external device such as
PLC, a current control switch (contactor, breaker, etc.) may be used. In this case, the
current control switch usually creates a large on/off surge current. To minimize this
on/off surge current, surge absorbers must be installed for surge absorption. Connect
a surge absorber in parallel with and close to each contact of the current control
switch.
Recommended surge absorber type No. Manufacturer
LT-C12G801WS SOSHIN ELECTRIC CO., LTD.
l Installing an electromagnetic contactor
This is required when externally programming the controller power-on sequence.
l Installing a noise filter
Always install a noise filer to suppress noise on the power supply line for CE marking
compliance.
Recommended noise filter type No. Manufacturer
NF2010A-UP SOSHIN ELECTRIC CO., LTD.
MC1210L TDK-Lambda K. K.
3-6 3-7
Chapter 3 Installation and connections
3
Installation and connections
3.3.2 Connecting to the robot
To connect the robot to the SR1 controller, plug the robot cables into the "ROB I/O"
connector and the "MOTOR" connector on the front panel.
l Connection method
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
ROB I/O
connector
Robot cable
MOTOR
connector
AC IN
L
N
L1
N1RGEN
SAFETY
P
ROB I/O
N
SHORT:
AC100VOPEN:AC200V
cCAUTION • The power to the SR1 controller must be off when connecting the robot cables.
• Fully insert the robot cables until you hear a click.
• Do not connect any robot other than specified.
3-8
Chapter 3 Installation and connections
Installation and connections
3
3-9
l Robot I/O connector signal table
SR1-X SR1-P
Terminal
No.
Signal
name
Description
Terminal
No.
Signal
name
Description
1 PS+ Resolver SIN input (+) 1 PS+ Position SIN input (+)
2 PS- Resolver SIN input (-) 2 PS- Position SIN input (-)
3 PC+ Resolver COS input (+) 3 PC+ Position COS input (+)
4 PC- Resolver COS input (-) 4 PC- Position COS input (-)
5 R+ Resolver excitation output (+) 5 +5V +5V
6 R- Resolver excitation output (-) 6 GND Ground
7 – – 7 Z+ Linear scale Z+
8 – – 8 Z- Linear scale Z9 FG Frame ground 9 FG Frame ground
10 FG Frame ground 10 FG Frame ground
11 – – 11 – –
12 ORG Origin sensor signal input 12 ORG Origin sensor signal input
13 +24V
Power supply for origin
sensor, 24V
13 +24V
Power supply for origin
sensor, 24V
14 +24V
Power supply for origin
sensor, 24V
14 +24V
Power supply for origin
sensor, 24V
15 PG
Power supply for origin
sensor, 0V
15 PG
Power supply for origin
sensor, 0V
16 PG
Power supply for origin
sensor, 0V
16 PG
Power supply for origin
sensor, 0V
17 BK+ Brake signal (+) 17 BK+ Brake signal (+)
18 BK- Brake signal (-) 18 BK- Brake signal (-)
19 – – 19 – –
20 FG Frame ground 20 FG Frame ground
l Motor connector signal table
Terminal
No.
Signal
name
Description
1 FG Frame ground
2 MU Motor U-phase output
3 MV Motor V-phase output
4 MW Motor W-phase output
3-8 3-9
Chapter 3 Installation and connections
3
Installation and connections
3.3.3 Connecting to the HPB or PC
The SR1 can be operated either from the HPB programming box or control unit having an
RS-232C interface such as a PC.
l When connecting the HPB (option)
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
HPB
HPB
connector
l When connecting to a generalpurpose communication unit
For cable specifications, refer to 4.4,
"RS-232C communication", in Chapter 4.
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
HPB
connector
PC, etc.
RS-232C cable
l Connecting the dummy connector
When operating the SR1 controller without connecting to a communication unit, the
supplied dummy connector must be plugged into the HPB connector.
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
HPB
connector
SR1-X YAMAHA
PWR
ERR
HPB
MOTOR
U
V
W
I/O
(NOTE) If the dummy connector is removed, an emergency stop will occur. Always connect the
dummy connector or a communication unit such as the HPB to perform operation.
3-10
Chapter 3 Installation and connections
Installation and connections
3
3-11
3.3.4 Connecting the regenerative unit
The regenerative unit absorbs regenerative current produced during motor speed reduction
and radiates it as heat. A regenerative unit is required when operating a robot specified by
YAMAHA or a load with a large inertia. Use the dedicated cable (supplied) to connect a
regenerative unit to the controller. The same connection method applies to both the RG1
and RGU-2.
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
RG1
Regenerative unit
20mm or more
Connector
(RGEN)
Supplied cable
L1
N1
RGEN
P
N
SAFETY
SHORT:AC100V
OPEN:AC200V
RGEN
P
N
cCAUTION • The power to the SR1 controller must be off when connecting the regenerative
unit.
• Fully insert the cable until you hear a click.
• Keep a sufficient space (20mm or more) around the regenerative unit and install
the regenerative unit in a well ventilated place.
3-10 3-11
Chapter 3 Installation and connections
3
Installation and connections
3.3.5 Connecting the absolute battery (X type)
The absolute battery is used to retain the robot position data and is provided only for the
X type as an option.
l Absolute battery connection method
HPB
ROB I/O
AC IN
BAT
I/O
L
N
L1
N1
RGEN
P
N
SAFETY
SHORT:AC100V
OPEN:AC200V
U
V
W
MOTOR
SR1-X
PWR
ERR
YAMAHA
1 2
1. Fit the battery into the battery holder as shown above, noting the upper side of the
battery holder. The side with a notch for passing the battery cable through is the
upper side.
2. Insert the holder into the holes on the controller front panel while pressing in on the
tabs at the top and bottom of the holder. Release the tabs to let the holder lock in
place when the holder back contacts the controller front panel.
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Installation and connections
3
3-13
3.4 Connecting the I/O signals
Three types of I/O signal connections (I/O, SAFETY and monitor I/O) are provided for an
external unit such as a PLC (programmable logic controller).
n I/O wiring diagram
EMG1
EMG2
DI.COM
DC24V
LOCK
SVCE
PA+
PA-
PB+
PB-
PZ+
PZ-
SG
DO.COM
DC24V
MPRDY
A-REF
AG
DO.+COM
READY
BUSY
END
DO.-COM
SERVO
ABS-PT
INC-PT
UTL
DO 0
DO 15
DC24V
DI.+COM
STEP-R
AUTO-R
RESET
ORG-S
ALMRST
DI 0
DI 15
DI.-COM
I/O(NPN)
SAFETY
AO1, AO2
AG
+
-
Power for output, common
Main power supply ready
Power for input, common
Interlock
SERVICE mode
Emergency stop
Feedback pulse
output
Applicable line receiver:
26LS32 or equivalent
Analog input
DC0 to 10V
Analog output
Power (+) for output,
common
Ready output
Command-in-progress output
End-of-run output
Utility output
General-purpose
outputs 0 to 15
Power (-) for output, common
Power (+) for input, common
Servo recovery
Absolute point movement
Relative point movement
Step run
Auto run
Reset
Return-to-origin
Alarm reset
Power (-) for input, common
General-purpose
inputs 0 to 15
SR1 controller
Monitor I/O
(NOTE) 1. The above figure shows a simplified wiring diagram for an NPN type I/O unit. The wiring
differs depending on the I/O type.
2. Monitor I/O cable is optional.
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Chapter 3 Installation and connections
3
Installation and connections
3.4.1 Connecting the SAFETY connector
The SAFETY connector provides functions for configuring safety circuits including the robot.
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
SAFETY
connector
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
l Terminal arrangement and connector specifications
cCAUTION When wiring, be especially careful not to make connections to wrong terminals
and not to short between terminals. If in particular terminals No. 7 and 11, or 10
and 11 are shorted, the controller will be damaged. Check the terminal
arrangement carefully and make connections correctly to avoid shorting
between those terminals.
1
7
8
14
B
A
Connector viewed from A
3-14
Chapter 3 Installation and connections
Installation and connections
3
3-15
Connector viewed from B
Terminal No. Signal name
8
9
10
11
12
13
14
EMG1
EMG2
Terminal No. Signal name
1 DI. COM
2 LOCK
3 SVCE
4 DO. COM
5 MPRDY
6
7







Cut-out
nNOTE A cut-out is provided on the upper left of terminal No. 1.
l When not using the SAFETY connector function
Short between terminal No. 11 and No. 12 (EMG1 and EMG2) to cancel emergency
stop.
Change the PRM371 (Interlock enable) parameter setting to disable the interlock
function. If this parameter is left enabled, the interlock function remains active.
For parameter details, see 5.2.3, "Parameter description". For parameter setting
methods, see 5.1, "How to set the parameters" in Chapter 5 of the HPB operation
guide.
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Chapter 3 Installation and connections
3
Installation and connections
l Circuit description
The following diagrams show examples of connecting the SAFETY connector to a
higher level device.
n Input circuit (SVCE, LOCK)
Type : Bidirectional photocouper
input
Input voltage : DC 24V, 8mA per point
n Emergency stop circuit (EMG1, EMG2)
Type : Relay contact is connected
between emergency stop
inputs (EMG1-EMG2)
Input voltage : 33.3mA/24V
Response time : 5ms max.
n Output circuit (MPRDY)
Type : Mechanical relay contact
output
Load : 24V, 1A
DC24V
DI.COM
EMG1
EMG2
24V
FUSE
Emergency stop circuit
DC24V
DO.COM
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Chapter 3 Installation and connections
Installation and connections
3
3-17
3.4.2 Connecting an I/O unit
l Parallel I/O (NPN type, PNP type)
ROB I/O
AC IN
BAT
I/O
L
N
W
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
I/O connector
cCAUTION When wiring, be especially careful not to make connections to wrong terminals
and not to short between terminals.
Miswiring may damage the controller. Check the terminal arrangement carefully
and make connections correctly to avoid shorting between the terminals.
B
26 1
2550
A
Connector viewed from A
3-16 3-17
Chapter 3 Installation and connections
3
Installation and connections
Connector viewed from B
Terminal No. Signal name
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
DO. -COM
DO. -COM
DO 15
DO 14
DO 13
DO 12
DO 11
DO 10
DO 9
DO 8
UTL
READY
DI 15
DI 14
DI 13
DI 12
DI 11
DI 10
DI 9
DI 8
ALMRST
ORG-S
RESET
AUTO-R
DI. -COM
Terminal No. Signal name
1
2
3
4
DO. +COM
DO. +COM
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25 DO 7
DO 6
DO 5
DO 4
DO 3
DO 2
DO 1
DO 0
BUSY
END
DI 7
DI 6
DI 5
DI 4
DI 3
DI 2
DI 1
DI 0
STEP-R
ABS-PT
INC-PT
SERVO
DI. +COM
Cut-out
nNOTE A cut-out is provided on the upper left of terminal No. 1.
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Chapter 3 Installation and connections
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3
3-19
l NPN type I/O circuit description
n Input circuit
Type : DC input (positive common),
photocoupler insulation
Input power : DC 24V, 5mA per point
Response time : 30ms max.
n Output circuit
Type : NPN open collector
output (negative common),
photocoupler insulation
Load : DC 24V, 50mA per point
Response time : 1ms max.
l PNP type I/O circuit description
n Input circuit
Type : DC input (negative common),
photocoupler insulation
Input power : DC 24V, 5mA per point
Response time : 30ms max.
n Output circuit
Type : NPN open emitter output
(positive common),
photocoupler insulation
Load : DC 24V, 50mA per point
Response time : 1ms max.
DC24V
DI.-COM
DI.+COM
DC24V
DO.-COM
DO.+COM
DC24V
DI.-COM
DI.+COM
DC24V
DO.+COM
DO.-COM
3-18 3-19
Chapter 3 Installation and connections
3
Installation and connections
l CC-Link
• Terminal arrangement and connector specifications
No. Name
1 DA
2 DB
3 DG
4 SLD
5 FG
• Connection method
Controller
CC-Link connector
CC-Link cable
MEMO
The CC-Link unit supports CC-Link Ver. 1.10. Using a CC-Link cable that supports Ver. 1.10
reduces limitations such as on the cable length between stations. For more information,
refer to the master station PLC instruction manual that supports Ver. 1.10.
l DeviceNet
• Terminal arrangement and connector specifications
No. Name
1 V- (black)
2 CAN_L (blue)
3 Shield
4 CAN_H (white)
5 V+ (red)
• Connection method
Controller
DeviceNet connector
DeviceNet cable
1 2 3 4 5
DA DB DG SLD FG
1 2 3 4 5
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Chapter 3 Installation and connections
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3
3-21
l PROFIBUS
• Terminal arrangement and connector specifications
No. Name
1 –
2 –
3 RxD/TxD-P
4 RTS
5 GND
6 5V
7 –
8 RxD/TxD-N
9 –
• Connection method
Controller
PROFIBUS connector
PROFIBUS cable
1
2
3
4
5
6
7
8
9
* No connector plug is supplied
for PROFIBUS.
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Chapter 3 Installation and connections
3
Installation and connections
3.4.3 Connecting the monitor I/O connector
l Monitor I/O connector terminal arrangement
1 3 5 7 9 11 13 15 17 19
PA+ PB+ PZ+ SG – – – – AG AO1
2 4 6 8 10 12 14 16 18 20
PA- PB- PZ- SG – – – A-REF AG AO2
1
3
5
7
9
11
13
15
17
19
2
4
6
8
10
12
14
16
18
20
(NOTE) Monitor I/O connector is optional.
l Circuit description
n Feedback pulse output
Output circuit : Line driver
(26LS31 or equivalent)
Maximum output
current : 20mA
n Analog input
Input voltage : DC 0 to 10V
Resolution : 12 bits
n Analog output
Output voltage : DC 0 to 10V
Resolution : 8 bits
26LS32
or equivalent
26LS31
or equivalent
PA+
PA-
PB+
PB-
PZ+
PZ-
SG
A-REF
AG
A/D converter circuit
DC0 to 10V
AO1
AG
+
-
D/A converter circuit
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Chapter 3 Installation and connections
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3
3-23
3.5 Configuring external safety circuits
Use the SAFETY connector, etc. to configure an external safety circuit that matches the
user equipment.
nNOTE When using a HPB-D, refer to section 1.2, "Part names and functions", in the HPB Operation
Guide.
3.5.1 SAFETY connector functions and roles
The SAFETY connector includes terminals for external safety circuits such as emergency
stop and interlock circuits that stop the robot to ensure safety.
l Signal list
No. Signal name Meaning No. Signal name Meaning
1 DI.COM Input common 8 – –
2 LOCK Interlock 9 – –
3 SVCE SERVICE mode 10 – –
4 DO.COM Output common 11 EMG1
Emergency stop 1
(24V power supply for
emergency stop input)
5 MPRDY Main power supply ready 12 EMG2 Emergency stop 2
6 – – 13 – –
7 – – 14 – –
Emergency stop (EMG)
Use these terminals to connect to an external safety device (safety enclosure, manual
safety switch, etc.) that triggers a robot emergency stop.
Signal name Meaning Connector Type
EMG1
EMG2
Emergency stop SAFETY pins 11, 12 Input
Description
An emergency stop occurs when the contact connected between EMG1 and EMG2 is
opened (turned off). At the same time, the servo power supply is cut off and the servo
turns off. When a serial I/O unit is used, turning off the EMG signal also triggers an
emergency stop.
(NOTE) 1. When a serial I/O unit is used, the emergency stop (EMG) on the serial signal must also
be controlled.
2. Do not repeatedly use the emergency stop function to stop the robot when the robot is
in normal operation.
cCAUTION Connect these terminals to an external safety device to configure a system that
stops the robot if an emergency condition occurs.
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Chapter 3 Installation and connections
3
Installation and connections
Interlock (LOCK)
This input is used to stop robot movement and operation temporarily.
Signal name Meaning Connector Type
LOCK Interlock SAFETY pin 2 Input
Description
When this input is off, executing a movement command or program operation results
in an error and the robot does not move. When this input is turned off during robot
movement or program operation, the robot slows down and then stops.
MEMO
The following commands can be executed even if this input is off.
• SERVO input
• RESET input
• ALMRST input
(NOTE) When a serial I/O unit is used, the interlock (LOCK) on the serial signal must also be
controlled.
SERVICE mode (SVCE)
This input is used to notify the controller whether the current state is a SERVICE mode
state or not.
Signal name Meaning Connector Type
SVCE SERVICE mode SAFETY pin 3 Input
Related parameters
Parameter No. Name Setting Default See page:
PRM372 SERVICE mode enable setting 1 (enable) 0 (disable) 5-29
MEMO
The robot operator or other persons sometimes need to enter the hazardous area in the
robot safety enclosure and move the robot to perform maintenance or adjustment while
using the HPB. This state is referred to as "SERVICE mode state" and requires extra caution.
Main power supply ready (MPRDY)
This output turns on when the main power supply is ready for input.
Signal name Meaning Connector Type
MPRDY Main power supply ready SAFETY pin 5 Output
Description
This output turns on when emergency stop is canceled and no alarm is issued.
3-24
Chapter 3 Installation and connections
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3
3-25
3.5.2 SERVICE mode function
l Function description
The robot operator or other persons sometimes need to enter the hazardous area in the
robot safety enclosure and move the robot to perform robot maintenance or adjustment
while using the HPB. This situation is referred to as "SERVICE mode state" and requires
extra caution to prevent possible danger.
In "SERVICE mode state", some limits on controller operation are often necessary for
operator safety. The SERVICE mode function puts some limits on controller operation
when in "SERVICE mode state". When the SERVICE mode function is enabled, the
following safety controls will work in "SERVICE mode state".
n Safety controls that work in "SERVICE mode state"
Limits command input from any device other than HPB. Limits robot movement speed.
Prohibits automatic operation and step operation. Enables hold-to-run function.*
* Hold-to-run function permits the robot to move only when the HPB key is kept pressed.
Safety controls that work in "SERVICE mode state"
l How to use:
To use the SERVICE mode function, it must be enabled on the HPB. See the "HPB
Operation Guide" section for instructions on how to enable or disable the SERVICE
mode function.
When the SERVICE mode function is enabled, the controller constantly monitors status
to check whether "SERVICE mode state" occurs. The SERVICE mode input (SVCE) is used
to notify the controller whether the current state is a "SERVICE mode state". Turning
this input off (contact open) means that the current state is a "SERVICE mode state". For
more details, see 3.5.1, "SAFETY connector functions and roles" in this chapter.
In addition to enabling or disabling the SERVICE mode function itself, each safety
control in "SERVICE mode state" can also be set separately. (See the next subsection,
"Safety control description".) However, the SERVICE mode function is protected by a
password so that the settings cannot be easily changed.
3-24 3-25
Chapter 3 Installation and connections
3
Installation and connections
l Safety control description
Safety controls that work in "SERVICE mode state" are explained below. See the "HPB
Operation Guide" section for instructions on how to set each safety control.
wWARNING The following safety controls can be cancelled at the user's own discretion. But
extra caution must be taken to maintain safety since hazardous situations may
occur.
1. Limiting command input from any device other than HPB
When the operator is working within the safety enclosure using the HPB, permitting
any command input from devices (such as via I/O) other than the HPB is very
hazardous to the operator using the HPB.
w DANGER
When the operator is in the safety enclosure, a hazardous situation may
occur if someone runs an automatic operation start command (AUTO-R)
without letting the operator know about it.
To avoid this kind of hazard, only the HPB can be used to operate the robot in
"SERVICE mode state", and all other device command inputs are disabled.
However, this limitation can be cancelled even in "SERVICE mode state" to permit
command inputs from other devices, provided the user takes responsibility for safety.
Setting Description
0 (default) Only command inputs from the HPB are permitted in "SERVICE mode state".
1 Only command inputs from the HPB and parallel I/O are permitted in "SERVICE mode
state".
2 Only command inputs from the HPB and optional unit are permitted in "SERVICE mode
state".
3 Any command input is permitted even in "SERVICE mode state".
2. Limiting the robot movement speed
Moving the robot at a high speed while the operator is working within the safety
enclosure is very dangerous to that operator. Setting the robot movement speed to a
safety speed of 250mm/s or less is advisable because most robot operation while the
operator is working within the safety enclosure is for maintaining or adjusting the
robot. In view of this, the robot movement speed in "SERVICE mode state" is limited to
below 3% of maximum speed.
However, this speed limitation can be cancelled even in "SERVICE mode state" to set a
speed higher than the safety speed, provided the user takes responsibility for safety.
Setting Description
0 (default) Robot movement speed is limited to 3% of maximum speed in "SERVICE mode state".
1 Robot movement speed is not limited even in "SERVICE mode state".
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Chapter 3 Installation and connections
Installation and connections
3
3. Limiting the automatic operation and step operation
Running an automatic operation or step operation while the operator is working within
the safety enclosure is very dangerous to that operator.
w DANGER
When the operator is in the safety enclosure, a hazardous situation may
occur if someone runs a robot program without letting the operator know
about it.
To avoid this kind of hazard, automatic operation and step operation are basically
prohibited in "SERVICE mode state". However, this limitation can be cancelled even in
"SERVICE mode state" to permit automatic operation and step operation, provided the
user takes responsibility for safety.
Setting Description
0 (default) Automatic operation and step operation are prohibited in "SERVICE mode state".
1 Automatic operation and step operation are permitted even in "SERVICE mode state".
4. Hold-to-Run function
If the robot continues to move while the operator is working within the safety enclosure
without carrying the HPB, the operator may be exposed to a dangerous situation.
w DANGER
A hazardous situation may occur, for example, if the operator working
within the safety enclosure should trip or fall by accident and
blackout.
To prevent this kind of hazard in "SERVICE mode state", the Hold-to-Run function
allows the robot to move only during the time that the HPB key is kept pressed.
However, this Hold-to-Run function can be disabled even in a "SERVICE mode state",
provided the user takes responsibility for safety.
Setting Description
0 (default) Hold-to-Run function is enabled in "SERVICE mode state".
1 Hold-to-Run function is disabled even in "SERVICE mode state".
Chapter 4 Operation
Contents
4.1 Operation modes 4-1
4.2 Initial setting 4-2
4.2.1 Absolute/incremental mode setting (X type) 4-2
4.2.2 Power-on and servo recovery 4-2
4.2.3 Return-to-origin and coordinate polarity setting 4-4
4.2.4 Semi-absolute 4-5
4.2.5 Setting the movement range (soft limit setting) 4-6
4.2.6 Setting the payload 4-6
4.3 I/O interface 4-7
4.3.1 Overview 4-7
4.3.2 I/O unit setting and I/O list 4-8
4.3.2.1 NPN type and PNP type 4-8
4.3.2.2 CC-Link 4-9
4.3.2.3 DeviceNet 4-13
4.3.2.4 PROFIBUS 4-17
4.3.2.5 I/O assignment function 4-20
4.3.3 Monitor I/O (input/output) list 4-22
4.3.4 Operation via input/output signals 4-23
4.3.4.1 Control sequence 4-23
4.3.4.2 Servo recovery 4-27
4.3.4.3 Return-to-origin 4-28
4.3.4.4 Point trace operation 4-30
4.3.4.5 Torque limiting 4-39
4.3.4.6 Program operation 4-46
4.3.4.7 Jog movement and point teaching 4-47
4.3.4.8 Position information output 4-50
4.3.4.9 Alarms and resetting 4-55
4.3.4.10 Limitless movement function 4-56
4.3.4.11 Remote commands (serial I/O) 4-62
4.4 RS-232C communication 4-68
4.4.1 Communication parameter specifications 4-68
4.4.2 Communication cable specifications 4-70
4.4.3 Communication command specifications 4-73
4.4.4 Communication command lists 4-74
4-1
4-1
Chapter 4 Operation
4
O
peration
4.1 Operation modes
The SR1 series performs the following operations.
SR1 operation
I/O interface
Point trace operation ····· Uses a movement command such as ABSPT to move the robot to a position that is
registered beforehand as point data by
teaching, etc.
Remote commands ··
(Serial I/O only)
····· Issues a command with words from a host
device using a remote register, in order to
allow sending and receiving data such as by
a direct command and executing a high-level
command such as movement to a directly
specified position.
RS-232C
Program operation ········ Operates the robot according to a registered
program. Besides robot movement,
positioning and I/O signal control, a multi-task
function is also provided to run two or more
programs simultaneously.
Direct communication
commands
····· Uses a communication command to send/
receive various data and perform direct
movement and positioning.
4-2
Chapter 4 Operation
O
peration
4
4-3
4.2 Initial setting
4.2.1 Absolute/incremental mode setting (X type)
When the controller is "X type", it allows selecting "absolute mode" that retains position
information even after power-off or "incremental mode" that does not retain position
information after power-off. An absolute battery is required when "absolute setting" is
selected.
Related parameter
Parameter No. Name Setting Default See page:
PRM361 Absolute mode selection 0, 1
X : 1
P : 0
5-28
Description
Setting this parameter to "0" selects incremental mode that requires return-to-origin
operation each time after power-on, because position information is cleared when
power is turned off.
Setting to "1" selects absolute mode that retains position information even after poweroff, once return-to-origin is performed.
(NOTE) 1. In absolute mode, an absolute battery specified by YAMAHA must be connected to the
controller.
2. Absolute mode is available only for "X type".
4.2.2 Power-on and servo recovery
When the servo is ready to recover (emergency stop is canceled and no alarm activated),
it automatically turns on by turning on the control power supply. (Default setting)
1 sec. or more
0.5 sec. or more
Control power supply
Main power supply
READY
Servo ON
END
(NOTE) When an optional serial I/O is used, the servo does not automatically turn on at poweron.
An alarm occurs at servo-on unless the main power supply is input, so the control power
supply and main power supply must be input at the same time when the default setting is
used.
To separately control the control power supply and main power supply, use the following
parameter to turn on the servo from the host device, as shown in the sequence below.
4-2 4-3
Chapter 4 Operation
4
O
peration
Related parameter
Parameter No. Name Setting Default See page:
PRM308 Servo recovery sequence 0, 1 0 5-22
Description
When set to "0", the servo automatically turns on at power-on as long as servo recovery
conditions are met.
When set to "1", the servo recovery must be controlled from the host device. (See
below.)
Control power supply
Main power supply
READY
Servo ON
SERVO
END
1 sec. or more
0.5 sec. or
more
4-4
Chapter 4 Operation
O
peration
4
4-5
4.2.3 Return-to-origin and coordinate polarity setting
Since the SR1 controller operates the robot on a single axis coordinate system, the origin
position must be determined by the operation called "return-to-origin".
Related parameters
Parameter No. Name Setting Default See page:
PRM120 Axis polarity 0, 1 0 5-13
PRM121 Return-to-origin direction 0, 1 Depends on robot type. 5-14
PRM122 Return-to-origin speed 1 to 100 20 5-14
PRM123 Origin detection method 0 to 2 Depends on robot type. 5-14
PRM124 Origin shift -9999 to 9999 0 5-14
l Origin position and coordinate relation
X+ X+
Motor Motor
CCW direction CW direction CW directionCCW direction

Return-to-origin direction (PRM121): 1 (CW direction)
Axis polarity (PRM120): 1 (+++)

Return-to-origin direction (PRM121): 0 (CCW direction)
Axis polarity (PRM120): 0 (---)
Origin position (NOTE 1) Origin position (NOTE 1)
(NOTE) 1. The origin position is not always at 0 (zero). The value registered by PRM124 (Origin
shift) becomes the origin coordinate value. This is set to 0 prior to shipping.
2. On the FLIP-X series robots driven by the "X type" controller, the direction to the
motor side is referred to as CCW direction, while the direction to the opposite side
is referred to as CW direction. On the PHASER series robots driven by the "P type"
controller, the R to L direction is referred to as CCW direction, while the opposite
direction is referred to as CW direction.
3. The axis polarity is set prior to shipping so that the direction opposite the returnto-origin direction is the + direction. When the "Axis polarity" parameter (PRM120)
is set to 1, the polarity is reversed.
l Return-to-origin
The following origin detection methods are available to perform return-to-origin.
Origin detection method PRM123 Description
Search
method (NOTE 1)
Sensor
method
0
The robot moves in the return-to-origin direction. When the
origin sensor detects the origin, the robot then stops at a
specified position and determines it as the origin position.
Stroke end
method
1
The robot moves in the return-to-origin direction to the
stroke end. When a stroke end torque is detected, the robot
then moves back slightly and stops at a specified position to
determine it as the origin position.
Mark method (NOTE 2) 2
Moves the robot to an arbitrary point (marked point) and
sets that point as a particular coordinate value.
(NOTE) 1. When selecting the search method, check the robot specifications and set the parameter correctly.
2. The mark method is available only to the "X type" controller.
4-4 4-5
Chapter 4 Operation
4
O
peration
4.2.4 Semi-absolute
l Semi-absolute
"Semi-absolute" is the name for a simple absolute scale used in the YAMAHA linear
single-axis robot PHASER series. Our unique method is used to create a positiondetection scale having simple absolute functions. This scale allows detecting the
absolute position with only minimal movements by making an absolute search with the
return-to-origin command.
Using this scale drastically reduces the time needed for return-to-origin operation
of the PHASER series robots, especially those with time-consuming long-stroke
movements, and therefore improves the cycle time of the system.
l Absolute search
When the "P type" controller is used to operate a PHASER series robot that supports
"semi-absolute" as the position detection method, an absolute position detection
(absolute search) must be performed immediately after power-on.
Related parameters
Parameter No. Name Setting Default See page:
PRM102 Stroke length 0 to 9999 Depends on robot type. 5-11
PRM120 Axis polarity 0, 1 0 5-13
PRM121 Return-to-origin direction 0, 1 Depends on robot type. 5-14
PRM122 Return-to-origin speed 1 to 100 20 5-14
PRM123 Origin detection method 0 to 2 Depends on robot type. 5-14
PRM124 Origin shift -9999 to 9999 0 5-14
Description
In the case of "semi-absolute", an absolute search is performed with the return-toorigin command. Unlike return-to-origin operations using an origin sensor or a strokeend detected torque, this absolute search detects the absolute position with minimal
movements and stops at a point where the current position is determined.

Return-to-origin direction (PRM121): 1 (CW direction)
Axis polarity (PRM120): 0 (---)
R sideL side
a[mm]
Ls[mm]
X+
Ls 0

Return-to-origin direction (PRM121): 0 (CCW direction)
Axis polarity (PRM120): 0 (---)
R sideL side
a[mm]
Ls[mm]
X+
Ls0
(NOTE) 1. Maximum movement width (a) is 76 mm during an absolute search (see figure
above).
2. Absolute search sets axis coordinates that range from 0 to the stroke end (Ls) with
the initial movement direction as the minus direction (see figure above). If the axis
plus-minus direction needs to be reversed, then you must change the Axis polarity
(PRM120) parameter. To shift just the coordinate 0 value, use the ORG shift
(PRM124) parameter.
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3. If the robot is operated while the Stroke length (PRM102) parameter is not
registered or an incorrect value is registered for it, then an alarm or position
deviations may occur. This parameter is registered to meet the robot specifications
before being shipped, but in the unlikely event some problem occurs, check if a
correct value is registered for it.
4. Movement speed during absolute search is limited to a maximum of 20 mm/s
(millimeters per second).
4.2.5 Setting the movement range (soft limit setting)
The robot movement range can be limited by software to prevent the robot from interfering
with peripheral devices. The robot is allowed to move to a target position only within the
movement range specified by soft limit.
Related parameters
Parameter No. Name Setting Default See page:
PRM110 (+) soft limit
-9999 to 9999
Depends on
robot type.
5-11
PRM111 (-) soft limit 5-11
4.2.6 Setting the payload
When the maximum payload that the robot carries is registered in the parameter, the SR1
controller calculates the optimum acceleration based on that payload. The maximum
payload for the registered robot is set as default prior to shipping.
Related parameter
Parameter No. Name Setting Default See page:
PRM112 Payload
0 to maximum
(depending on
robot type)
Depends on
robot type.
5-12
cCAUTION If the payload is set too small, abnormal vibrations or overheating may occur
causing problems with the robot and controller. Conversely, a parameter setting
larger than the actual payload may cause a loss of cycle time and lower the
productivity.
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4.3 I/O interface
4.3.1 Overview
The SR1 series has I/O interfaces that allow command exchange with the host device such
as a PLC and control the directly connected actuators such as sensors and valves. The I/O
interfaces are roughly classified into parallel I/O and serial I/O interfaces.
Parallel I/O Serial I/O
PLC
SR1
I/OI/OI/O

SR1 SR1
PLC
SR1SR1SR1
I/OI/OI/O

Optional I/O units can be selected when ordering the SR1 series. The table below lists the
I/O units and a description of each unit.
I/O unit type Description
Parallel I/O
NPN
NPN specifications indicate that an NPN open-collector transistor is used as
output for the I/O port having a transistor and photocoupler, and a
corresponding input is also used. In this case, the output circuit is a sink
type and the input circuit is a source type.
PNP
PNP specifications indicate that a NPN open-emitter transistor is used as
output for the I/O port having a transistor and photocoupler, and a
corresponding input is also used. In this case, the output circuit is a source
type and the input circuit is a sink type.
Serial I/O
CC-Link
CC-Link is an abbreviation for "Communication & Control Link" and is an FA
field network developed by Mitsubishi Electric Corporation.
A programmable logic controller (PLC) used as the master unit runs the
controller at high speeds through dedicated cables connected to all units in
the CC-Link. CC-Link also eliminates the need for a lot of wiring, so wiring
tasks are more efficient and installation and maintenance costs are reduced.
DeviceNet
DeviceNet is an FA field network developed by Allen-Bradley Corporation in
the USA. Technical rights to DeviceNet were later transferred to the ODVA
(organization dedicated to the worldwide spread of DeviceNet). DeviceNet
specifications are now completely open to everyone, and both domestic and
overseas manufacturers are developing products conforming to DeviceNet
specifications. Using DeviceNet allows different kinds of control devices
such as PLC, PC, sensors and actuators to be easily interconnected.
DeviceNet also eliminates the need for a lot of wiring, so wiring tasks are
more efficient and installation and maintenance costs are reduced.
PROFIBUS
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. To allow PROFIBUS to be used more effectively according to
the specification purpose, the PROFIBUS family is composed of two types
of buses: PROFIBUS DP for factory automation and PROFIBUS PA for
process automation.
Terms "on" and "off" used here mean "on/off" of switches connected to the input terminals
when referring to input. They also mean "on/off" of output transistors when referring to
output.
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4.3.2 I/O unit setting and I/O list
4.3.2.1 NPN type and PNP type
The I/O list for NPN type and PNP type (parallel I/O) is shown below.
n I/O list
No. Signal name Meaning No. Signal name Meaning
1 DI.+COM
Power (+) for input,
common
26 DI.-COM
Power (-) for input,
common
2 SERVO Servo recovery 27 AUTO-R Automatic operation
3 INC-PT Relative point movement 28 RESET Reset
4 ABS-PT Absolute point movement 29 ORG-S Return-to-origin
5 STEP-R Step operation 30 ALMRST Alarm reset
6 DI 0
General-purpose inputs 0
to 7
31 DI 8
General-purpose inputs 8
to 15
7 DI 1 32 DI 9
8 DI 2 33 DI 10
9 DI 3 34 DI 11
10 DI 4 35 DI 12
11 DI 5 36 DI 13
12 DI 6 37 DI 14
13 DI 7 38 DI 15
14 DO.+COM
Power (+) for output,
common
39 DO.-COM
Power (-) for output,
common
15 DO.+COM
Power (+) for output,
common
40 DO.-COM
Power (-) for output,
common
16 END End of run 41 READY Ready to operate
17 BUSY
Command is being
executed
42 UTL Utility output
18 DO 0
General-purpose outputs
0 to 7
43 DO 8
General-purpose outputs
8 to 15
19 DO 1 44 DO 9
20 DO 2 45 DO 10
21 DO 3 46 DO 11
22 DO 4 47 DO 12
23 DO 5 48 DO 13
24 DO 6 49 DO 14
25 DO 7 50 DO 15
* SERVO, INC-PT, ABS-PT, STEP-R, AUTO-R, RESET, ORG-S, and ALMRST are used for dedicated input, and
END, BUSY, and READY are used for dedicated output.
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4.3.2.2 CC-Link
l How CC-Link works
CC-Link is a field network recommended by CC-Link Association for reducing the
amount of wiring in the system and performing FA (factory automation) control.
PLC
(Master station)
Remote device
station
Remote I/O
station
SR1 controller
(CC-Link unit)
• The SR1 series controller functions as a remote device station and occupies 2
stations per one controller
• Bit data and word data (remote register) are used.
l Initial setting
• Station number and communication speed setting
Station numbers and communication speeds must be set to correctly recognize
the SR1 series as a remote station in a CC-Link system. Use the HPB to make the
settings. For the setting method, refer to 6.1, "Setting the CC-Link unit", in the HPB
operation guide section.
(NOTE) Power must be turned off and back on to enable the setting.
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l CC-Link profile
The profile (I/O signal table) list of the CC-Link unit is shown below.
n Remote I/O (bit I/O)
Output (Remote → Master) Input (Master → Remote)
Device No. Signal name Meaning Device No. Signal name Meaning
RXn0 SRV-O Servo status RYn0 SERVO Servo recovery
RXn1 (ZONE0) (Zone output 0) RYn1 INC-PT Relative point movement
RXn2 (ZONE1) (Zone output 1) RYn2 ABS-PT Absolute point movement
RXn3 (ZONE2) (Zone output 2) RYn3 STEP-R Step operation
RXn4 (ZONE3) (Zone output 3) RYn4 AUTO-R Automatic operation
RXn5 (TLON) (Torque limit status output) RYn5 RESET Reset
RXn6 ORG-O Return-to-origin status RYn6 ORG-S Return-to-origin
RXn7 – – RYn7 LOCK Interlock
RXn8 – – RYn8 – –
RXn9 – – RYn9 – –
RXnA – – RYnA ALMRST Alarm reset
RXnB – – RYnB – –
RXnC UTL Utility output RYnC – –
RXnD END End of run RYnD – –
RXnE BUSY Command is being executed RYnE SVCE Service mode
RXnF READY Ready to operate RYnF EMG Emergency stop
RX(n+1)0 SO200
General-purpose output
RY(n+1)0 SI200
General-purpose input
RX(n+1)1 SO201 RY(n+1)1 SI201
RX(n+1)2 SO202 RY(n+1)2 SI202
RX(n+1)3 SO203 RY(n+1)3 SI203
RX(n+1)4 SO204 RY(n+1)4 SI204
RX(n+1)5 SO205 RY(n+1)5 SI205
RX(n+1)6 SO206 RY(n+1)6 SI206
RX(n+1)7 SO207 RY(n+1)7 SI207
RX(n+1)8 SO208 RY(n+1)8 SI208
RX(n+1)9 SO209 RY(n+1)9 SI209
RX(n+1)A SO210 RY(n+1)A SI210
RX(n+1)B SO211 RY(n+1)B SI211
RX(n+1)C SO212 RY(n+1)C SI212
RX(n+1)D SO213 RY(n+1)D SI213
RX(n+1)E SO214 RY(n+1)E SI214
RX(n+1)F SO215 RY(n+1)F SI215
RX(n+2)0 SO216 RY(n+2)0 SI216
RX(n+2)1 SO217 RY(n+2)1 SI217
RX(n+2)2 SO218 RY(n+2)2 SI218
RX(n+2)3 SO219 RY(n+2)3 SI219
RX(n+2)4 SO220 RY(n+2)4 SI220
RX(n+2)5 SO221 RY(n+2)5 SI221
RX(n+2)6 SO222 RY(n+2)6 SI222
RX(n+2)7 SO223 RY(n+2)7 SI223
RX(n+2)8 SO224 RY(n+2)8 SI224
RX(n+2)9 SO225 RY(n+2)9 SI225
RX(n+2)A SO226 RY(n+2)A SI226
RX(n+2)B SO227 RY(n+2)B SI227
RX(n+2)C SO228 RY(n+2)C SI228
RX(n+2)D SO229 RY(n+2)D SI229
RX(n+2)E SO230 RY(n+2)E SI230
RX(n+2)F SO231 RY(n+2)F SI231
n: Value determined by station number setting
* Use RXn0 to RXnF as dedicated outputs, RX(n+1)0 to RX(n+2)F as general-purpose outputs, RYn0 to RYnF
as dedicated inputs, and RY(n+1)0 to RY(n+2)F as General-purpose inputs.
* RX(n+3)0 to RX(n+3)F and RY(n+3)0 to RY (n+3)F are areas reserved for the CC-Link system.
* To enable ZONE0 to ZONE3, PRM306 (Zone output select) must be set.
* An error status flag is output when an alarm that cannot be reset is issued.
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Output (Remote → Master) Input (Master → Remote)
Device No. Signal name Meaning Device No. Signal name Meaning
RX(n+3)0 –
(Reserved)
RY(n+3)0 –
(Reserved)
RX(n+3)1 – RY(n+3)1 –
RX(n+3)2 – RY(n+3)2 –
RX(n+3)3 – RY(n+3)3 –
RX(n+3)4 – RY(n+3)4 –
RX(n+3)5 – RY(n+3)5 –
RX(n+3)6 – RY(n+3)6 –
RX(n+3)7 – RY(n+3)7 –
RX(n+3)8 Initial data processing request flag RY(n+3)8 Initial data processing end flag
RX(n+3)9 – RY(n+3)9 –
RX(n+3)A Error flag RY(n+3)A –
RX(n+3)B Remote READY RY(n+3)B –
RX(n+3)C – – RY(n+3)C –
RX(n+3)D – – RY(n+3)D –
RX(n+3)E – – RY(n+3)E –
RX(n+3)F – – RY(n+3)F –
n: Value determined by station number setting
* Use RXn0 to RXnF as dedicated outputs, RX(n+1)0 to RX(n+2)F as general-purpose outputs, RYn0 to RYnF
as dedicated inputs, and RY(n+1)0 to RY(n+2)F as General-purpose inputs.
* RX(n+3)0 to RX(n+3)F and RY(n+3)0 to RY (n+3)F are areas reserved for the CC-Link system.
* To enable ZONE0 to ZONE3, PRM306 (Zone output select) must be set.
* An error status flag is output when an alarm that cannot be reset is issued.
n Remote register (Word I/O)
Output (Remote → Master) Input (Master → Remote)
Address Signal name Meaning Address Signal name Meaning
RWrn WO0 Status RWwn WI0
Execution command
RWrn+1 WO1 Reserved RWwn+1 WI1
RWrn+2 WO2
Command response
RWwn+2 WI2
Command option
RWrn+3 WO3 RWwn+3 WI3
RWrn+4 WO4 RWwn+4 WI4
RWrn+5 WO5 RWwn+5 WI5
RWrn+6 WO6 RWwn+6 WI6
RWrn+7 WO7 RWwn+7 WI7
n: Value determined by station number setting
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l Communication exchange
• Line test
The master station PLC on the CC-Link system contains a function to make a line test
to the remote station. Use this function to check that the SR1 controller is correctly
recognized as a remote station system before starting any actual work.
• Transmit/receive starting process
To correctly transmit and receive data between the master station PLC and the SR1
controller, the system must be designed so that the following handshake process will
be performed. If the handshake processing is not performed and "Remote READY"
(RX(n+3)B) is not set to ON, this will cause an emergency stop to prohibit operation.
RX(n+3)8 : Initial data processing request flag
RY(n+3)8 : Initial data processing end flag
RX(n+3)B : Remote READY
RX(n+3)8
RY(n+3)8
RX(n+3)B
q w e r
q When the controller starts up or when communication with the master station
is disabled because an error occurs in the CC-Link system, the controller sets
RX(n+3)8 to ON, and RX(n+3)B to OFF.
w Check that RX(n+3)8 is set to ON, and then set RY(n+3)8 to ON from the master
station PLC.
e After checking that RX(n+3)8 is set to ON, the controller turns sets RX(n+3)8 to
OFF, and RX(n+3)B to ON.
r Check that RX(n+3)8 is set to OFF, and then set RY(n+3)8 to OFF from the master
station PLC. The actual data can now be sent and received.
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4.3.2.3 DeviceNet
l How DeviceNet works
DeviceNet is a field network system that interconnects various devices (machines) for
in the FA (factory automation) field such as controllers, sensors, and limit switches via
serial communications.
PLC
(Master station)
Slave station Slave station
SR1 controller
(DeviceNet)
• The SR1 series functions as a slave station that exchanges I/O information with a
master station.
l Initial Settings
• Setting the MAC ID and communication speed
The MAC ID and communication speed must be set so that the SR1 series will be
correctly recognized as a slave station by the DeviceNet system. The MAC ID can be
set from 0 to 63, and the communication speed to 500k, 250k, or 125k (units: bps).
(1) To set with the DIP switch (prior to shipment)
Remove the front and side covers on the
controller to view the DIP switch on the
DeviceNet board. Set the DIP switch using
the guide label attached to the board. (See the
figure on the right.)
(2) To set with the HPB
The system setting is made after changing the DeviceNet system setting from 0 (H/
W) to 1 (S/W). This setting is easier than the above method (1) since it eliminates
the trouble of removing the controller covers. See 6.2.2, "System setting", in
Chapter 6 of the HPB Operation Guide section. It includes methods for making
changes including system settings.
• Profile selection
A profile can be selected to match the particular application.
Profile No. of channels Description EDS file *
Profile 1
(normal type)
Input: 2
Output: 2
Same type as previous model.
Handles 16 general-purpose inputs
and 16 general-purpose outputs.
yamaha-motor1.eds
Profile 2
(expanded type)
Input: 12
Output: 12
Besides 32 general-purpose inputs and
32 general-purpose outputs, operation
by remote command is possible.
yamaha-motor3.eds
* : The EDS file is a file installed for making assignments with the configurator.
* : See 6.2.3, "Selecting the profile type", in Chapter 6 of the HPB Operating Guide section for methods to
change the profile.
(NOTE) After making the settings, the power must be turned off and back on again to enable them.
1 2 3 4 5 6 7 8ON
1 2 4 8 16 32 0 1
NODE ADDRESS DR
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l DeviceNet profile 1 (normal type)
A list of DeviceNet unit profiles (I/O signal table) is shown below.
n Remote I/O (Bit I/O)
Output (Remote → Master) Input (Master → Remote)
Channel No. Signal name Meaning Channel No. Signal name Meaning
n bit0 SRV-O Servo status
m bit0 SERVO Servo recovery
bit1 (ZONE0) (Zone output 0) bit1 INC-PT Relative point movement
bit2 (ZONE1) (Zone output 1) bit2 ABS-PT Absolute point movement
bit3 (ZONE2) (Zone output 2) bit3 STEP-R Step operation
bit4 (ZONE3) (Zone output 3) bit4 AUTO-R Automatic operation
bit5 (TLON) (Torque limit status output) bit5 RESET Reset
bit6 ORG-O Return-to-origin status bit6 ORG-S Return-to-origin
bit7 – – bit7 LOCK Interlock
bit8 – – bit8 – –
bit9 – – bit9 – –
bit10 – – bit10 ALMRST Alarm reset
bit11 – – bit11 – –
bit12 UTL Utility output bit12 – –
bit13 END End of run bit13 – –
bit14 BUSY Command is being executed bit14 SVCE Service mode
bit15 READY Ready to operate bit15 EMG Emergency stop
n+1
bit0 SO200
General-purpose output m+1
bit0 SI200
General-purpose intput
bit1 SO201 bit1 SI201
bit2 SO202 bit2 SI202
bit3 SO203 bit3 SI203
bit4 SO204 bit4 SI204
bit5 SO205 bit5 SI205
bit6 SO206 bit6 SI206
bit7 SO207 bit7 SI207
bit8 SO208 bit8 SI208
bit9 SO209 bit9 SI209
bit10 SO210 bit10 SI210
bit11 SO211 bit11 SI211
bit12 SO212 bit12 SI212
bit13 SO213 bit13 SI213
bit14 SO214 bit14 SI214
bit15 SO215 bit15 SI215
n, m: Values determined by channel setting
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l DeviceNet profile 2 (expanded type)
A list of DeviceNet unit profiles (I/O signal table) is shown below.
n Remote I/O (Bit I/O)
Output (Remote → Master) Input (Master → Remote)
Channel No. Signal name Meaning Channel No. Signal name Meaning
n bit0 SRV-O Servo status
m bit0 SERVO Servo recovery
bit1 (ZONE0) (Zone output 0) bit1 INC-PT Relative point movement
bit2 (ZONE1) (Zone output 1) bit2 ABS-PT Absolute point movement
bit3 (ZONE2) (Zone output 2) bit3 STEP-R Step operation
bit4 (ZONE3) (Zone output 3) bit4 AUTO-R Automatic operation
bit5 (TLON) (Torque limit status output) bit5 RESET Reset
bit6 ORG-O Return-to-origin status bit6 ORG-S Return-to-origin
bit7 – – bit7 LOCK Interlock
bit8 – – bit8 – –
bit9 – – bit9 – –
bit10 – – bit10 ALMRST Alarm reset
bit11 – – bit11 – –
bit12 UTL Utility output bit12 – –
bit13 END End of run bit13 – –
bit14 BUSY Command is being executed bit14 SVCE Service mode
bit15 READY Ready to operate bit15 EMG Emergency stop
n+1
bit0 SO200
General-purpose output
m+1
bit0 SI200
General-purpose intput
bit1 SO201 bit1 SI201
bit2 SO202 bit2 SI202
bit3 SO203 bit3 SI203
bit4 SO204 bit4 SI204
bit5 SO205 bit5 SI205
bit6 SO206 bit6 SI206
bit7 SO207 bit7 SI207
bit8 SO208 bit8 SI208
bit9 SO209 bit9 SI209
bit10 SO210 bit10 SI210
bit11 SO211 bit11 SI211
bit12 SO212 bit12 SI212
bit13 SO213 bit13 SI213
bit14 SO214 bit14 SI214
bit15 SO215 bit15 SI215
n+2
bit0 SO216
m+2
bit0 SI216
bit1 SO217 bit1 SI217
bit2 SO218 bit2 SI218
bit3 SO219 bit3 SI219
bit4 SO220 bit4 SI220
bit5 SO221 bit5 SI221
bit6 SO222 bit6 SI222
bit7 SO223 bit7 SI223
bit8 SO224 bit8 SI224
bit9 SO225 bit9 SI225
bit10 SO226 bit10 SI226
bit11 SO227 bit11 SI227
bit12 SO228 bit12 SI228
bit13 SO229 bit13 SI229
bit14 SO230 bit14 SI230
bit15 SO231 bit15 SI231
n+3 – – m+3 – –
n, m: Values determined by channel setting
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n Remote register (Word I/O)
Output (Remote → Master) Input (Master → Remote)
Channel No. Signal name Meaning Channel No. Signal name Meaning
n+4 WO0 Status m+4 WI0
Execution command
n+5 WO1 Reserved m+5 WI1
n+6 WO2
Command response
m+6 WI2
Command option
n+7 WO3 m+7 WI3
n+8 WO4 m+8 WI4
n+9 WO5 m+9 WI5
n+10 WO6 m+10 WI6
n+11 WO7 m+11 WI7
n, m: Values determined by channel setting
l Communication exchange
• Line test
The master station PLC on the DeviceNet system contains a function to make a line
test to the slave station. Use this function to check that SR1 is correctly recognized
as a slave station before starting any actual work.
• Initial communication exchange
In the case of the SR1 series, about 2 or 3 seconds are needed after starting before
communication is normal. Once communication is normal the MS lamp and NS
lamp light up (green).
HPB
NS lamp
MS lamp
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4.3.2.4 PROFIBUS
l How PROFIBUS works
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 (programmable logic controller) unit. The slave station is
controlled by the master station and processes data in response to a request from the
maser station.
The controllers equipped with the PROFIBUS unit operate as slave stations and
exchange I/O information with the master station.
PLC
(Master station)
Slave station Slave station
SR1 controller
(PROFIBUS unit)
l Initial setting
• Station address setting
The station address must be set to allow the SR1 series to be recognized as a slave
station on the PROFIBUS system. This setting is made with an HPB. For instructions
on how to set a station address, refer to 6.3.2, "Setting the station address", in the
HPB Operation Guide.
(NOTE) To enable the setting, the power must be turned off and then back on.
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l PROFIBUS profile
The PROFIBUS unit's profile (I/O signal table) is shown below.
n Remote I/O (bit I/O)
Output (Slave → Master) Input (Master → Slave)
Device No. Signal name Meaning Device No. Signal name Meaning
Im.0 SRV-O Servo status Qn.0 SERVO Servo recovery
Im.1 (ZONE0) (Zone output 0) Qn.1 INC-PT Relative point movement
Im.2 (ZONE1) (Zone output 1) Qn.2 ABS-PT Absolute point movement
Im.3 (ZONE2) (Zone output 2) Qn.3 STEP-R Step operation
Im.4 (ZONE3) (Zone output 3) Qn.4 AUTO-R Automatic operation
Im.5 – – Qn.5 RESET Reset
Im.6 ORG-O Return-to-origin status Qn.6 ORG-S Return-to-origin
Im.7 – – Qn.7 LOCK Interlock
Im+1.0 – – Qn+1.0 – –
Im+1.1 – – Qn+1.1 – –
Im+1.2 – – Qn+1.2 ALMRST Alarm reset
Im+1.3 – – Qn+1.3 – –
Im+1.4 UTL Utility output Qn+1.4 – –
Im+1.5 END End of run Qn+1.5 – –
Im+1.6 BUSY Command is being executed Qn+1.6 SVCE Service mode
Im+1.7 READY Ready to operate Qn+1.7 EMG Emergency stop
Im+2.0 SO200
General-purpose output
Qn+2.0 SI200
General-purpose input
Im+2.1 SO201 Qn+2.1 SI201
Im+2.2 SO202 Qn+2.2 SI202
Im+2.3 SO203 Qn+2.3 SI203
Im+2.4 SO204 Qn+2.4 SI204
Im+2.5 SO205 Qn+2.5 SI205
Im+2.6 SO206 Qn+2.6 SI206
Im+2.7 SO207 Qn+2.7 SI207
Im+3.0 SO208 Qn+3.0 SI208
Im+3.1 SO209 Qn+3.1 SI209
Im+3.2 SO210 Qn+3.2 SI210
Im+3.3 SO211 Qn+3.3 SI211
Im+3.4 SO212 Qn+3.4 SI212
Im+3.5 SO213 Qn+3.5 SI213
Im+3.6 SO214 Qn+3.6 SI214
Im+3.7 SO215 Qn+3.7 SI215
Im+4.0 SO216 Qn+4.0 SI216
Im+4.1 SO217 Qn+4.1 SI217
Im+4.2 SO218 Qn+4.2 SI218
Im+4.3 SO219 Qn+4.3 SI219
Im+4.4 SO220 Qn+4.4 SI220
Im+4.5 SO221 Qn+4.5 SI221
Im+4.6 SO222 Qn+4.6 SI222
Im+4.7 SO223 Qn+4.7 SI223
Im+5.0 SO224 Qn+5.0 SI224
Im+5.1 SO225 Qn+5.1 SI225
Im+5.2 SO226 Qn+5.2 SI226
Im+5.3 SO227 Qn+5.3 SI227
Im+5.4 SO228 Qn+5.4 SI228
Im+5.5 SO229 Qn+5.5 SI229
Im+5.6 SO230 Qn+5.6 SI230
Im+5.7 SO231 Qn+5.7 SI231
Im+6.0 to
Im+7.7
– –
Qn+6.0 to
Qn+7.7
– –
* Use Im.0 to Im+1.7 as dedicated outputs, Im+2.0 to Im+5.7 as general-purpose outputs, Qn.0 to Qn+1.7 as
dedicated inputs, and Qn+2.0 to Qn+5.7 as general-purpose inputs.
* Im+6.0 to Im+7.7 and Qn+6.0 to Qn+7.7 are not used.
* PRM306 (Zone output selection) must be set properly to enable ZONE 0 to ZONE 3.
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n Remote register (Word I/O)
Output (Slave → Master) Input (Master → Slave)
Address Signal name Meaning Address Signal name Meaning
Iwm+8 WO0 Status QWn+8 WI0
Execution command
Iwm+10 WO1 Reserved QWn+10 WI1
Iwm+12 WO2
Command response
QWn+12 WI2
Command option
Iwm+14 WO3 QWn+14 WI3
Iwm+16 WO4 QWn+16 WI4
Iwm+18 WO5 QWn+18 WI5
Iwm+20 WO6 QWn+20 WI6
Iwm+22 WO7 QWn+22 WI7
What each code means:
Codes used above are written on the basis of the digital I/O address designated in a
master manufactured by Siemens.
I : Input address
Q : Output address
m, n : Start address assigned by hardware configuration
n Bit input/output
Bit address (from 0 to 7)
Byte address (from 0)
Address identifier
I 1.2
n Word input/output
QW8
QB8 QB9
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
Q8.7 Q8.0 Q9.7 Q9.0
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4.3.2.5 I/O assignment function
Input/output assignments can be selected to match the application being used.
Related parameter
Parameter No. Name Setting Default See page:
PRM300 I/O assignment 0 to 31 0 5-20
Description
Types selected by assigning an I/O and their functions are shown below.
(1) Normal type
This type is capable of point trace and program operation. This type is set prior to
shipment.
(2) Point trace type
This type is only capable of point trace operation.
(3) Point teaching type-1
Besides point trace, this type allows JOG operation by switching modes with CHG
and can write the current position as points.
(4) Point teaching type-2
Besides point trace and torque limiting, this type allows JOG operation by
switching modes with CHG and can write the current position as points.
(5) Point teaching type-3
Besides program operation, this type allows JOG operation by switching modes
with CHG and can write the current position as points.
(6) Binary data type-1
This type can perform trace operation using specified binary data. When ABS-BN is
executed after specifying the binary data to B10 to 15 and SIGN, the robot moves
to the position specified by the binary data. Binary data can be specified in 16 or
17 bits along with a sign.
(7) Binary data type-2
Beside trace operation using the specified binary data, this type can also limit the
torque.
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n I/O assignment type setting and assignment tables
• When using parallel I/O (NPN, PNP)
Normal
type
Trace type
Point teaching type Binary input type
-1 -2 -3 -1 -2
PRM300 【0】 10 20 21 22 30 31
Mode – – Trace mode
Teaching
mode
Trace
mode
Teaching
mode
Trace
mode
Teaching
mode – –
Input
SERVO SERVO SERVO SERVO SERVO SERVO SERVO
INC-PT INC-PT INC-PT JOG- INC-PT JOG- STEP-R JOG- ABS-BN ABS-BN
ABS-PT ABS-PT ABS-PT JOG+ ABS-PT JOG+ AUTO-R JOG+ (HOLD) (HOLD)
STEP-R – CHG CHG CHG SPD 1 SPD 1
AUTO-R – – PSET RESET PSET – PSET SPD 2 SPD 2
RESET RESET RESET TLM RESET (SIGN) TLM
ORG-S ORG-S ORG-S ORG-S ORG-S ORG-S ORG-S
ALMRST ALMRST ALMRST ALMRST ALMRST ALMRST ALMRST
DI 0 to 15
DI 0 to 14 DI 0 to 14 DI 0 to 14
DI 0 to 15 DI 0 to 15 DI 0 to 15
(HOLD)* (HOLD)* (HOLD)*
Output
END END END END END END END
BUSY BUSY BUSY BUSY BUSY BUSY BUSY
READY READY READY READY READY READY READY
UTL UTL UTL (TLON) UTL UTL (TLON)
* : HOLD must be enabled by PRM318 (HOLD valid).
• When using serial I/O (CC-Link, DeviceNet, PROFIBUS)
Normal
type
Trace type
Point teaching type Binary input type
-1 -2 -3 -1 -2
PRM300 【0】 10 20 21 22 30 31
Mode – – Trace mode
Teaching
mode
Trace
mode
Teaching
mode
Trace
mode
Teaching
mode – –
Input
SERVO SERVO SERVO SERVO SERVO SERVO SERVO
INC-PT INC-PT INC-PT JOG- INC-PT JOG- STEP-R JOG- ABS-BN ABS-BN
ABS-PT ABS-PT ABS-PT JOG+ ABS-PT JOG+ AUTO-R JOG+ (HOLD) (HOLD)
STEP-R – CHG CHG CHG SPD 1 SPD 1
AUTO-R – – PSET RESET PSET – PSET SPD 2 SPD 2
RESET RESET RESET TLM RESET (SIGN) TLM
ORG-S ORG-S ORG-S ORG-S ORG-S ORG-S ORG-S
ALMRST ALMRST ALMRST ALMRST ALMRST ALMRST ALMRST
SI200 to 215
SI200 to 214 SI200 to 214 SI200 to 214
SI200 to 215 SI200 to 215 SI200 to 215
(HOLD)* (HOLD)* (HOLD)*
Output
END END END END END END END
BUSY BUSY BUSY BUSY BUSY BUSY BUSY
READY READY READY READY READY READY READY
* : HOLD must be enabled by PRM318 (HOLD valid).
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4.3.3 Monitor I/O (input/output) list
The monitor I/O contains feedback pulse output that represents the difference versus the
current position and analog monitor output that provides various information selected by
parameters. The monitor I/O also contains analog inputs used for torque limiting.
n I/O list
No.
Signal
name
Meaning No.
Signal
name
Meaning
1 PA+
Feedback pulse output
11 – –
2 PA- 12 – –
3 PB+ 13 – –
4 PB- 14 – –
5 PZ+ 15 – –
6 PZ- 16 A-REF Analog input
7 SG Signal ground 17 AG Analog ground
8 SG Signal ground 18 AG Analog ground
9 – – 19 AO1 Analog monitor output 1
10 – – 20 AO2 Analog monitor output 2
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4.3.4 Operation via input/output signals
4.3.4.1 Control sequence
l Dedicated outputs
These outputs are for exchanging signals with the host device. Three dedicated outputs,
READY, BUSY and END, are available.
Ready to operate (READY)
This output turns on when the controller is ready to operate.
Signal name Meaning Connector I/O type
READY Ready to operate N, P, CC, DN, PB Output
Description
This is output when the controller system is operating normally. This output turns off
during emergency stop or an alarm. The motor is not servo-controlled at this time.
Command being executed (BUSY)
This output turns on when a command is being executed.
Signal name Meaning Connector I/O type
BUSY Command is being executed. N, P, CC, DN, PB Output
Description
This signal turns on during execution of a dedicated command input or a command
from the HPB (or communication devices). Any other commands cannot be accepted
when this signal is on.
cCAUTION During HPB operation, the BUSY output might turn on or off regardless of the state
of the I/O signals.
End of run (END)
This output notifies the execution results of a dedicated command. This output turns on
when the command ends normally.
Signal name Meaning Connector I/O type
END End of command execution N, P, CC, DN, PB Output
Description
This signal turns off when the controller receives a dedicated command input, and
then turns on when execution ends normally. If an error occurs during execution, or
the robot is stopped by an interlock or emergency stop, then this is seen as abnormal
termination and the output remains off.
(NOTE) 1. The off period (command execution time) of this signal is extremely short during a
command with a short execution time (example: RESET input, movement commands for
short distances, etc.).
2. This signal does not change during execution of command from the HPB (or
communication devices).
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l Dedicated command input
The dedicated command input is an input assigned to control the SR1 series from a
host device such as a PLC. Dedicated command inputs include the following signals.
q SERVO, w INC-PT, e ABS-PT, r STEP-R,
t AUTO-R, y RESET, u ORG-S, i ALMRST
Dedicated commands are executed by inputting pulses longer than the tr time (NOTE 1).
MEMO
Dedicated commands can be assigned to each function by the PRM300 (I/O assignment)
parameter. For detailed information on I/O assignment, see 4.3.2.5, "I/O assignment
function".
[Executing dedicated command input]
tr = 3×Input/output response time (PRM363) [ms] (NOTE 1)
1 2 3 4 5 6 7 8
t <= tr
t <= tr t <=1ms
t <= 1ms
Dedicated
command
BUSY
END
q Set the dedicated command input to ON (NOTE 2).
w The command is received within tr time after being input, then the END output turns off and the
BUSY output turns on.
e Set the dedicated command input to OFF.
r The BUSY output turns off after command execution ends. Execution results are sent to the END
output.
t Set the next dedicated command input to ON (NOTE 3).
y If the command execution time is short or the command input (ON) time is long, then execution
results are sent to the END output before the command input is set to OFF.
u Set the dedicated command input to OFF.
i The BUSY output turns off within the tr time.
(NOTE) 1. tr is set to 30ms (input/output response time = 10ms) prior to shipment.
2. Dedicated command input is detected at the rising edge from OFF to ON.
3. Other dedicated commands cannot be received if the dedicated command input remains
on. The dedicated command input should be designed to be longer than the tr time pulse
input.
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l Power-on timing chart
n When emergency stop is not canceled
READY
END
1 sec. or more
Control power
supply
n When automatically turning on the servo right after power-on
READY
END
1 sec. or more
0.5 sec. or more
Control power
supply
(NOTE) 1. Dedicated command inputs can be received when the END signal is ON right after
power was turned on.
2. When using the "X type" controller, an alarm is always issued when the control power
is first turned on after making cable connections ("41: Absolute battery error" or "45:
Absolute RO error"). If this happens, turn off the control power and then turn it back on
again.
3. To automatically turn on the servo, the main power and the control power must be
turned on simultaneously.
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4-27
l Emergency stop timing chart
BUSY
END
EMG
READY
Dedicated
command
Emergency stop triggered
• When emergency stop turns off (contact open), then the servo turns off and the READY output
turns off. The BUSY output also turns off during execution of a dedicated command. The END
signal does not change.
• To restore robot operation, cancel emergency stop (contact closed), check that the READY output
is ON, and then input the servo recovery command (SERVO).
l Alarm timing chart
BUSY
END
READY
ALMRST
Dedicated
command
Alarm issued
• The READY, BUSY, and END outputs all turn off when an alarm occurs.
• Alarms can be cancelled by executing the ALMRST command or turning the control power off
and back on after removing the cause that triggered the alarm. However, some alarms cannot be
cancelled with the ALMRST command.
cCAUTION If an alarm stops the robot due to an overload, then wait 5 minutes before
attempting to resume operation. Resuming operation too soon could cause the
motor or controller to break down.
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4.3.4.2 Servo recovery
Servo recovery (SERVO)
This input turns on the servo power. This allows the robot to operate.
Signal name Meaning Connector I/O type
SERVO Servo recovery N, P, CC, DN, PB Input
Related parameter
Parameter No. Name Setting Default See page:
PRM308 Servo recovery sequence Any 0 5-22
Description
When this input is turned on, the servo power turns on and the robot can now operate.
(NOTE) Use this command while the main power is on.
Servo status output (SRV-O)
This outputs the servo status.
Signal name Meaning Connector I/O type
SRV-O Servo status output N, P, CC, DN, PB Output
Related parameter
Parameter No. Name Setting Default See page:
PRM304 Servo status output select 1 0 5-21
PRM321 Servo status output offset 0 to 15 7 5-24
Description
The output is on while the servo is on, and off while the servo is off.
If using parallel I/O, then the output must be enabled with servo status output select
(PRM304).
I/O type Output destination terminal name
Parallel I/O DO 7 *
Serial I/O CC: RXn0, DN: n channel bit 0, PB:Im.0
* : If using parallel IO, then the desired output destination can be set from PRM321. This is set to DO7 prior to
shipment.
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4-29
n Timing chart
SERVO
BUSY
END
(SRV-O)
1 2 3
q Turn on the SERVO input.
w The END output turns off, the BUSY output turns on, and execution starts.
Turn off the SERVO input.
e The BUSY output turns off when execution ends. Execution results are sent to the END output, and
the SRV-O output turns on when execution ends normally.
4.3.4.3 Return-to-origin
Return-to-origin input (ORG-S)
Performs return-to-origin.
Signal name Meaning Connector I/O type
ORG-S Return-to-origin N, P, CC, DN, PB Input
Description
Performs return-to-origin. This establishes the robot coordinates, and allows robot
movement.
cCAUTION When performing return-to-origin by stroke-end detection, do not attempt any of
the following actions. These actions might cause an alarm stop or breakdown.
• Do not stop robot movement while the origin position is being detected (robot is
contacting its stroke end).
• Do not continuously repeat return-to-origin operation.
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Return-to-origin end output (ORG-O)
Outputs the status of whether return-to-origin is complete or not.
Signal name Meaning Connector I/O type
ORG-O Return-to-origin end output N, P, CC, DN, PB Output
Related parameters
Parameter No. Name Setting Default See page:
PRM303 Return-to-origin end output select 1 or 3 2 5-21
PRM322 Return-to-origin end output offset 0 to 15 4 5-25
Description
This output is ON when return-to-origin is complete, and OFF when incomplete.
When using parallel I/O, the output should be enabled from the Return-to-origin end
output select (PRM303).
I/O type Output destination terminal name
Parallel I/O DO 4 *
Serial I/O CC: RXn6, DN: n channel bit 6, PB:Im.6
* : If using parallel IO, then the desired output destination can be set from PRM322. This is set to
DO4 prior to shipment.
n Timing chart
BUSY
END
(ORG-O)
1 2 3
ORG-S
q Turn on the ORG-S input.
w The END output turns off, the BUSY output turns on, and execution starts.
Turn off the ORG-S input.
e The BUSY output turns off when execution ends. Execution results are sent to the END output, and
the ORG-O output turns on when execution ends normally.
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4-31
4.3.4.4 Point trace operation
l Moving the robot by specifying point number data
Absolute position movement (ABS-PT)
Moves the robot to a specified point position.
Signal name Meaning Connector I/O type
ABS-PT Absolute point movement N, P, CC, DN, PB Input
Related parameters
Parameter No. Name Setting Default See page:
PRM330 Number of I/O points 1 to 10 10 5-25
PRM200 Maximum program speed 1 to 100 100% 5-17
PRM210 Point trace speed 1 1 to 100 10% 5-17
PRM211 Point trace speed 2 1 to 100 30% 5-18
PRM212 Point trace speed 3 1 to 100 70% 5-18
Description
On coordinates where the origin position is defined as "0", the robot moves to the
position of a specified point number at a specified speed. Up to 1000 points can
be specified from P0 to 999, and the speed can be specified up to a maximum of 4
patterns.
Speed
Current position PositionPn
V
V =Robot characteristic maximum speed ×
100
PRM200
×
100
Speed input by
general-purpose input
Pn: Position data of point number specified by general-purpose input
Point number and speed data are specified to general-purpose inputs in binary.
General-purpose input (NOTE 1)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Speed (4 patterns)
0 0 : 100 [%]
0 1 : PRM210
1 0 : PRM211
1 1 : PRM212
Point number (P0 to P999, 1000 points maximum) (NOTE 2)
[Setting example]
(9) (0)
0 0 0 0 0 0 0 0 1 1 : P3
0 0 0 1 0 0 0 0 0 0 : P64
(NOTE) 1. General-purpose inputs are DI15 to 0 for parallel I/O, and SI215 to 200 for serial I/O.
2. PRM330 limits the number of points that can be specified.
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n Timing chart
tr = 3×Input/output response time (PRM363) [ms]
BUSY
END
1 2 3 4 5
ABS-PT
t >= tr
Point
Speed data
Robot motion Robot is moving
Specify
q Specify point data and speed data to a general-purpose input.
w Input the movement command after a delay longer than the tr time.
e Execution starts, END turns off, and BUSY turns on.
r Turn off the command input after checking that BUSY has turned on.
t Wait until BUSY turns off. At completion of movement, END turns on and BUSY turns off.
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Relative position movement (INC-PT)
Moves the robot a distance equal to the specified point data.
Signal name Meaning Connector I/O type
INC-PT Relative point movement N, P, CC, DN, PB Input
Related parameters
Parameter No. Name Setting Default See page:
PRM330 Number of I/O points Any 10 5-25
PRM200 Maximum program speed 1 to 100 100% 5-17
PRM210 Point trace speed 1 1 to 100 10% 5-17
PRM211 Point trace speed 2 1 to 100 30% 5-18
PRM212 Point trace speed 3 1 to 100 70% 5-18
Description
The robot moves from the current position only by a distance equal to the specified
point data at the speed specified to the general-purpose input. Up to 1000 points can
be specified from P0 to 999, and the speed can be specified up to a maximum of 4
patterns.
Speed
Current position PositionPn
V
V =Robot characteristic maximum speed ×
100
PRM200
×
100
Speed input by
general-purpose input
Pn: Position data of point number specified by general-purpose input
[Defining the “current position” by relative movement]
The target position for the “current position” in the above drawing is updated every
time a movement ends normally. So even if the relative movement stops en-route, the
first relative movement can be rerun by re-executing the same command.
Pn Speed
Current position Position Pn
Speed
Current position Position
Stop
MEMO
RESET must be used again after a stop if moving only a specified data amount from a
position where stopped.
[Method for specifying data]
Along with the timing chart, also check the absolute position movement. (See the
previous item "Absolute position movement".)
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Movement point number output
Outputs the point data specified in the movement command to a general-purpose output.
Related parameter
Parameter No. Name Setting Default See page:
PRM314 Point number output select 1, 2 0 (disabled) 5-23
Description
Outputs point data specified from a general-purpose input with ABS-PT or INCPT command, to a general-purpose output when a command is input or command
execution is completed. Whether or not movement to a specified point was completed
after a movement command was executed can be checked by returning back the
specified point number.
To output when command execution is
completed (PRM314 = 1)
To output when command input is received
(PRM314 = 2)
Specify
BUSY
END
ABS-PT
Point
Speed data
Output
BUSY
END
ABS-PT
SpecifyPointSpeed data
Output
At the timing when the movement command ends
normally and the END output turns on, the point
number for that movement is sent to the generalpurpose output in binary.
At the timing when the movement command was
received, the received point number is sent to
the general-purpose output in binary. In this
case, the output is sent even if an error (soft
limit, no point data, etc.) prevents movement.
MEMO
• There is no output if the Point number output select (PRM314) was set to 0.
• This output is turned off by the RESET command. (See 4.3.4.6, "Program operation", for
more information on "RESET".
Point number data is sent to the general-purpose output in binary.
General-purpose output (NOTE 1)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Point number (P0 to P999, 1000 points maximum) (NOTE 2)
[Setting example]
(9) (0)
0 0 0 0 0 0 0 0 1 1 : P3
0 0 0 1 0 0 0 0 0 0 : P64
(NOTE) 1. General-purpose outputs are DO15 to 0 for parallel I/O, and SO215 to 200 for serial I/O.
2. If PRM330 is used to limit the specified number of points, then the number of bits
being output is also limited.
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l Moving the robot by specifying binary data (ABS-BN)
Moves the robot to a position specified by binary data.
Signal name Meaning Connector I/O type
ABS-BN Binary-specified movement N, P, CC, DN, PB Input
SIGN Sign input N, P, CC, DN, PB Input
SPD1, SPD2 Speed setting input N, P, CC, DN, PB Input
Related parameter
Parameter No. Name Setting Default See page:
PRM300 I/O type select 30, 31 0 5-20
PRM313 Binary input/output select 0 to 15 2 5-23
PRM200 Maximum program speed 1 to 100 100% 5-17
PRM210 Point trace speed 1 1 to 100 10% 5-17
PRM211 Point trace speed 2 1 to 100 30% 5-18
PRM212 Point trace speed 3 1 to 100 70% 5-18
Description
On coordinates where the origin position is defined as "0", the robot moves to a binary
data position specified by SIGN and general-purpose input at a speed specified by
SPD1 and SPD2.
V = Robot characteristic maximum speed ×
100
PRM200
×
100
Spped specified by
SPD1, SPD2
Pb: Position data specified by SIGN and general-purpose input
Speed
Current position PositionPb
V
(NOTE) This function is only valid when binary data was selected by I/O assignemnt (See 4.3.2.5,
"I/O assignment function").
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[Binary data type]
The data type and units of binary data specified by the SIGN and general-purpose input
can be set by PRM313 (Binary input/output select).
Setting item
PRM313Setting
Meaning
b3 b2 b1 b0
Data units
– – 0 0 mm
– – 0 1 0.1mm
– – 1 0 0.01mm
Data length and sign
0 0 – – Unsigned 16 bits
0 1 – – Signed 16 bits
1 0 – – Unsigned 17 bits
(NOTE) Data units are in millimeters when "mm" is selected, and in degrees when ° (deg.) is selected by
PRM119 (Position data units).
(1) Unsigned 16 bits
SIGN General-purpose input
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
– 16-bit binary data
[Setting example] (15) (0) (Hex)
To specify 123.45mm in 0.01mm units: 0 0 1 1 0 0 0 0 0 0 1 1 1 0 0 1 3039
To specify 123.4mm in 0.1mm units: 0 0 0 0 0 1 0 0 1 1 0 1 0 0 1 0 04D2
To specify 123mm in mm units: 0 0 0 0 0 0 0 0 0 1 1 1 1 0 1 1 007B
(2) Signed 16 bits
SIGN General-purpose input
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Sign 16-bit binary data
[Setting example] (SIGN) (15) (0) (Hex)
To specify -123.45mm in 0.01mm units 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 0 1 1 3039
(3) Unsigned 17 bits
SIGN General-purpose input
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
17-bit binary data
[Setting example] (SIGN) (15) (0) (Hex)
To specify 1234.56mm in 0.01mm units 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 E240
(NOTE) General-purpose inputs are DI15 to 0 for parallel I/O, and SI215 to 200 for serial I/O.
(4) Speed
SPD2 SPD1
Speed (4 patterns)
0 0 : 100 [%]
0 1 : PRM210
1 0 : PRM211
1 1 : PRM212
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n Timing chart
tr = 3×Input/output response time (PRM363) [ms]
BUSY
END
1 2 3 4 5
ABS-BN
t >= tr
Binary
Speed data
Robot motion
Specify
Robot is moving
q Specify point data and speed data to a general-purpose input.
w Input the movement command after a delay longer than the tr time.
e Execution starts, END turns off, and BUSY turns on.
r Turn off the command input after checking that BUSY has turned on.
t At completion of movement, END turns on and BUSY turns off.
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l Movement data change function
This changes the speed and movement position during point trace movement.
Related parameters
Parameter No. Name Setting Default See page:
PRM317 Movement data change function select 1 (valid) 0 (invalid) 5-24
PRM330 Number of I/O points 1 to 10 10 5-25
PRM200 Maximum program speed 1 to 100 100% 5-17
PRM210 Point trace speed 1 1 to 100 10% 5-17
PRM211 Point trace speed 2 1 to 100 30% 5-18
PRM212 Point trace speed 3 1 to 100 70% 5-18
Description
During point trace movement by ABS-PT or ABS-BN command input, the movement
pattern can be changed by changing the movement data and then re-inputing the
movement command.
Speed
Current position PositionPn,Pb
V3
V1
V2
Vm = Robot characteristic maximum speed ×
100
a ×
100
Spped specified by
general-purpose input
Pb: Binary data specified by SIGN and general-purpose input
Pn: Position data of point number specified by general-purpose input
MEMO
The Movement data change function select (PRM317) must be enabled (valid).
n Operation pattern allowing position data change (1st movement: Move to Pm), (2nd
movement: Move to Pn)
1 Change in fixed speed range
Pn Pm
3 Reverse direction movement
Pn Pm 2 Change in accel range
Pm Pn
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n Operation pattern not allowing position data change
4 Change in decel range
PnPm
(NOTE) 1. Does not operate if the Movement data change function select (PRM317) is set to 0
(invalid).
2. Movement data cannot be changed if movement is in decel state.
n Timing chart
tr = 3×Input/output response time (PRM363) [ms]
BUSY
END
1 2 3 4 5 6 7 8
ABS-PT
t >= tr t >= tr
Point
Speed data
Robot motion 1st movement 2nd movement 3rd movement
Specify 1 Specify 2 Specify 3
q Specify point data and speed data to a general-purpose input.
w Input the movement command after a delay longer than the tr time.
e Execution starts, END turns off, and BUSY turns on.
r Turn off the command input after checking that BUSY has turned on.
t Specify the movement data to be changed (point data, speed data) to the general-purpose input.
y Input the movement command at the desired timing. Movement is now changed.
u Perform same operation as in steps t and y.
i Wait until BUSY turns off. At completion of movement, END turns on and BUSY turns off.
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4.3.4.5 Torque limiting
This is used to limit the torque at a specific timing during robot movement. This is effective
for tasks such as pushing or gripping a workpiece. In the SR1 series, the torque can be
limited by parameter setting or by an analog voltage.
Torque limiting input (TLM)
Limits the torque to a value specified by a parameter.
Signal name Meaning Connector I/O type
TLM Torque limiting N, P, CC, DN, PB Input
Related parameters
Parameter No. Name Setting Default See page:
PRM340 Torque limit select 1 1 5-26
PRM241 Torque limit timeout (t1) 1 to 6000 100 [.01s] 5-19
PRM242 Torque limit value 1 1 to 100 100 [%] 5-19
PRM243 Torque limit value 2 1 to 100 100 [%] 5-19
PRM145 Maximum speed during torque limiting
Depends on
robot type.
Depends on robot
type.
5-16
Description
Turning on the TLM signal sets the torque limiting state. While this signal is on, the
torque is limited to a value specified by PRM242 or PRM243. Using torque limiting
while moving the robot allows performing tasks such as pushing, gripping or presfitting a workpiece.
A concept view of torque limiting is shown below.
PRM300
PRM340
TLM
PRM242
PRM243
Current
CW
CCW
(NOTE) Torque limiting is valid when PRM300 (I/O type select) is set to a type to which the
torque limiting input (TLM) is assigned. (See 4.3.2.5, "I/O assignment function".)
cCAUTION When setting the torque limiting value, do not set a torque that is lower than
required for robot movement or robot hold.
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[Movement speed and input timing during torque limiting]
During torque limiting the robot movement speed must be held to within PRM145
(Maximum speed during torque limiting). The robot speed must be limited because
limiting the torque also restricts the torque needed by the robot for movement so the
robot cannot operate normally. The figure below shows the interrelation of the TLM
input timing and movement speed.
Speed
PRM145
TLM
Time
1 2 3
q TLM input ON → Robot movement
When moving the robot after PRM145 (Maximum speed during torque limiting) is input, if the
commanded movement speed exceeds PRM145, the speed is automatically set to PRM145.
w Robot movement → TLM input ON
The robot movement speed in this case aims for the first commanded speed. If the speed is too
high then normal operation may be impossible, so an alarm might be issued.
e Robot movement → TLM input ON → Speed change
In order to shorten the cycle time when wishing to consecutively input a torque limit from a state
where operating at a large speed, use the movement data change function to reduce the movement
speed (See 4.3.4.4, "Point trace operation", for information on the movement data change
function.), and then turn on the TLM input. With this function enabled (valid), if the movement
speed is higher than PRM145, then the speed is automatically set to PRM145 that is set to ON
during movement.
[Methods for ending movement during torque limiting]
Torque limiting is mainly used during tasks such as pushing action. So normal
movement does reach the target position and cannot end.
The following two methods can be used to stop or end movement during torque
limiting.
Method Description
Torque limit timeout
During torque limiting, the stopping process begins if the commanded
torque stays at the torque limit value for longer than the Torque limit timeout
(PRM241). The robot then comes to a stop (hold) at the point in time that
the movement speed falls below the HOLD minimum speed, and movement
ends.
HOLD input ON
When the HOLD input is turned on, the robot comes to a stop (hold) at the
point in time that the movement speed falls below the HOLD minimum
speed, and movement ends.
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[Switching the torque limit value]
The torque limiting value is switched in the clockwise (CW) direction by PRM242, and
the counterclockwise (CCW) direction by PRM245 according to the input conditions. This
torque limiting value can be changed up to a maximum of 4 patterns.
Related parameters
Parameter No. Name Setting Default See page:
PRM343 Torque limit value switching 1 1 5-27
PRM242, 243 Torque limit values 1, 2 1 to 100 100 [%] 5-19
PRM244, 245 Second torque limit values 1, 2 1 to 100 100 [%] 5-19
PRM246, 247 Third torque limit values 1, 2 1 to 100 100 [%] 5-19
PRM248, 249 Fourth torque limit values 1, 2 1 to 100 100 [%] 5-19
(NOTE) 1. Switching is enabled only when "Point teaching type-2" (PRM300=21) is selected by
I/O assignment.
2. PRM343 (Torque limit value switching) must be set to 1 (valid).
TLM
PRM242
PRM244
PRM246
PRM248 PRM300
PRM340
PRM243
PRM245
PRM247
PRM249
CW
CCW
Current
General-purpose input (NOTE 1)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Torque limit value switching
(13)(12)
Torque limit value
0 0 : PRM242, PRM243
Second torque limit values 1, 2
0 1 : PRM244, PRM245
Third torque limit values 1, 2
1 0 : PRM246, PRM247
Fourth torque limit values 1, 2
1 1 : PRM248, PRM248
Speed
setting
Point setting
(NOTE) 1. General-purpose inputs are DI15 to 0 for parallel I/O, and SI215 to 200 for serial I/O.
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[Movement method during torque limiting]
The following description uses workpiece pushing action as an example.
Target
position
1. Set the target position – – – –
Set the target position as further inward than the
workpiece as seen from the current position.

2. Set TLM input to ON – – – – Set the TLM input to ON to allow torque limiting.

3. Start movement – – – –
Start movement within the maximum TLM speed
(PRM145).

4. Push – – – –
After reaching the workpiece, the robot starts pushing
action at the specified torque limiting value.

Determine if push is complete – – – –
Use the TLON (Torque limit output) to monitor whether
or not the torque limit was reached by pushing action.

End push to begin stopping process – – – –
Stopping process begins after task is completed.
There are two stop methods.
a) Torque limit timeout
b) HOLD input

End and move back
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Torque limiting output (TLON)
This output indicates whether the commanded torque has reached the torque limit value
or not.
Signal name Meaning Connector I/O type
TLON Torque limit status output N, P, CC, DN, PB Output
Related parameter
Parameter No. Name Setting Default See page:
PRM341 Torque limit output select 1 (valid) 0 (invalid) 5-26
Description
This signal turns on during torque limiting by TLM input, when the commanded torque
is the torque limit value.
(NOTE) This output does not function when PRM341 (Torque limit output select) is 0 (invalid).
HOLD
Places a hold-stop at the position where this input was entered.
Signal name Meaning Connector I/O type
HOLD Hold N, P, CC, DN, PB Input
Related parameters
Parameter No. Name Setting Default See page:
PRM318 HOLD valid 1 (valid) 0 (invalid) 5-24
PRM146 HOLD minimum speed Depends on robot type. 5-16
Description
Set this signal to ON to end movement when that movement did not reach the target
position during operations such as pushing action during torque limiting. When the
HOLD minimum speed (PRM146) was exceeded, the robot slows down and comes to a
hold-stop at a timing within the minimum speed.
(NOTE) This input does not function when PRM318 (HOLD valid) is 0 (invalid).
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n Timing chart
1 2 3 4 5
Robot is moving Pushing
t >= tr
TLON
BUSY
END
ABS-PT
Robot motion
TLM
Operation pattern 1
q Turn on the TLM input to apply torque limiting.
w Input the ABS-PT command.
e Robot starts moving. The movement speed during torque limiting is set so as not to exceed
PRM145 (Maximum speed during torque limiting).
r Torque-ON state begins due to pushing action, and TLON turns on.
t After the torque limit timeout has elapsed, robot comes to a hold-stop and movement ends.
1 2 3 4 5
TLON
BUSY
END
ABS-PT
Robot motion
TLM
Operation pattern 2
Robot is moving Pushing
HOLD
q Turn on the TLM input to apply torque limiting.
w Input the ABS-PT command.
e Robot starts moving. The movement speed during torque limiting is set so as not to exceed
PRM145 (Maximum speed during torque limit).
r Torque-ON state begins due to pushing, and TLON turns on.
t Turn on HOLD at any timing. Robot comes to a hold-stop and movement ends.
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Torque limiting by analog voltage input (A-REF)
Limits a torque command to a voltage applied to the analog voltage input A-REF.
Signal name Meaning Connector I/O type
A-REF Analog input Monitor I/O pin 16 Input
AG Analog ground Monitor I/O pins 17, 18 Input
Related parameter
Parameter No. Name Setting Default See page:
PRM340 Torque limit select 2 1 5-26
PRM241 Torque limit timeout (t1) 1 to 6000 100 [.01s] 5-19
PRM242 Torque limit value 1 1 to 100 100 [%] 5-19
PRM243 Torque limit value 2 1 to 100 100 [%] 5-19
PRM250 Analog input gain Any 500 5-19
Description
This function applies a torque by using an analog voltage command.
PRM300
PRM340
TLM
PRM242
PRM243
Current
A-REF
CW
CCW
[Input specifications]
Input range: DC 0 to 10 V across A-REF and AG
Resolution: 12 bits
[Analog input gain (PRM250) setting]
Set the analog input voltage level used as the reference for the rated torque. The input
voltage (0.01V) is the rated torque.
(Setting example) To set a torque limit of 50N at 5V for a robot whose rated torque is
78N.
If the voltage for limiting the torque at the rated torque is set to 7.8V,
then 50N will be obtained at 5V. Therefore
PRM250 = 780 [0.01V/rated torque]
Applying 5V across A-REF and AG in this state, and turning on the
TLM input to enable torque limiting, will set the torque limit to 50N.
cCAUTION Do not set the voltage applied to A-REF to a voltage lower than that needed for
torque to move or hold the robot.
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4.3.4.6 Program operation
Operation (STEP-R, AUTO-R)
Performs program operation.
Signal name Meaning Connector I/O type
AUTO-R Automatic operation N, P, CC, DN, PB Input
STEP-R Step operation N, P, CC, DN, PB Input
Related parameter
Parameter No. Name Setting Default See page:
PRM353 Action before run 0 to 3 1 5-28
Description
Performs program operation from the current step.
In automatic operation (AUTO-R), the operation continues until a stop command
is issued or the program ends. All tasks are executed if the program is a multitask
program.
In step operation (STEP-R), one step is executed from the current step. Only the
selected task is executed even if the program is a multitask program.
RESET
Performs program reset.
Signal name Meaning Connector I/O type
RESET Reset N, P, CC, DN, PB Input
Description
This signal performs the following operations.
• Returns the program step to the first step in the lead (top) program.
• Initializes the point variable P.
• Initializes the pallet number.
• Initializes the general-purpose outputs and memory outputs.
• Initializes the point number output.
• Initializes the movement points in the movement point zone output.
• Updates the current position to the actual current robot position, which is used as
the reference when executing a dedicated command INC-PT or MOVI command
(relative movement).
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4.3.4.7 Jog movement and point teaching
The HPB includes a teaching function to manually position the robot by using the jog
keys, and then register that position. The host device can also perform this function.
MEMO
This function is valid only when PRM300 (I/O type select) is set to a "Point teaching type".
(For more information on setting PRM300, see 5.2.3, "Parameter description".)
Mode change (CHG)
This switches the dedicated command mode by using on/off operation.
Signal name Meaning Connector I/O type
CHG Mode change N, P, CC, DN, PB Input
Description
The mode can be changed by inputting CHG, when a "Point teaching type" is selected
by I/O assignment.
CHG Mode
OFF Trace mode
ON Teach mode
(NOTE) If this signal status is changed while executing a dedicated command, then the command
execution stops as an error.
Jog movement (JOG+, JOG-)
Moves the robot in the specified (+ or -) direction as long as this signal is on.
Signal name Meaning Connector I/O type
JOG+
JOG-
Jog movement N, P, CC, DN, PB Input
Related parameters
Parameter No. Name Setting Default See page:
PRM300 I/O type select Any 0 5-20
PRM201 JOG speed 1 to 100 100mm/s 5-17
PRM210 Point trace speed 1 1 to 100 10% 5-17
PRM211 Point trace speed 2 1 to 100 30% 5-18
PRM212 Point trace speed 3 1 to 100 70% 5-18
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Description
The movement speed can be changed by using the JOG speed parameter (PRM201) or
by entering a specific speed with an upper limit of 100mm/s. This signal is valid only
when a "Point teaching type" is selected by IO assignment and the CHG input is on (teach
mode).
X+
V
V = PRM201 ×
100
Speed set by
general-purpose input
JOG- JOG+
(NOTE) Jog commands can be used to move the robot, even if return-to-origin is incomplete.
However, caution is needed since the soft limits are ignored during operation.
n Timing chart
1 2 3 4 65
Robot is moving
t >= t1
BUSY
END
JOG+
Robot motion
CHG
q Turn on the CHG input.
w Turn on JOG+ (JOG-).
e END turns off, and BUSY turns on.
r Robot moves as long as JOG+ (JOG-) are on. Stopping process begins when JOG+ (JOG-) are
turned off.
t Wait until BUSY turns off. When BUSY turns off, END turns on.
y Turn off the CHG input.
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Point writing (PSET)
This writes the current position data at the specified point.
Signal name Meaning Connector I/O type
PSET Point data writing N, P, CC, DN, PB Input
Description
This writes the current position data into a point number specified by a generalpurpose input. The point number is specified the same as the point number specified by
ABS-PT (See "Absolute position movement (ABS-PT)" in 4.3.4.4, "Point trace operation".
This signal is valid only when a "Point teaching type" is selected by I/O assignment and
the CHG input (teach mode) is on.
(NOTE) This input does not function if return-to-origin is incomplete.
n Timing chart
1 2 3 4 65
t >= tr
t >= tr
PSET
END
Point data
BUSY
CHG
Specify
q Turn on the CHG input.
w After the tr time has passed, set the point number to write in binary in the general-purpose input.
Turn on the CHG input.
e After the tr time has passed again, turn on the PSET input. The END output turns off, and the BUSY
output turns on (command was received).
r Turn off the PSET input.
t Wait until the BUSY output turns off. If the END output is on, then the command has ended
normally.
y Turn off the CHG input.
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4.3.4.8 Position information output
This function outputs the current robot position to the host device.
Output methods include zone output, point zone output and binary output by generalpurpose output, and feedback pulse output by monitor I/O.
Zone output
This function outputs whether or not the robot position is within the specified range (zone).
A maximum of 4 zones can be output.
Signal name Meaning Connector I/O type
ZONEn
(n=0,1,2,3)
Zone output N, P, CC, DN, PB Output
Related parameters
Parameter No. Name Setting Default See page:
PRM306 Zone output select Any 0 (invalid) 5-21
PRM324 Zone 0 output offset 0 to 15 0 5-25
PRM325 Zone 1 output offset 0 to 15 1 5-25
PRM326 Zone 2 output offset 0 to 15 2 5-25
PRM327 Zone 3 output offset 0 to 15 3 5-25
Description
This function registers zone boundaries in the point data specified from ZONE 0 to
ZONE 3, and sends to a specified output destination the information on whether the
robot is within or outside that zone. This function is effective for checking the robot
position from the host device, or identifying whether the robot is in a movable area or
prohibited area.
(NOTE) 1. This output does not function if either one of the point data specifying a zone is
unregistered.
2. This does not function if return-to-origin is incomplete.
[Range and output destination]
The specified range for each zone is registered with the point data. The output
destination is fixed for serial I/O. However in the case of parallel I/O, the point data
can be sent to a desired general-purpose output by parameter setting.
Signal name Setting range
Output destination
Parallel I/O Serial I/O
ZONE0 P900 to P901 DO 0 * CC: RXn1, DN: n channel bit 1, PB:Im.1
ZONE1 P902 to P903 DO 1 * CC: RXn2, DN: n channel bit 2, PB:Im.2
ZONE2 P904 to P905 DO 2 * CC: RXn3, DN: n channel bit 3, PB:Im.3
ZONE3 P906 to P907 DO 3 * CC: RXn4, DN: n channel bit 4, PB:Im.4
* : In the case of parallel I/O, the output destination can be set to any output by using PRM324 to 327.
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[Output methods]
There are two types of output methods. One is a positive logic output and the other is
a negative logic output.
Position
Output
Pn Pn+1
OFF OFFON
• Positive logic output
Position
Output
Pn Pn+1
ON ONOFF
• Negative logic output
MEMO
The zone output is updated at each I/O response time.
Point zone output
The robot current position is compared with the registered point data, and if there is
matching point data, then that point number is sent to the general-purpose output.
Related parameter
Parameter No. Name Setting Default See page:
PRM301 Position output select 1 0 (invalid) 5-20
PRM312 Point zone output select 0, 1 0 5-23
PRM328 Number of point zone outputs 1 to 8 6 5-25
PRM333 Point zone output offset 0 to 15 0 5-26
PRM116 Position NEAR width Any 100 [.01mm] 5-12
Description
When the robot position is within the range of the ± Position NEAR width (PRM116)
of the registered point data, then that point data number is sent to the general-purpose
output. This allows checking whether the robot has moved to the actual specified point
after executing a movement command to move the robot.
(NOTE) 1. This output does not function if return-to-origin is incomplete.
2. The point zone output is updated at each I/O response time. If the response time is long
and the robot is moving at high speed, then the host device might not be able to detect it.
3. If multiple applicable points overlap each other, then the latest number among those
point numbers is given output priority.
4. If the applicable point number is P0, then it is not eligible for output. So use caution
when monitoring the P0.
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Point number data is output in binary to the general-purpose output.
General-purpose output (NOTE 1)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
[Output example 1]
PRM328=6
PRM333=0
Point number 6 is output in 6-bit binary.
(5) .( 0)
1 1 0 0 0 0 : =P48
[Output example 2]
PRM328=8
PRM333=4
Point number 6 is output in 8-bit binary.
(11) (4)
0 0 0 0 0 0 1 1 : =P3
(NOTE) 1. General-purpose outputs are DO15 to 0 for parallel I/O, and SO215 to 200 for serial I/O.
2. Point numbers that can be monitored are P0 to P(2n-1) when n = PRM328.
[Monitoring movement points]
The monitored points can be narrowed down to points at the specified movement
destination. In that case, PRM312 (Point zone output select) should be set to 1
(movement point zone).
Binary output
The robot’s current position is output in binary data.
Related parameter
Parameter No. Name Setting Default See page:
PRM301 Position output select 2 0 (invalid) 5-20
PRM313 Binary I/O select 0 to 15 2 5-23
Description
This outputs the robot’s current position in binary data to the general-purpose output.
(NOTE) 1. This output does not function if return-to-origin is incomplete.
2. The binary output is updated at each I/O response time. If the response time is long then
the actual position might differ from the output results.
[Types and setting of binary data]
The type and units of binary data specified by general-purpose output and UTL output
can be set by PRM313 (Binary I/O select).
Setting item
PRM313 setting
Meaning
b3 b2 b1 b0
Data units
– – 0 0 mm
– – 0 1 0.1mm
– – 1 0 0.01mm
Data length and sign
0 0 – – Unsigned 16 bits
0 1 – – Signed 16 bits
1 0 – – Unsigned 17 bits
(NOTE) Data units are in millimeters when "mm" is selected, and in degrees when ° (deg.) is selected by
PRM119 (Position data unit).
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(1) Unsigned 16 bits
UTL General-purpose output
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
– 16-bit binary data
[Setting example] (15) (0) (Hex)
Outputs 123.45mm in 0.01mm units. 0 0 1 1 0 0 0 0 0 0 1 1 1 0 0 1 3039
Outputs 123.4mm in 0.1mm units. 0 0 0 0 0 1 0 0 1 1 0 1 0 0 1 0 04D2
Outputs 123mm in mm units. 0 0 0 0 0 0 0 0 0 1 1 1 1 0 1 1 007B
(2) Signed 16 bits
UTL General-purpose output
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Sign 16-bit binary data
[Setting example] (UTL) (15) (0) (Hex)
Outputs -123.45mm in 0.01mm units. 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 0 1 1 3039
(3) Unsigned 17 bits
UTL General-purpose output
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
17-bit binary data
[Setting example] (UTL) (15) (0) (Hex)
Outputs 1234.56mm in 0.01mm units. 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 E240
(NOTE) General-purpose outputs are DO15 to 0 for parallel I/O, and SO215 to 200 for serial I/O.
Feedback pulse output
This differentially outputs the current position dada.
Signal name Meaning Connector I/O type
PA+, PA-
PB+, PB-
PZ+, PZ-
Feedback pulse output Monitor I/O pins 1 to 6 Output
Related parameter
Parameter No. Name Setting Default See page:
PRM315 Pulse division ratio
X: 16 to 4096
P: 16 to 1024
4096
1024
5-24
Description
Outputs the current position as a differential output. The robot position can be
monitored in real time from the host device.
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[Interrelation of feedback pulse and phase]
Output pin CW direction CCW direction
A17:PA+
B17:PA-
A18:PB+
B18:PB-
A19:PZ+
B19:PZ-
(NOTE) On the "X type" controllers, the Z phase pulse is output once every quarter-turn (1/4) of
the motor. On the "P type" controllers, one pulse each is output from both ends of the
robot.
[Pulse divider function]
Feedback pulses are divided according to the value set in PRM315 (Pulse division ratio)
and output. Set this parameter according to the specifications of the robot and host device.
Enter a setting that is a multiple of 4. If the setting is not a multiple of 4, it will be
truncated to a multiple of 4 and then used as the division ratio for output.
(Setting example) When PRM315=16 (16 pulses output for each rotation)
① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ⑪ ⑫ ⑬ ⑭ ⑮ ⑯
PA+
PA-
PB+
PB-
PZ+
PZ-
One motor rotation
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4.3.4.9 Alarms and resetting
Alarm reset
This cancels the alarm.
Signal name Meaning Connector I/O type
ALMRST Alarm reset N, P, CC, DN, PB Input
Description
When an alarm occurs, find and eliminate its cause, and then run this command to
reset the alarm.
(NOTE) • Some alarms cannot be reset with ALMRST depending on the type of alarm. (See 8.2.2,
"Alarm message list" in Chapter 8.) If this happens, reset by turning off the control power
supply.
• If an overload occurs (motor overload), then do not continue to operate the robot since
this could cause the motor to break down. If the same alarm occurs, then wait at least 5
minutes before resuming operation.
Alarm output
This sends the number of the alarm that has occurred to the general-purpose output.
Related parameters
Parameter No. Name Setting Default See page:
PRM302 Alarm number output select 1 0 (invalid) 5-20
PRM320 Alarm output offset 0 to 10 0 5-24
Description
That alarm number is sent in binary to the general-purpose output (6 bits). When the
alarm is reset, this output is then reset along with the alarm.
Alarm number is output in binary to the general-purpose output.
General-purpose output (NOTE 1)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
[Output example 1]
PRM320=0
Outputs "01: Overload" in binary format
(5) .( 0)
0 0 0 0 0 0
[Output example 2]
PRM320=6
Outputs "15: Feedback error 2" in binary format.
(11) (6)
0 0 1 1 1 1
(NOTE) 1. General-purpose outputs are DO15 to 0 for parallel I/O, and SO215 to 200 for serial I/O.
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4.3.4.10 Limitless movement function
l Function
The limitless movement function allows multiple turns in the same direction along the
robot axis.
The SR1 incorporates the soft limit function that prohibits any robot movement which
exceeds the soft limits specified by the parameters (PRM110, PRM111). This soft limit
function is very useful for linear movement type robots. However, this function is
sometimes undesirable for rotary type robots because it limits multi-turn movements
in the same direction. In such cases, the limitless movement function will prove useful
since it permits multi-turns without being restricted by the soft limits.
In limitless movement, the movement direction can also be selected with a point
movement command such as MOVA by adding a specified value to the target point.
n Rotary type robot movement using soft limits or limitless movement function
When limitless
movement function
is enabled:
P1
P2
P3
P4
P1
P2
P3
P4
Cannot move to P4 due to soft limit. Can move to P4 due to limitless
movement function.
l How to use:
To enable the limitless movement function, make the necessary setting with the
PRM119 (Position data unit) parameter as shown below.
n PRM119 (Position data unit) parameter setting
PRM119
setting
Display units
Limitless movement
function
Note
0 mm Disabled
Limitless movement function is inoperable.
1 ° (deg.) Disabled
2 mm Enabled
Suitable for applications using servo
conveyors.
3 ° (deg.) Enabled
Suitable for applications using FROP or index
tables.
cCAUTION When the limitless function is enabled, use extreme caution since the soft limits
are disabled.
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l When PRM119 (Position data unit) is set to "2"
When PRM119 is set to "2", the current position is expressed in millimeters from "0" to
the "plus software limit - 0.01mm" as a basic cycle. Therefore, even if the robot moves
to the plus software limit point, that position sets to 0mm so that the robot can move
continuously in the same direction along the axis.
+ soft limit
Cannot move to any point beyond the + soft limit.
+ soft limit
0mm
The + soft limit point sets to 0mm, so the robot
keeps moving in the same direction.
When PRM119 is set to "2"
(Limitless movement is enabled
in units of "mm".)
The maximum distance of one movement is a distance equal to one cycle (+ soft limit
value). To move a distance longer than one cycle, divide the movement distance into
two or more portions.
n When movement distance is longer than + soft limit value
Current position
Distance of one movement cannot
exceed a distance equal to one cycle.
+ soft limit
Current position
Movement exceeding a distance equal to
one cycle should be divided into two or more portions.
+ soft limit
cCAUTION • Set the + software limit to always be an integer multiple of the lead equivalent
value.* If it is not a value multiplied by an integer, positioning at the desired
point may sometimes be impossible. The + soft limit setting range is 1 to 4999.
*: The lead equivalent value can be checked with the PRM101 (Lead length)
parameter.
• In limitless movement, @XINC and @XDEC allow moving a distance equal to
one cycle. The movement speed setting and stop method are just the same as
for normal movement.
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In limitless movement, the movement direction can also be selected with a point
movement command such as MOVA which specifies a target point. The following
commands are point movement commands.
• Robot language : MOVA, MOVF
• Communication command : @MOVA, @MOVF, @MOVD
To select a movement direction opposite the return-to-origin direction, add 5000mm
to the target point. To select the same movement direction as when performing returnto-origin, add 5000mm to the target point and give a minus sign to this value. When
the movement direction is not specified, the robot moves in the direction of shorter
distance.
MEMO
• In the case of a movement command such as MOVI which specifies the amount of
movement, the movement direction is determined by the plus/minus sign of the point
data, just as with normal movement.
• If the target point is the same as the current position on the program when executing a
point movement command such as MOVA which specifies a target point, then the
robot movement differs depending on whether the movement direction is selected by
point setting, as follows:
➢ When the movement direction is selected, the robot moves a distance equal to one
cycle in the selected direction and stops.
➢ When no movement direction is selected, the robot does not move.
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n Selecting the movement direction (MOVA)
MOVA 1,100 P1=5030mm
Current positionP1
Moves in return-to-origin direction.
+ soft limit
Current position
Moves in direction opposite return-to-origin direction.
+ soft limit
Current position
Moves in direction of shorter distance.
+ soft limit
• MOVA 1,100 P1=5030mm
• MOVA 1,100 P1=30mm
• MOVA 1,100 P1=–5030mm
P1
P1
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l When PRM119 (Position data unit) is set to "3"
When PRM119 is set to "3", the current position is expressed in degrees (°) from 0
to 359.99 as a basic cycle. Therefore, even if the robot moves to the 360° point, that
position sets to 0° so that the robot can rotate continuously in the same direction along
the axis.
When PRM119
is set to "3"
Cannot move to any point
beyond the 360° point.
The 360° point sets to 0° The + soft limit
point is set to 0mm, so the robot keeps
moving in the same direction.
360° 360°(=0°)
(Limitless movement is
in units of "degrees".)
The maximum distance of one movement is a distance equal to one cycle (360°). To
move a distance longer than one cycle, divide the movement distance into two or more
portions.
n When movement distance is longer than 360°
360° 360°
Distance of one movement
cannot exceed a distance
equal to one cycle.
Movement exceeding a distance equal to
one cycle should be divided into two or
more portions.
cCAUTION In limitless movement, @XINC and @XDEC allow moving a distance equal to one
cycle. The movement speed setting and stop method are just the same as for
normal movement.
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In limitless movement, the rotation direction can also be selected with a point
movement command such as MOVA which specifies a target point. The following
commands are point movement commands.
• Robot language : MOVA, MOVF
• Communication command : @MOVA, @MOVF, @MOVD
To select the rotation direction opposite the return-to-origin direction, add 5000
degrees (°) to the target point. To select the same rotation direction as when performing
return-to-origin, add 5000 degrees (°) to the target point and give a minus sign to this
value. When the rotation direction is not specified, the robot moves in the direction of
shorter distance.
MEMO
• In the case of a movement command such as MOVI which specifies the amount of
movement, the rotation direction is determined by the plus/minus sign of the point data
just as with normal movement.
• If the target point is the same as the current position on the program when executing a
point movement command such as MOVA which specifies a target point, then the
robot movement differs depending on whether the rotation direction is selected by
point setting, as follows:
➢ When the rotation direction is selected, the robot rotates through 360° in the
selected direction and stops.
➢ When no rotation direction is selected, the robot does not move.
n Selecting the rotation direction (MOVA)
Moves in direction
opposite return-to-origin
direction.
• MOVA 1,100 P1=5030°
P1
360°
P1
360°
Moves in direction of shorter distance.
• MOVA 1,100 P1=30°
Moves in
return-to-origin direction.
• MOVA 1,100 P1=–5030°
P1
360°
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4.3.4.11 Remote commands (serial I/O)
Messages can be sent directly from the PLC by utilizing the serial I/O remote register. This
allows easily executing sophisticated commands such as the MOVD command (movement
command directly specified by coordinates) that ordinarily cannot be executed without
using an RS-232C unit.
l Signal table
Output Input
Signal name Meaning Signal name Meaning
WO0 Status WI0
Execution command
WO1 – WI1
WO2
Command response
WI2
Command option
WO3 WI3
WO4 WI4
WO5 WI5
WO6 WI6
WO7 WI7
MEMO
• The data size of each signal is the word length.
• The data is set in binary code. If separating the data with one or more words into single
words, then the little endian method is used.
• To find the signal address, see the profile for each I/O unit.
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l Execution commands and command options
Signal name Meaning Connector I/O type
WI1, WI0 Execution commands CC, DN, PB Input
WI7 to WI2 Command options CC, DN, PB Input
Description
Enter the command and command code into WI1 and WI0 to execute the specified
command. Enter information needed for each command into the command option.
Execution command
Meaning
WI1 WI0
0000 or 0001 xxxx
Executes the code xxxx. When WI1 is 0001, then the current
position information is output to the command response.
l Status and command response
Signal name Meaning Connector I/O type
WO1, WO0 Status CC, DN, PB Output
WO7 to WO2 Command response CC, DN, PB Output
Description
This outputs the executed command results to the status and command response.
Status Meaning Description
0000 Command ready Indicates the state that a command is executable.
0100 Command running
Indicates that a command was received, and is being
executed.
0200 Command ended normally Indicates that a command ended normally.
40xx Error occurred
Indicates that an error occurred and command could not
end normally. The error number is output here as xx.
80xx Alarm occurred
Indicates that an alarm occurred in the controller. The
alarm number is output here as xx.
* : See the controller user's manual for information on the error No. and alarm No.
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l Remote command and status value lists
1. Robot movement
No.
Remote Command (WI) Command option Command response
Code Command details Option Signal name response Signal name
1 0101 Return-to-origin execution Axis WI2
2 0102 Program reset
3 0103 Automatic operation start
4 0104 Step operation start
5 0105 Servo status change
Axis WI2
Status WI3
6 0106 JOG movement (inching)
Axis WI2
Movement direction WI3
7 0107 JOG movement
Axis WI2
Movement direction WI3
8 0108
Direct position specification
movement execution
Axis WI2
Speed WI3
X axis position WI5, WI4
Y axis position WI7, WI6
9 109
Position specification movement
execution
Axis WI2
Point number WI3
Speed WI4
10 010A
Movement stroke specification
movement execution
Axis WI2
Point number WI3
Speed WI4
11 010B
General-purpose input response
movement execution
Axis WI2
Point number WI3
DI/SI number WI4
0 or 1 WI5
12 010C
Pallet work position specification
movement execution
Axis WI2
Pallet work position WI3
Speed WI4
13 010F
General-purpose output or memory
output status change
DO/MO/SO number WI2
0 or 1 WI3
14 0110
General-purpose input or memory
input wait
DI/MI/SI number WI2
0 or 1 WI3
15 0111 Specified time waiting Time WI2
16 0112 Matrix definition
Line number WI2
Array number WI3
Pallet number WI4
17 0113 Movement matrix specification Pallet number WI2
18 0114 Point variable P definition Point number WI2
19 0115
Addition of specified value to point
variable P
Addition value WI2
20 0116
Subtraction of specified value from
point variable P
Subtraction value WI2
21 0117
Arrangement element specification
of counter arrangement variable C
Arrangement element No. WI2
22 0118
Counter arrangement variable C
definition
Counter value WI2
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No.
Remote Command (WI) Command option Command response
Code Command details Option Signal name response Signal name
23 0119
Addition of specified value to
counter arrangement variable C
Addition value WI2
24 011A
Subtraction of specified value from
counter arrangement variable C
Subtraction value WI2
25 011B Counter variable D definition Counter value WI2
26 011C
Addition of specified value to
counter variable D
Addition value WI2
27 011D
Subtraction of specified valuefrom
counter variable D
Subtraction value WI2
28 011E Shift execution of position data Point number WI2
2. Data handling
No.
Remote Command (WI) Command option Command response
Code Command details Option Signal name response Signal name
1 0201 Current position read
Axis WI2 X axis position WO5, WO4
Y axis position WO7, WO6
2 0202 Current program No. read Program number WO2
3 0203 Current step No. read Step number WO2
4 0204 Current task No. read Task number WO2
5 0205 Current point No. read Point number WO2
6 0206 ROM version No. read Version value WO2
7 0207 Axis number read Axis number WO2
8 0208 Emergency stop status check Emergency stop status WO2
9 0209 Servo status check Axis WI2 Servo status WO2
10 020A Return-to-origin status check Axis WI2 Return-to-origin status WO2
11 020B Service mode status check Service mode status WO2
12 020C Operation mode check Operation mode status WO2
13 020D Matrix definition content read
Pallet number WI2 Array number WO2
Line number WO3
14 020E Currently specified matrix No. read Matrix No. WO2
15 020F Current point variable P read Point number WO2
16 0210
Arrangement element No. read of
currently specified C
Arrangement element No. WO2
17 0211 Counter arrangement variable C read Arrangement element No. WI2
Counter arrangement
variable
WO2
18 0212 Current counter variable D read Counter variable WO2
19 0213 Current shift data read
X axis shift data WO5, WO4
Y axis shift data WO7, WO6
20 0214
General-purpose input and memory
input status read
DI/MI/SI number WI2 Input status WO2
21 0215
General-purpose output and
memory output status read
DO/MO/SO number WI2 Output status WO2
22 0216 Specified parameter data read Parameter number WI2 Parameter value WO3, WO2
23 0217 Specified point data read
Point number WI2 X axis data WO5, WO4
Y axis data WO7, WO6
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3. Utility
No.
Remote Command (WI) Command option Command response
Code Command details Option Signal name response Signal name
1 0301 Execution program No. switching Program number WI2
2 0302 Execution task No. switching Task number WI2
3 0303 Parameter data write
Parameter number WI2
Parameter data WI5, WI4
4 0304 Point data write
Point number WI2
Axis WI3
X axis data WI5, WI4
Y axis data WI7, WI6
4. Special commands
No.
Remote Command (WI) Command option Command response
Code Command details Option Signal name response Signal name
1 0000 No execution (status clear)
Initial value data
WI7, WI6,
WI5, WI4,
WI3, WI2
Initial status
WO7, WO6,
WO5, WO4,
WO3, WO22 0401 Response register initialization
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l Timing chart
The following shows a timing chart for sending/receiving a remote command using the
"Direct position specification movement execution" command (code: 000x0108) as an
example.
Command
Command option
Robot motion
Status
WI0
WI1
WI2 to WI7
WO0
(0000)
(0000)
(0108)
(0000) or (0001)
(0100) (0200) (0000)
(0000)
t >= tr
tr= 3×Input/output response time (PRM363) [ms]
1 2 3 4
Robot is moving
q Set "0108" in WI0 to run the "Direct position specification movement execution" command. The
status (WO0) must be "0000" (Command ready) at this point. Information (axis, speed and target
position) necessary for the command should have been entered before setting the command or
should be set simultaneously as command options. Normally WI1 should be set to "0000", or set
to "0001" if outputting the current position to command response.
w The command execution starts and the robot starts moving. The status changes to "0100" (Command
executing). At this time onward, it is okay to change the command options.
e When the robot has moved to the target position, the status changes to "0200" (Command normal
end).
r Set "0000" in WI0 to allow another command to be run. The status then changes to "0000" again.
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4.4 RS-232C communication
The SR1 allows you to edit the program data and point data or control the robot operation
using a PC (personal computer).
4.4.1 Communication parameter specifications
The communication parameters on the PC must be set as follows. Refer to the PC
operation manual for the setting procedure.
n Communication parameter specifications
Parameter Setting
Baud rate 9600 bps
Data bit length 8 bits
Stop bit length 1 bit
Parity check Yes
Parity setting Odd
Control method (X parameter) XON/XOFF software control method (enabled)
Communication method Full duplex
Synchronization method Start-stop synchronization
Return key transmission processing CR code
CR code receiving processing
When receiving CR/LF : Return + line feed
When receiving CR : Return
If the above parameter settings cannot be made due to your equipment specifications, the
SR1 settings can be changed by changing PRM404 (Communication parameter setting)
from the HPB. After changing the parameters, turn the power off and then turn it on again
to enable the settings. The HPB can be used even if the parameters have been changed.
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n PRM404 (Communication parameter setting) description
Bit Function Selection
Addition
value
0 to 1 Parity check
bit 1 0
0 : Odd 0 0 0
1 : Even 0 1 1
2 : None 1 0 2
3 : None 1 1 3
2 Stop bit length
0 : 1 bit 0
1 : 2 bits 4
3 Data bit length
0 : 8 bits 0
1 : 7 bits 8
4 to 7 Baud rate
bit 7 6 5 4
0 : 9600bps 0 0 0 0 0
1 : 300bps 0 0 0 1 16
2 : 600bps 0 0 1 0 32
3 : 1200bps 0 0 1 1 48
4 : 2400bps 0 1 0 0 64
5 : 4800bps 0 1 0 1 80
6 : 9600bps 0 1 1 0 96
7 to 15: Cannot be set. – – – – –
8 Termination code
0 : CR+LF 0
1 : CR 256
9 to 15 Reserved for system use (Always set to 0.) 0
n PRM404 setting example
When setting the data bit length to "7 bits" and the parity check to "None":
bit 15 to 9 8 7 6 5 4 3 2 1 0 PRM404
Setting 0 0 0 0 0 0 1 0 1 0
Addition value 0 0 0 0 0 0 8 0 2 0 8+2=10
Enter "10" in PRM404 because 0000000000001010 (binary) equals 10 (decimal).
cCAUTION Be sure to use a cable that conforms to the specifications listed in the next section
on "Communication cable specifications". The settings will be invalid if other
cables having different specifications such as POPCOM communication cables
are used.
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4.4.2 Communication cable specifications
The RS-232C communication cable connects to the HPB connector on the front panel of
the SR1.
For instructions on how to make connection, see 3.3.3, "Connecting to the HPB or PC" in
Chapter 3 of the "SR1 User's Manaual" section.
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
Pin No.
9
8
7
6
Pin No.
5
4
3
2
1
cCAUTION • Pin 4 on the HPB connector is specifically used for HPB connection. To avoid
possible accidents, do not connect other inputs to this pin.
• When using optional POPCOM software, refer to the POPCOM user's manual and
"l When using optional POPCOM" described later in this section, since the
connection specifications different.
• The PC may have its own connector specifications, so be sure to check the PC
operation manual to ensure the connections are correct.
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l Connecting to PC with a 25-pin D-sub connector
[Connector Type on SR1]
Mating connector No. : XM2A-0901 (OMRON) or equivalent
Mating connector cover No. : XM2S-0913 (OMRON) or equivalent
[Connector Type on PC]
Mating connector No. : XM2D-2501 (OMRON) or equivalent
Mating connector cover No. : XM2S-2511 (OMRON) or equivalent
SR1 PC
HPB
Signal name Pin No. Signal namePin No.
F.G
TXD
RXD
RTS
CTS
D.G
HSES1
HSES2
SHELL
3
2
7
8
5
6
9
1
2
3
4
5
7
6
8
20
F.G
TXD(SD)
RXD(RD)
RTS(RS)
CTS(CS)
D.G(SG)
DSR(SR)
DCD(CD)
DTR(ER)
l Connecting to PC with a 9-pin D-sub connector
[Connector Type on SR1]
Mating connector No. : XM2A-0901 (OMRON) or equivalent
Mating connector cover No. : XM2S-0913 (OMRON) or equivalent
[Connector Type on PC]
Mating connector No. : XM2D-0901 (OMRON) or equivalent
Mating connector cover No. : XM2S-0913 (OMRON) or equivalent
SHELL
1
2
3
4
5
6
7
8
F.G
/HPB
RXD
TXD
NC
D.G
HSES2
RTS
CTS
9HSES1
SR1 PC
HPB
Signal namePin No.Signal name Pin No.
SHELL
1
2
3
4
5
6
7
8
F.G
DCD(CD)
RXD(RD)
TXD(SD)
DTR(ER)
D.G(SG)
DSR(DR)
RTS(RS)
CTS(CS)
9 NC
MEMO
Transmission stops while CTS on the controller side is off. If a robot alarm is issued while CTS
is on, the controller keeps sending the message.
RTS on the controller side is always on.
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If using an earlier model YAMAMA robot controller such as SRCX:
Communication cables used with earlier model YAMAMA robot controllers such as SRCX
can also be used to connect to the SR1 by attaching an RS-232C adapter.
The RS-232C adapter has the following shape and wiring specifications.
FG
1
2
3
4
5
6
7
8
9
9 pins (male)
RS-232C adapter
1
2
3
4
5
7
10
12
18
21
25 pins (female)
K
A
X
-M
657E
-010
l When using optional POPCOM (on PC with a 9-pin D-sub connector)
[Connector Type on SR1]
Mating connector No. : XM2A-0901 (OMRON) or equivalent
Mating connector cover No. : XM2S-0913 (OMRON) or equivalent
[Connector Type on PC]
Mating connector No. : XM2D-0901 (OMRON) or equivalent
Mating connector cover No. : XM2S-0913 (OMRON) or equivalent
SHELL
1
2
3
4
5
6
7
8
F.G
/HPB
RXD
TXD
NC
D.G
HSESC2
RTS
CTS
9HSESC1
SR1 PC
POPCOM
Signal namePin No.Signal name Pin No.
SHELL
1
2
3
4
5
6
7
8
F.G
DCD(CD)
RXD(RD)
TXD(SD)
DTR(ER)
D.G(SG)
DSR(DR)
RTS(RS)
CTS(CS)
9 NC
* The "SHELL" is a metallic casing of the connector.
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4.4.3 Communication command specifications
On the SR1, a command interface that resembles the BASIC programming language is
provided as standard feature to facilitate easy communication with an external device
such as a PC.
Communication commands are divided into the following four categories:
1. Robot movements
2. Data handling
3. Utility
4. Special code
Each communication command (except for special code) consists of the following format.
l Communication command (except for special code) format
[][,][,]c/r l/f
Items enclosed in brackets [ ] can be omitted.
• Basically, each communication command begins with a start code '@' (=40H) and
ends with the code c/r (=0DH) l/f (=0AH). These two codes signal the SR1 that the
statements 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 with the SR1 are the JIS8 unit system codes (ASCII codes
with katakana characters added). Input characters can be upper case or lower case.
Opcode (Operation code)
• A command statement is basically composed of an opcode (operation code) and
operands. Depending on the command statement, it only consists of an opcode.
Operand
• A command statement is basically composed of an opcode and operands.
Depending on the command statement, either no operand or up to three operands
are used.
• One or more space must be inserted between the opcode and the operand.
• Items enclosed in the < > marks should be specified by the user. Check the
description of each communication command and enter the appropriate data.
• When two or more operands are entered, insert a comma (,) between them.
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4.4.4 Communication command lists
1. Robot movement
No. Opcode Operand 1 Operand 2 Operand 3 Command description
1
ORG
ORGN
Returns to origin
2 RESET Resets program
3 RUN Starts automatic operation
4 SRUN Starts step operation
5 SRVO
0
1
Turns servo off
Turns servo on
6 X+/X- Performs jog movement (inching) along X-axis
7 XINC/XDEC Performs jog movement along X-axis
8 MOVD
X-axis position
(mm)
speed Directly moves to specified position
9 MOVA point number speed Moves to specified position
10 MOVI point number speed Moves specified distance (movement amount)
11 MOVF point number DI number 0 or 1 Moves in response to general-purpose input
12 MOVM
pallet work
position
speed Moves to specified pallet work position
13 DO output number
0
1
Turns off general-purpose output or memory output
Turns on general-purpose output or memory output
14 WAIT input number 0 or 1 Waits general-purpose input or memory input
15 TIMR time Waits for specified time
16 MAT number of rows number of columns pallet number Defines matrix on specified pallet
17 MSEL pallet number Specifies pallet number where to move
18 P point number Defines point variable P
19 P+ Adds 1 to point variable P
20 P- Subtracts 1 from point variable P
21 CSEL
array element
number
Specifies array element of counter array
variable C
22 C counter value Defines counter array variable C
23 C+ [addition value] Adds specified value to counter array variable C
24 C- [subtraction value]
Subtracts specified value from counter array
variable C
25 D counter value Defines counter variable D
26 D+ [addition value] Adds specified value to counter variable D
27 D- [subtraction value]
Subtracts specified value from counter
variable D
28 SHFT point number Performs point data shift
29 IN input number number of bits
Stores general-purpose input status or
memory input status into counter variable D
30 OUT output number number of bits
Outputs value of counter variable D as
general-purpose output or memory output
31 LET variable 1 variable 2 Assigns variables
32 ALMRST Alarm reset
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2. Data handling
No Opcode Operand 1 Operand 2 Operand 3 Command details
1 ?POS Reads current position
2 ?NO Reads current program number
3 ?SNO Reads current step number
4 ?TNO Reads current task number
5 ?PNO Reads current point number
6 ?STP program number Reads total number of steps in specified program
7 ?MEM Reads number of steps that can be added
8 ?VER Reads ROM version number
9 ?ROBOT Reads robot number
10 ?CLOCK Read current date and time
11 ?ALM history number [display count] Reads alarm history
12 ?ERR history number [display count] Reads error history
13 ?EMG Confirms emergency stop status
14 ?SRVO Confirms servo status
15 ?ORG Confirms return-to-origin status
16 ?MODE Confirms operation mode
17 ?MAT pallet number Reads matrix definition contents
18 ?MSEL Reads currently specified matrix number
19 ?PVA Reads current point variable P
20 ?CSEL
Reads currently specified element number of
counter array variable C.
21 ?C
[array element
number]
Reads current counter array variable C
22 ?D Reads current counter variable D
23 ?SHFT Reads current shift data
24 ?DI input number
Reads general-purpose input or memory
input status
25 ?DO output number
Reads general-purpose output or memory
output status
26 ?PRM
parameter number
parameter number
parameter number
Reads specified parameter data
Reads specified multiple parameter data
27 ?P
point number
point number
point number
Reads specified point data
Reads specified multiple point data
28 READ
program number
PGM
PNT
PRM
ALL
DIO
MIO
INF
step number
number of steps
Reads specified program data
Reads all program data
Reads all point data
Reads all parameter data
Batch-reads all program, point and parameter data
Reads input/output information
Reads memory input/output (100 to 147) information
Reads registered program information
29 WRITE
PGM
PNT
PRM
ALL
Writes program data
Writes point data
Writes parameter data
Batch-writes all program, point and parameter
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4
3. Utility
No. Opcode Operand 1 Operand 2 Operand 3 Command details
1 INIT
PGM
PNT
PRM
CLOCK
ALM
ERR
robot number
date
time
Initializes program data
Initializes point data
Initializes robot parameters
Sets clock
Initializes alarm history
Initializes error history
2 SWI program number Switches program number to be run
3 SWITSK task number Switches task number to be run
4 SINS program number step number Inserts one program step
5 SDEL program number step number Deletes one program step
6 SMOD program number step number Modifies one program step
7 COPY
program number
(copy source)
program number
(copy destination)
Copies program
8 DEL program number Deletes specified program
9 PDEL point number number of points Deletes point data
4. Special code
No. Command Command description
1 ^C (=03H) Interrupts RUN, SRUN, ORG, etc.
2 ^Z (=1AH) Ends data transmission
3 ^B (=02H) Stops alarm message output
Chapter 5 Data setting
Contents
5.1 Data concept 5-1
5.1.1 Parameter data 5-1
5.1.2 Point data 5-1
5.1.3 Program data 5-2
5.2 Parameter data 5-6
5.2.1 Robot number 5-6
5.2.2 Parameter lists 5-7
5.2.3 Parameter description 5-11
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5.1 Data concept
Data type Meaning Save format
ALL data All data including parameter, point and program data .ALL
PRM data Parameter data .PRM
PNT data Point data .PNT
PGM data Program data .PGM
5.1.1 Parameter data
l Data format
PRMn =
n: Parameter number
Example: PRM110 = 150
l Parameter group
Parameter group Number Description
Control parameters PRM100 to 199 Robot data setting
Data parameters PRM200 to 299 Speed and teaching speed
System parameters 1 PRM300 to 399 I/O and program setting
System parameters 2 PRM400 to 499 Software version and option information, etc.
5.1.2 Point data
l Data format
Pn = < numeric value >
n: Point number
Example: P25 = 100.00
l Number of usable points
P0 to P999 (maximum of 1000 points)
P900 to P907 are used to specify zone output ranges.
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5-3
5.1.3 Program data
The SR1 uses a BASIC-like robot language that allows you to program easily. This section
explains program data specifications and format. For detailed information on the robot
language and sample programs, refer to the "Programming Guide".
n Program data specifications
Total number of programs 100 (No. 0 to No. 99)
Maximum number of steps per program 255
Maximum number of steps in all programs together 3000
l Program (command statement) format
Each program (command statement) for the SR1 robot controller should be written in
the following format. When creating a program using the HPB, you do not have to be
aware of this format since the HPB guides you through each item entry according to
this format.
[][,][,] [;]
Items enclosed in brackets [ ] can be omitted.
• Use one-byte characters (one-byte alphanumeric letters and signs) to enter a
command statement.
Letters can be entered in either upper case or lower case. The SR1 automatically
converts each letter to upper case.
• One command statement must be written on a single line within 80 characters
(including a line feed code). Two or more statements cannot be written on the same
line.
Opcode (operation code)
• A command statement consists of an opcode and operands. Some command
statements consist only of an opcode.
Operand
• A command statement consists of an opcode and operands. Some command
statements consist of zero operands or up to 3 operands.
• At least one space must be placed between the opcode and operand.
• Operands enclosed in < > must be specified by the user. Enter appropriate data by
referring to the description of each robot command. (See the "Programming Guide".)
• When entering two or more operands, insert a comma (,) between each operand.
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Comment
• A comment can be written following the last operand. A line consisting only of a
comment cannot be created. (No comment can be written with the HPB.)
• A semicolon (;) must precede the comment. When you create programs with a PC,
comments will be useful in identifying the programs. Note, however, that comments
are not stored in the SR1 controller.
• A comment can be any desired length as long as the command statement fits on
one line. Use one-byte characters (one-byte alphanumeric letters and signs) to enter
comments.
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l Maximum number of steps in all programs
The total count of steps in all programs (a maximum of 3000) should be counted as
follows.
(No. of steps in a program + 1) + (No. of steps in a program + 1) + . . . . . . .
* The above total count does not include programs in which no step is registered.
n Program data specification example
Program examples No. of steps in each program Total count of steps in all programs
NO0
DO 110,0
TON 1,1,1
L 0
JMPB 0,4,0
DO 110,1
L 1
TIMR 1
JMPB 1,4,1
DO 110,0
JMP 0,0
NO1
L 0
MOVA 1,100
DO 1,1
DO 2,0
DO 3,0
:
:
DO 1,1
L 15
JMPB 0,110,0
JMPB 2,4,1
JMP 0,1
NO99
ORGN
P 100
L 0
MOVA 1,100
TIMR 50
MOVA P,100
TIMR 50
P+
JMP 0,99
Up to 255 steps per program
Up to 255 steps per program
Up to 255 steps per program
All programs together: Up to 3000 steps
Example:
In the case of the above example, the total
count of steps in all programs is 303.
(100+1) + (150+1) + (50+1) = 303 steps
Program No.
0
1
99
Number of steps
100
150
50
MEMO
When you open a program as text on a PC, you will see program data including the
program number like the above sample programs.
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l Lead program and program flow
The lead program is the program that has been selected as the execution program by
the HPB or POPCOM. (See 9.4, "Changing the execution program", in Chapter 9 of the
"HPB Operation Guide" section.)
• The lead program can also be selected by running the communication command "@
SWI".
• The lead program selected can be checked with PRM351 (Lead program number
parameter).
• Program flow always returns to the lead program after reset.
n Lead program and program flow (example)
NO0
ORGN
P 200
L 0
MOVA 100,100
TIMR 50
MOVA P,100
TIMR 50
P+
JMP 0,0
NO1
L 0
MOVA 0,100
WAIT 0,1
MOVA 1,100
CALL 2,1
L 1
JMPB 2,3,1
JMPB 3,4,1
JMP 1,1
L 2
MOVA 10,100
CALL 3,1
JMP 0,1
L 3
MOVA 20,100
CALL 3,1
JMP 0,1
NO2
DO 0,1
WAIT 1,1
DO 1,1
TIMR 100
DO 0,0
WAIT 2,1
NO3
DO 0,1
WAIT 1,1
DO 1,0
TIMR 100
DO 0,0
WAIT 2,1
Program runs sequentially from top to bottom
unless a branching instruction is given.
If a branching instruction is given, program skips
some lines and runs depending on the instruction.
NO0: 9 steps
NO1: 17 steps
(This program is set as the lead program.)
NO2: 6 steps
NO3: 6 steps
[AUTO] 100%  0:    0
PGM  No =1_
(program No) 0→99 
If a branching instruction is given, program returns
to an upper line and reruns depending on the
instruction.
Selecting program No.1
makes it the lead program.
The program execution always returns to the
lead program after reset.
MEMO
When you open a program as text on a PC, you will see program data including the
program number like the above sample programs.
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5-7
5.2 Parameter data
The SR1 series uses a software servo system, so no adjustments of hardware components
such as potentiometers or DIP switches are required. Instead, the SR1 uses parameters that
can be easily set or changed by the HPB or PC.
5.2.1 Robot number
The SR1 controller internally stores the parameters for each robot. Robots each have a
robot number specified to identify them. (See table below.) Minimum conditions needed
to operate each robot can be optimized by performing parameter initialization using the
robot number.
cCAUTION The controller power must be turned off and then back on after performing
parameter initialization.
n Robot number table
0 1 2 3 4 5 6 7 8 9
X
400x T6-12 T6-06 T6-12V T6-06V T5H-20 T5H-12 T5H-06 T5H-12V T5H-06V T6-20
401x T7-12 T7-12V T4H-12 T4H-06 T4H-02 T4H-12V T4H-06V T4H-02V – –
402x T9-20 T9-10 T9-05 T9-20V T9-10V T9-05V T9-30 – – –
403x T9H-20 T9H-10 T9H-05 T9H-20V T9H-10V T9H-05V T9H-30 – – –
404x F10-20 F10-10 F10-05 F10-20V F10-10V F10-05V F10-30 – – –
405x F14-20 F14-10 F14-05 F14-20V F14-10V F14-05V F14-30 – – –
406x F14H-20 F14H-10 F14H-05 F14H-20V F14H-10V F14H-05V F14H-30 – – –
407x F17-20 F17-10 F17-20V F17-10V F17L-50 F17L-50V F17-40 – – –
408x F20-20 – F20-20V F20-10V F20N-20 F20-40 – – – –
409x B10-25 B14-25 B14HF-25 B14H-25 – – – – – –
410x R5 R10 R20 – – – – – – –
411x C14-20 C14-10 C14-05 C14-20V C14-10V C14-05V – – – –
412x C14H-20 C14H-10 C14H-05 C14H-20V C14H-10V C14H-05V – – – –
413x C17-20 C17-10 C17-20V C17-10V C10-20 C10-10 C10-05 C10-20V C10-10V C10-05V
414x C20-20 – C20-20V C20-10V – – – – – –
415x C6-12 C6-06 C6-12V C6-06V – – – – – –
416x N15-20 N18-20 N15-30 N15-10 – – – – – –
417x N18-30 N18-10 – – – – – – – –
450x F8-12 F8-06 F8-12V F8-06V F8-20 – – – – –
451x F8L-20 F8L-10 F8L-05 F8L-20V F8L-10V F8L-05V F8L-30 – – –
452x F8LH-20 F8LH-10 F8LH-05 – – – – – – –
460x C8-12 C8-06 C8-12V C8-06V C8-20 – – – – –
461x C8L-20 C8L-10 C8L-05 C8L-20V C8L-10V C8L-05V – – – –
462x C8LH-20 C8LH-10 C8LH-05 – – – – – – –
P
420x MR12T MR16T MR16TH MR20F MR25F MR20FH – – MF20 MF30
421x MF50 – – – – MR12 MR16 MR16H MR20 MR25
422x MR12A MR16A MR16HA MR20A MR25A MF20A MF30A MF50A – –
423x MF15 MF75 MF7 – – – – – – –
424x MF15A MF75A MF7A – – – – – – –
* Semi-absolute can be enabled with the following robots.
MR12A, MR16A, MR16HA, MR20A, MR25A, MF7A, MF15A, MF20A, MF30A, MF50A, MF75A
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5.2.2 Parameter lists
The following tables show the parameter lists.
(NOTE) 1. "Robot type" in the "Default setting" column and "Input range" column indicates that the
setting value depends on the robot type.
2. "RW" in the "RW" column indicates that the parameter is rewritable, while "R" indicates
that the parameter is read only.
3. "Required" in the "Restart" column indicates the controller power must be turned off and
then back on to enable the setting if changed.
4. Shaded numbers in the "No." column are hidden parameters. To view these parameters
on the HPB screen, see 10.9, "Displaying the hidden parameters", in Chapter 10 of the
"HPB Operation Guide" section.
n Axis parameters (PRM100 to 199)
No. Name Input range Default Unit Restart RW
100 Robot type number – Robot type – – R
101 Lead length 10 to 10000 Robot type .01mm – RW
102 Stroke length 0 to 9999 Robot type mm – RW
104 Robot type number (old number) – Robot type – – R
110 (+) soft limit -9999 to 9999 Robot type mm – RW
111 (-) soft limit -9999 to 9999 Robot type mm – RW
112 Payload 0 to Robot type Robot type kg – RW
113 Acceleration
-X 1 to 100
100 % – RW
-P 1 to 200
114 Deceleration 1 to 100 Robot type % – RW
115 Positioning tolerance in pulses 1 to 4000 80 pulse – RW
116 Position NEAR width 1 to 9999 100 .01mm – RW
117 OUT valid position 0 to 9999 1 mm – RW
119 Position data unit 0 to 3 Robot type – – RW
120 Axis polarity 0, 1 0 – – RW
121 Return-to-origin direction 0, 1 Robot type – – RW
122 Return-to-origin speed 1 to 100 20 mm/s – RW
123 Origin detection method 0 to 2 Robot type – – RW
124 Origin shift -9999 to 9999 0 .01mm – RW
125 Origin search count 0 to 255 Robot type – – RW
126 Origin detection torque level 1 to 100 Robot type % – RW
127 ORG shift 2 -9999 to 9999 0 mm – RW
128 Acceleration coefficient (Reserved) Robot type rad/ss – RW
129 Maximum speed setting (Reserved) Robot type
-X rpm
– RW
-P mm/s
130 Torque detection time 1 to 100 10 .01s – RW
131 QP band width – Robot type pulse – RW
132 Magnetic pole detection level – Robot type .01A – RW
133 Servo brake select – Robot type – – RW
134 Servo parameter-2 mode select – Robot type – – RW
135 PTP acceleration pattern – Robot type – – RW
136 PTP deceleration pattern – Robot type – – RW
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No. Name Input range Default Unit Restart RW
137 ABS search method 0 to 3 0 – – RW
140 Overload current 1 to 300 300 % – RW
141 Overload time 1 to 300 300 .01s – RW
142 Mechanical locking detect level 0 to 255 255 .01s – RW
143 Open-circuit fault detect level 0 to 255 3 .01s – RW
144 Out-of-control detect level 1 to 10000 2000 – – RW
145
Maximum speed during torque
limiting
-X 1 to 450 200 rpm
– RW
-P 1 to 250 100 mm/s
146 HOLD minimum speed
-X 1 to 450 200 rpm
– RW
-P 1 to 250 100 mm/s
150 Velocity proportional gain – Robot type – – RW
151 Velocity integral gain – Robot type – – RW
152 Position proportional gain – Robot type – – RW
153 Feed forward gain – Robot type – – RW
154 Hold gain – Robot type – – RW
155 Velocity DC gain – Robot type – – RW
156 Lowpass filter 1 to 2000 Robot type Hz – RW
158 Variable velocity gain 1 to 100 Robot type % – RW
171 Encoder pulse count – Robot type pulse Required R
174 Rated current – Robot type .01A – RW
175 Maximum current – Robot type .01A – RW
176 Current proportional gain – Robot type – – RW
177 Current integral gain – Robot type – – RW
179 Magnetic pole pitch – Robot type pulse – R
180 Magnetic pole position offset – 0 – – R
181 M. pole ZERO position – Robot type pulse – RW
182 Scale type 0, 1 Robot type – – R
n Data parameters (PRM200 to 299)
No. Name Input range Default Unit Restart RW
200 Maximum program speed 1 to 100 100 % – RW
201 JOG speed 1 to 100 100 mm/s – RW
202 MOVF speed 1 to robot type 10 mm/s – RW
204 I/O point move command speed 1 to 100 100 % – RW
210 Point trace speed 1 1 to 100 10 % – RW
211 Point trace speed 2 1 to 100 30 % – RW
212 Point trace speed 3 1 to 100 70 % – RW
220 Analog monitor select 1 0 to 3999 0 – – RW
221 Analog monitor select 2 0 to 3999 0 – – RW
222 Analog monitor zero level 1 0 to 255 128 – – RW
223 Analog monitor zero level 2 0 to 255 128 – – RW
224 Analog monitor scale 1 -5 to 5 0 – – RW
225 Analog monitor scale 2 -5 to 5 0 – – RW
230 (Not used) – 0 – – R
231 (Not used) – 0 – – R
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No. Name Input range Default Unit Restart RW
233 HPB teaching data 1 – 100 – – R
234 HPB teaching data 2 – 50 – – R
235 HPB teaching data 3 – 10 – – R
241 Torque limit timeout 1 to 6000 100 0.01s – RW
242 Torque limit value 1 1 to 100 100 % – RW
243 Torque limit value 2 1 to 100 100 % – RW
244 Second torque limit value 1 1 to 100 100 % – RW
245 Second torque limit value 2 1 to 100 100 % – RW
246 Third torque limit value 1 1 to 100 100 % – RW
247 Third torque limit value 2 1 to 100 100 % – RW
248 Fourth torque limit value 1 1 to 100 100 % – RW
249 Fourth torque limit value 2 1 to 100 100 % – RW
250 Analog input gain 10 to 1000 500 0.01V/Rated torque Required RW
n System parameters 1 (PRM300 to 399)
No. Name Input range Default Unit Restart RW
300 I/O type select 0 to 31 0 – Required RW
301 Position output select 0, 1, 2 0 – Required RW
302 Alarm number output select 0, 1 0 – – RW
303 Action at return-to-origin end 0, 1, 2, 3 2 – – RW
304 Servo status output select 0, 1 0 – – RW
306 Zone output select 0 to 255 0 – – RW
307 (Fixed) – 2 – – RW
308 SERVO recovery sequence 0, 1 0 – Required RW
309 READY output sequence 0, 1 0 – – RW
310 END output sequence 0 to 3 0 – – RW
311 (Fixed) – 0 – Required RW
312 Point zone output select 0, 1 0 – Required RW
313 Binary I/O select 0 to 15 2 – Required RW
314 Point output select 0, 1, 2 0 – Required RW
315 Output pulse division ratio
-X 16 to 4096 4096
– Required RW
-P 16 to 1024 1024
317 Movement pattern change 0, 1 0 – – RW
318 HOLD valid 0, 1 0 – Required RW
320 Alarm number output offset 0 to 10 0 – – RW
321
Servo recovery status output
offset
0 to 15 7 – – RW
322 Return-to-origin end output offset 0 to 15 4 – – RW
324 Zone 0 output offset 0 to 15 0 – – RW
325 Zone 1 output offset 0 to 15 1 – – RW
326 Zone 2 output offset 0 to 15 2 – – RW
327 Zone 3 output offset 0 to 15 3 – – RW
328 Point zone output count 1 to 8 6 – Required RW
329 Point zone output width select 0, 1 0 – Required RW
330 I/O point count 1 to 10 10 – Required RW
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No. Name Input range Default Unit Restart RW
331 (Fixed) 0 to 15 10 – – RW
332 (Fixed) 0 to 2 2 – – RW
333 Point zone output offset 0 to 15 0 – Required RW
340 Torque limit select 0, 1, 2 1 – Required RW
341 Torque limit output select 0, 1 0 – – RW
342 Torque limit timeout select 0, 1 0 – – RW
343 Torque limit value switching 0, 1 1 – – RW
350 Message language 0, 1 0 – – RW
351 Lead program number – 0 – – R
352 JMPF conditional input count 1 to 18 4 – – RW
353 Action before run 0 to 3 1 – – RW
360 (Fixed) – Robot type – – RW
361 Absolute mode select 0, 1
-X 1
– Required RW
-P 0
362 (Fixed) 0 to 65535 0 – Required RW
363 I/O response time 1 to 10 10 ms Required RW
364 Command end wait time 0 to 1000 0 .01s – RW
365 (Fixed) – 0 – Required RW
371 Interlock enable 0, 1 1 – – RW
372 Service mode enable 0, 1 0 – – RW
n System parameters 2 (PRM400 to 499)
No. Name Input range Default Unit Restart RW
400 Controller version 1 – Robot type – – R
401 Controller version 2 – Robot type – – R
402 Current sensor type – Robot type – – R
403 Option type – Robot type – – R
404 RS-232C parameter 0 to 511 0 – Required RW
409 Option board setting – 1 – Required R
410 CC-Link transmission speed – 5 – Required R
411 CC-Link station number – 1 – Required R
415 DeviceNet communication speed – 3 – Required R
416 DeviceNet station number – 1 – Required R
417 DeviceNet system setting – 0 – Required R
418 DeviceNet channel select – 0 – Required R
421 PROFIBUS station number – 1 – Required R
425 Parallel I/O power monitor 0, 1 0 – – RW
450 Access level (EDIT) – 0 – Required R
451 Access level (RUN) – 0 – Required R
452 Access level (SYS) – 0 – Required R
453 Access level (CARD) – 0 – Required R
454 Service mode (DEV) – 0 – Required R
455 Service mode (SPD) – 0 – Required R
456 Service mode (RUN) – 0 – Required R
457 Service mode (HtoR) – 0 – Required R
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5.2.3 Parameter description
1. Axis parameters
PRM100 Robot type number
Input range Default Unit Restart
– Depends on robot type – –
Function
This parameter shows the robot number currently used with the SR1. (See 5.2.1, "Robot
number", in Chapter 5)
PRM101 Lead length
Input range Default Unit Restart
10 to 10000 Depends on robot type .01mm –
Function
This parameter shows the distance the robot moves while the motor makes one turn.
PRM102 Stroke length
Input range Default Unit Restart
0 to 9999 Depends on robot type mm –
Function
This parameter sets the overall scale length for "semi-absolute" operation.
MEMO
This parameter was added only to "P type" controllers from version 5x.07 onward.
This parameter is automatically written by stroke length registration when parameters
initialized with the HPB (Ver. 24.05 onward).
PRM110 (+) soft limit
Input range Default Unit Restart
-9999 to 9999 Depends on robot type mm –
Function
This parameter sets the plus (+) side robot movement range by software.
PRM111 (-) soft limit
Input range Default Unit Restart
-9999 to 9999 Depends on robot type mm –
Function
This parameter sets the minus (-) side robot movement range by software.
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PRM112 Payload
Input range Default Unit Restart
0 to robot type Depends on robot type kg –
Function
Enter the maximum mass of the load (tool, workpiece, etc.) attached to the robot.
cCAUTION The SR1 controller determines the optimum acceleration speed for the robot
based on this parameter setting, so enter the correct payload. If it is set too small,
abnormal vibrations or overheating may occur causing problems with the
controller. Conversely, a parameter setting larger than the actual payload may
cause a loss of cycle time and lower in productivity.
PRM113 Acceleration
Input range Default Unit Restart
-X 1 to 100
100 % –
-P 1 to 200
Function
This parameter sets the acceleration for moving the robot.
PRM114 Deceleration
Input range Default Unit Restart
1 to 100 Depends on robot type % –
Function
This parameter sets the deceleration in percentage of the acceleration.
PRM115 Positioning tolerance in pulses
Input range Default Unit Restart
1 to 4000 80 pulse –
Function
This parameter sets the range in which the SR1 controller determines that positioning is
complete.
PRM116 Position NEAR width
Input range Default Unit Restart
1 to 9999 100 .01mm –
Function
This parameter sets the output detection width for point zone output.
MEMO
For details on point zone output, see 4.3.4.8, "Position information output".
PRM117 OUT valid position
Input range Default Unit Restart
0 to 9999 1 mm –
Function
This parameter sets the range in which the SR1 controller determines that a movement
command has ended.
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PRM119 Position data unit
Input range Default Unit Restart
0 to 3 Depends on robot type – –
Function
This parameter sets the units in which point data is to be displayed. It also specifies
whether to enable the limitless movement function.
Setting
Setting Display units Limitless movement function
0 mm
Disabled (invalid)
1 ° (deg.)
2 mm
Enabled (valid)
3 ° (deg.)
MEMO
For details on limitless operation, see 4.3.4.10, "Limitless movement function".
PRM120 Axis polarity
Input range Default Unit Restart
0, 1 0 – –
Function
This parameter specifies the axis polarity.
Setting
0 : - (minus) 1 : + (plus)
"+" direction"-" direction
Return-to-origin
direction
"+" direction "-" direction
Return-to-origin
direction
Sets return-to-origin direction as "-" (minus) of
axis polarity.
Sets return-to-origin direction as "+" (plus) of
axis polarity.
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PRM121 Return-to-origin direction
Input range Default Unit Restart
0, 1 Depends on robot type – –
Function
This parameter sets the return-to-origin direction.
Setting (Example)
0 (CCW direction) 1 (CW direction)
Origin position Return-to-origin direction Origin positionReturn-to-origin direction
Turns the motor CCW (counterclockwise) as
viewed from the load side and detects the origin
position using the specified origin detection
method.
Turns the motors CW (clockwise) as viewed
from the load side and detects the origin
position using the specified origin detection
method.
cCAUTION The setting might be reversed depending on the robot model. (F8 series, C8 series, etc.)
PRM122 Return-to-origin speed
Input range Default Unit Restart
1 to 100 20 mm/s –
Function
This parameter sets the speed at which the robot moves to the origin position when
"search method" is selected as the return-to-origin method.
PRM123 Origin detection method
Input range Default Unit Restart
0 to 2 Depends on robot type – –
Function
This parameter specifies the method for detection the robot origin position to perform
return-to-origin. (See 4.2.3, "Return-to-origin and coordinate polarity setting", in
Chapter 4.)
Setting
Setting Meaning
0
Search method
Sensor method
1 Stroke end method
2 Mark method
MEMO
The mark method is available only to the "X type" controller.
PRM124 Origin shift
Input range Default Unit Restart
-9999 to 9999 0 .01mm –
Function
This parameter specifies the shift to the origin position after return-to-origin is
complete.
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PRM127 ORG shift 2
Input range Default Unit Restart
-9999 to 9999 0 mm –
Function
This parameter sets the coordinates of the position where return-to-origin is completed.
MEMO
The origin shift is registered as a value with PRM124 added.
This parameter was added from version 5x.07 onward.
PRM128
Payload-dependent
acceleration coefficient
Input range Default Unit Restart
Reserved Depends on robot type rad/ss –
Function
When the Payload (PRM112) parameter is changed, this parameter is automatically set
to an optimal acceleration according to that payload and the robot type.
PRM129 Maximum speed setting
Input range Default Unit Restart
-X Reserved Depends on robot type rpm

-P Reserved Depends on robot type mm/s
Function
This parameter shows the maximum speed at which the robot moves.
PRM140 Overload current
Input range Default Unit Restart
1 to 300 300 % –
Function
This parameter is used to specify the reference current to detect an overload. An
overload alarm is issued if a current higher than the reference current (this parameter
ratio × rated current) flows for a period specified by the Overload time (PRM141)
parameter.
PRM141 Overload time
Input range Default Unit Restart
1 to 300 300 0.01s –
Function
This parameter is used to detect an overload. An overload alarm is issued if an overload
current flows for a period specified by this parameter.
5-16
Chapter 5 Data setting
D
ata setting
5
5-17
PRM142
Mechanical lock detection
(FE3) level
Input range Default Unit Restart
0 to 255 255 0.01s –
Function
This parameter sets the sensitivity to detect mechanical locking caused by collision of
the robot with an object.
The sensitivity becomes low as this parameter value increases. To disable this function,
leave this parameter set to 255.
MEMO
A "FEEDBACK ERROR 3" occurs if mechanical locking is detected.
PRM143
Open-circuit fault detection
(FE4) level
Input range Default Unit Restart
0 to 255 3 0.01s –
Function
This parameter sets the sensitivity to detect an open-circuit fault in the motor power
line.
The sensitivity becomes low as this parameter value increases. To disable this function,
leave this parameter set to 255.
MEMO
A "FEEDBACK ERROR 4" occurs if an open-circuit fault is detected.
PRM145
Maximum speed during
torque limiting
Input range Default Unit Restart
-X 1 to 450 200 rpm

-P 1 to 250 100 mm/s
Function
This parameter specifies the maximum speed during torque limiting by TLM input.
PRM146 HOLD minimum speed
Input range Default Unit Restart
-X 1 to 450 200 rpm

-P 1 to 250 100 mm/s
Function
This parameter specifies the speed conditions to stop the robot at the current position
by HOLD input.
MEMO
For details on HOLD input, see 4.3.4.5, "Torque limiting", in Chapter 4.
PRM171 Encoder pulse count
Input range Default Unit Restart
– Depends on robot type pulse –
Function
This parameter specifies the resolution per turn of the motor.
5-16 5-17
Chapter 5 Data setting
5
D
ata setting
PRM182 Scale type
Input range Default Unit Restart
– Depends on robot type – –
Function
This parameter is used to display the scale type used for the PHASER series.
Setting
Setting Meaning
0 Incremental scale
1 Semi-absolute scale
MEMO
This parameter was added from version 5x.07 onward.
2. Data parameters
PRM200 Maximum program speed
Input range Default Unit Restart
1 to 100 100 % –
Function
This parameter sets the reference speed used with a movement command (MOVA,
MOVI and MOVM) in a program or with a dedicated movement command (ABS-PT,
INC-PT, etc.).
MEMO
When the HPB is used, any speed changes in AUTO and STEP modes will also change this
parameter.
PRM201 JOG speed
Input range Default Unit Restart
1 to 100 100 mm/s –
Function
This parameter sets the speed to move the robot in jog mode.
PRM202 MOVF speed
Input range Default Unit Restart
1 to robot type 10 mm/s –
Function
This parameter sets the speed at which the robot moves with the MOVF command.
PRM210 Point trace speed 1
Input range Default Unit Restart
1 to 100 10 % –
Function
This parameter sets the speed to move the robot during point trace operation by ABSPT or INC-PT.
MEMO
This must be specified by general-purpose input.
5-18
Chapter 5 Data setting
D
ata setting
5
5-19
PRM211 Point trace speed 2
Input range Default Unit Restart
1 to 100 30 % –
Function
This parameter sets the speed to move the robot during point trace operation by ABSPT or INC-PT.
MEMO
This must be specified by general-purpose input.
PRM212 Point trace speed 3
Input range Default Unit Restart
1 to 100 70 % –
Function
This parameter sets the speed to move the robot during point trace operation by ABSPT or INC-PT.
MEMO
This must be specified by general-purpose input.
PRM220,
PRM221
Analog monitor select 1, 2
Input range Default Unit Restart
0 to 3999 0 – –
Function
This parameter selects data to be output to the analog monitor.
Setting
Setting Meaning
0 to 999 Analog information
1000 to 1999 Digital input information
2000 to 2999 Digital output information
3000 to 3999 Others
* For more details, see 6.4, "Analog monitor output", in Chapter 6.
PRM222,
PRM223
Analog monitor zero levels 1, 2
Input range Default Unit Restart
0 to 255 128 – –
Function
These parameters set the zero levels to be output to the analog monitor.
5-18 5-19
Chapter 5 Data setting
5
D
ata setting
PRM224,
PRM225
Analog monitor scales 1, 2
Input range Default Unit Restart
-5 to 5 0 – –
Function
These parameters set the multiplication for the data to be output to the analog monitor.
Setting
Setting -5 -4 -3 -2 -1 0 1 2 3 4 5
Ratio x1/32 x1/16 x1/8 x1/4 x1/2 x1 x2 x4 x8 x16 x32
PRM241 Torque limit timeout
Input range Default Unit Restart
1 to 6000 100 0.01s –
Function
This parameter sets the torque timeout time during torque limiting by TLM input.
PRM242 Torque limit value 1
Input range Default Unit Restart
1 to 100 100 % –
Function
This parameter sets the torque limit value (CW direction) for TLM input.
PRM243 Torque limit value 2
Input range Default Unit Restart
1 to 100 100 % –
Function
This parameter sets the torque limit value (CCW direction) for TLM input.
PRM244
to 249
Second to fourth torque limit
values 1, 2
Input range Default Unit Restart
1 to 100 100 % –
Function
These parameters set the torque limit value for TLM input when the torque is changed
by the input conditions.
PRM250 Analog input gain
Input range Default Unit Restart
10 to 1000 500
0.01V/Rated
torque
Required
Function
This parameter sets the reference voltage to limit the torque by an analog voltage
command.
5-20
Chapter 5 Data setting
D
ata setting
5
5-21
3. System parameters 1
PRM300 I/O type select
Input range Default Unit Restart
0 to 31 0 – Required
Function
This parameter selects the function type to be assigned to each I/O signal. (See 4.3.2.5,
"I/O assignment function", in Chapter 4.)
Setting
Setting Meaning
【0】 Normal type
10 Point trace type
20 Point teaching type - 1 (Trace)
21 Point teaching type - 2 (Torque limit)
22 Point teaching type - 3 (Program operation)
30 Binary input type - 1 (Trace)
31 Binary input type - 2 (Torque limit)
PRM301 Position output select
Input range Default Unit Restart
0, 1, 2 0 – Required
Function
This parameter selects the method for outputting the current position information as a
general-purpose output. (See 4.3.4.8, "Position information output", in Chapter 4.)
Setting
Setting Meaning
【0】 Does not output.
1 Selects point zone output.
2 Selects binary output.
PRM302 Alarm number output select
Input range Default Unit Restart
0, 1 0 – –
Function
When an alarm occurs, this parameter selects whether the alarm number is to be
output as a general-purpose output.
Setting
Setting Meaning
【0】 Does not output.
1 Outputs.
5-20 5-21
Chapter 5 Data setting
5
D
ata setting
PRM303 Action at return-to-origin end
Input range Default Unit Restart
0 to 3 2 – –
Function
This parameter selects the operation to be executed simultaneously with completion of
return-to-origin.
Setting
Setting Meaning
0 Nothing is executed.
1 Outputs ORG-O.
【2】 Reset the program.
3 Outputs ORG-O after resetting the program.
PRM304 Servo status output select
Input range Default Unit Restart
0, 1 0 – –
Function
This parameter selects whether to output the servo on/off status to SRV-O.
Setting
Setting Meaning
【0】 Does not output.
1 Outputs.
PRM306 Zone output select
Input range Default Unit Restart
0 to 255 0 – –
Function
This parameter enables or disables the zone output function and also sets the output
logic.
Setting
Setting item
Setting
Meaning
b7 b6 b5 b4 b3 b2 b1 b0
ZONE0 enabled 1/0
【0】: Disabled
1: Enabled
ZONE1 enabled 1/0
ZONE2 enabled 1/0
ZONE3 enabled 1/0
ZONE0 output logic 1/0
【0】: Positive logic
1: Negative logic
ZONE1 output logic 1/0
ZONE2 output logic 1/0
ZONE3 output logic 1/0
5-22
Chapter 5 Data setting
D
ata setting
5
5-23
PRM308 SERVO recovery sequence
Input range Default Unit Restart
0, 1 0 – –
Function
This parameter sets the servo recovery sequence immediately after power is turned on.
Setting
Setting Meaning
【0】 Automatically turns on the servo immediately after power-on.
1 Does not turn on the servo immediately after power-on.
MEMO
This parameter is enabled only when a parallel I/O unit is used.
PRM309 READY output sequence
Input range Default Unit Restart
0, 1 0 – –
Function
This parameter selects the output timing of the dedicated output READY.
Setting
Setting Meaning
【0】 Turns on unless emergency stop or alarm is activated.
1 Turns on when the servo is on.
PRM310 END output sequence
Input range Default Unit Restart
0 to 3 0 – –
Function
This parameter selects the output timing of the dedicated output END.
Setting
Setting item
Setting
Meaning
b1 b0
At normal start
– 0 Turns on at normal start.
– 1 Does not turn on even if at normal start.
At end of command run
0 – Turns on when command ends normally.
1 –
Turns on when command signal turns off
after command has ended normally.
5-22 5-23
Chapter 5 Data setting
5
D
ata setting
PRM312 Point zone output select
Input range Default Unit Restart
0, 1 0 – Required
Function
This parameter selects the output method when "point zone output" is selected by the
Position output select (PRM301).
Setting
Setting Meaning
【0】 Point zone output
1 Movement point zone output
PRM313 Binary I/O select
Input range Default Unit Restart
0 to 15 2 – Required
Function
This parameter selects the method for encoding binary data when "binary output" is
selected by the Position information output select (PRM301) and also when a binary
type is selected by the I/O type select (PRM300).
Setting
Setting item
Setting
Meaning
b3 b2 b1 b0
Data units
– – 0 0 mm
– – 0 1 0.1mm
– – 1 0 0.01mm
Data length and sign
0 0 – – Unsigned 16 bits
0 1 – – Signed 16 bits
1 0 – – Unsigned 17 bits
PRM314 Point output select
Input range Default Unit Restart
0, 1, 2 0 – Required
Function
When a dedicated command ABS-PT or INC-PT was executed, this parameter sets
the method to return the point data specified via a general-purpose input back to a
general-purpose output.
Setting
Setting Meaning
【0】 Does not output.
1 Outputs when movement has ended normally.
2 Outputs when a movement command is received.
5-24
Chapter 5 Data setting
D
ata setting
5
5-25
PRM315 Output pulse division ratio
Input range Default Unit Restart
-X 16 to 4096 4096
– Required
-P 16 to 1024 1024
Function
This parameter sets the number of feedback output pulses. (See 4.3.4.8, "Position
information output", in Chapter 4.
cCAUTION If the setting is not a multiple of 4, the output will be truncated to a multiple of 4.
PRM317 Movement pattern change
Input range Default Unit Restart
0, 1 0 – –
Function
This parameter enables or disables the function that changes the movement pattern
during execution of a dedicated command ABS-PT or ABS-BN.
Setting
Setting Meaning
【0】 Disabled
1 Enabled
PRM318 HOLD enable
Input range Default Unit Restart
0, 1 0 – Required
Function
This parameter enables or disables HOLD input.
Setting
Setting Meaning
【0】 Disabled
1 Enabled
PRM320 Alarm number output offset
Input range Default Unit Restart
0 to 10 0 – –
Function
This parameter specifies the destination of alarm number output.
PRM321 Servo recovery status output offset
Input range Default Unit Restart
0 to 15 7 – –
Function
This parameter sets the destination of servo recovery status output (SRV-O).
MEMO
This parameter is enabled only when a parallel I/O unit is used.
5-24 5-25
Chapter 5 Data setting
5
D
ata setting
PRM322 Return-to-origin end output offset
Input range Default Unit Restart
0 to 15 4 – –
Function
This parameter sets the destination of the return-to-origin end output (ORG-O).
MEMO
This parameter is enabled only when a parallel I/O unit is used.
PRM324
to 327
Zone output offset
Input range Default Unit Restart
0 to 15 0 to 3 – –
Function
These parameters set the destination of zone output (ZONE0 to ZONE3).
MEMO
This parameter is enabled only when a parallel I/O unit is used.
PRM328 Point zone output count
Input range Default Unit Restart
1 to 8 6 – Required
Function
This parameter specifies the number of point zone outputs.
PRM329 Point zone output width select
Input range Default Unit Restart
0, 1 0 – Required
Function
This parameter selects the output condition parameter when "point zone output" is
selected by the Position output select (PRM301) parameter.
Setting
Setting Meaning
【0】 Position NEAR width
1 OUT valid position
PRM330 I/O point count
Input range Default Unit Restart
1 to 10 10 – Required
Function
This parameter determines the maximum number of points when specifying point
numbers by a dedicated command such as ABS-PT or INC-PT via genera-purpose input.
5-26
Chapter 5 Data setting
D
ata setting
5
5-27
PRM333 Point zone output offset
Input range Default Unit Restart
0 to 15 0 – –
Function
This parameter specifies the destination of point zone output.
PRM340 Torque limit select
Input range Default Unit Restart
0, 1, 2 1 – Required
Function
This parameter selects the torque limiting method for TLM input signal.
Setting
Setting Meaning
0 Disables TLM input signal.
【1】 Limits torque when TLM input signal turns on.
2 Limits torque by using A-REF when TLM input signal turns on.
PRM341 Torque limit output select
Input range Default Unit Restart
0, 1 0 – –
Function
This parameter enables or disables TLON that is output when the torque limit is
reached during torque limiting by TLM input.
Setting
Setting Meaning
【0】 Disables TLON.
1 Enables TLON.
PRM342 Torque limit timeout
Input range Default Unit Restart
0, 1 0 – –
Function
This parameter is used to enable or disable the torque limit timeout and is also used to
select whether to determine the stop due to timeout is normal or abnormal.
Setting
Setting item
Setting
Meaning
b1 b0
Torque timeout
– 0 Enables torque timeout.
– 1 Disables torque timeout.
Timeout stop process
0 –
Stop caused by torque limit timeout is
regarded as a normal process.
1 –
Stop caused by torque limit timeout is
regarded as an abnormal process.
5-26 5-27
Chapter 5 Data setting
5
D
ata setting
PRM343 Torque limit value switching
Input range Default Unit Restart
0, 1 1 – –
Function
This parameter enables or disables switching to the second to fourth torque limit values
during torque limiting by TLM input.
Setting
Setting Meaning
0 Does not allow switching.
【1】 Allows switching.
PRM350 Message language
Input range Default Unit Restart
0, 1 0 – –
Function
This parameter specifies the language for response messages displayed on the HPB or
handled by RS-232C communications.
Setting
Setting Meaning
0 English
1 Japanese
PRM351 Lead program number
Input range Default Unit Restart
R 0 – –
Function
This parameter displays the lead (top) program number.
PRM352 JMPF conditional input point count
Input range Default Unit Restart
1 to 18 4 – –
Function
This parameter specifies the number of effective points of the conditional input for
executing the JMPF command.
Setting
Setting General-purpose input used Setting General-purpose input used Conditional input range
1 DI 0 11 SI 200 0 to 1
2 DI 1 to DI 0 12 SI 201 to SI 200 0 to 3
・・・ ・・・ ・・・ ・・・ ・・・
8 DI 7 to DI 0 18 SI 207 to SI 200 0 to 255
5-28
Chapter 5 Data setting
D
ata setting
5
5-29
PRM353 Action before run
Input range Default Unit Restart
0 to 3 1 – –
Function
This parameter selects the action to be performed immediately before running
automatic operation or step operation.
Setting
Setting Meaning
0 Checks only whether return-to-origin has been performed.
【1】 Nothing is executed.
2 Resets the program after checking return-to-origin.
3 Resets the program.
MEMO
When this parameter is set to "2" or "3", the program is reset only during automatic
operation.
PRM361 Absolute mode select
Input range Default Unit Restart
0, 1
-X 1
– Required
-P 0
Function
This parameter specifies whether to select absolute mode. Set this parameter to "0"
when not using an absolute battery.
Setting
Setting Meaning
0 Incremental mode
1 Absolute mode
MEMO
This parameter is available only for "X type". "P type" does not have the absolute mode
function.
PRM363 I/O response time
Input range Default Unit Restart
1 to 10 10 ms Required
Function
This parameter sets the input/output response time.
PRM364 Command end wait time
Input range Default Unit Restart
0 to 1000 0 .01s –
Function
This parameter sets the wait time after a dedicated command has ended until that command
signal changes from ON to OFF. When this wait time has elapsed after the dedicated
command has ended, the controller determines that the command has ended even if
the command signal is still ON, allowing the next command to be executed. When this
parameter is set to "0", the wait time continues until the current command signal turns OFF.
5-28 5-29
Chapter 5 Data setting
5
D
ata setting
PRM371 Interlock enable
Input range Default Unit Restart
0, 1 1 – –
Function
This parameter enables or disables the interlock function of the SAFETY connector.
Setting
Setting Meaning
0 Disabled
【1】 Enabled
PRM372 Service mode enable
Input range Default Unit Restart
0, 1 0 – –
This parameter enables or disables the SERVICE mode function of the SAFETY
connector.
Setting
Setting Meaning
【0】 Disabled
1 Enabled
4. System parameter 2
PRM400 Controller version 1
Input range Default Unit Restart
R Depends on robot type – –
Function
This parameter displays the software version information written in the CPU.
PRM425 Parallel I/O power monitor
Input range Default Unit Restart
0, 1 0 – –
Function
This parameter is used to enable the DC 24V power monitor for parallel I/O. If DC 24V
is not supplied during monitoring, then an emergency stop will be triggered.
Setting
Setting Meaning
【0】 Disabled
1 Enabled
5-30
MEMO
Chapter 6 Other functions
Contents
6.1 Various monitor functions 6-1
6.1.1 DIO monitor 6-1
6.1.2 Duty (load factor) monitor 6-4
6.1.3 Alarm information monitor 6-6
6.2 Checking and setting the clock 6-6
6.3 LED status 6-6
6.4 Analog monitor output 6-7
6-1
6-1
Chapter 6 Other functions
6
O
ther functions
6.1 Various monitor functions
The SR1 has monitor functions that check the on/off status of each I/O signal and robot
operation duty.
These monitors can be displayed on the HPB.
Monitor type Description
DIO monitor
Monitors the on/off status of each I/O signal, current robot position, and
current values.
Duty monitor Monitors robot operation duty (load factor).
Alarm information monitor Reads information from each I/O signal when an alarm has occurred.
6.1.1 DIO monitor
The DIO monitor constantly checks the on/off status of each I/O signal and the current
robot position.
I/O unit NPN/PNP CC-Link
DeviceNet
(standard type)
DeviceNet
(expanded type)
PROFIBUS
Monitor 1 SINF SINF SINF SINF SINF
Monitor 2 PIO PIO PIO PIO PIO
Monitor 3 DIO SIO1 SIO1 SIO1 SIO1
Monitor 4 – SIO2 – SIO2 SIO2
Monitor 5 – WIO – WIO WIO
Monitor 6 MIO MIO MIO MIO MIO
* Displayed monitor type differs depending on the I/O unit.
q SINF monitor
Displays the current position information in numerical data.
POS :    0.01 [mm]
CREF:    0.00 [Arms]
CREP:       0 [%]
AD  :    0.02 [V]
・・・Current position information
・・・Current value
・・・Ratio to rated current
・・・Analog input voltage
w PIO monitor
Displays the SAFETY connector signals and various status information. 0: OFF, 1: ON
EMG:0 LOCK:0 SVCE:0
ALM:0 MRY:0 ORG:0
SRV:0 ORS:0
EMG LOCK SVCE
Emergency stop state Interlock Service mode
ALM MRY ORG
Alarm state Main power supply ready output Return-to-origin state
SRV ORS –
Servo recovery state Origin sensor –
6-2
Chapter 6 Other functions
O
ther functions
6
6-3
e DIO monitor
Displays I/O information on a parallel I/O unit (NPN or PNP).
DI 00000000 00000000
   00000000
DO 00000000 00000000
   10100000 00000000
DI
DI15 DI14 DI13 DI12 DI11 DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0
ALM
RST
ORG
-S
RE
SET
AUTO
-R
STEP
-R
ABS-
PT
INC
-PT
SER
VO
DO
DO15 DO14 DO13 DO12 DO11 DO10 DO9 DO8 DO7 DO6 DO5 DO4 DO3 DO2 DO1 DO0
REA
DY BUSY END – – – – – – – – – – – – UTL
r SIO1 monitor
Displays I/O information on a serial I/O unit (CC-Link, DeviceNet or PROFIBUS).
SI 10000000 10000000
   00000000 00000000
SO 10100000 00000000
   00000000 00000000
SI
EMG SVCE – – – ALM RST – – LOCK
ORG
-S
RE
SET
AUTO
-R
STEP
-R
ABS
-PT
INC
-PT
SER
VO
SI
215
SI
214
SI
213
SI
212
SI
211
SI
210
SI
209
SI
208
SI
207
SI
206
SI
205
SI
204
SI
203
SI
202
SI
201
SI
200
SO
REA
DY BUSY END UTL – – – – –
ORG
-O –
(ZO
NE3)
(ZO
NE2)
(ZO
NE1)
(ZO
NE0)
SRV
-O
SO
215
SO
214
SO
213
SO
212
SO
211
SO
210
SO
209
SO
208
SO
207
SO
206
SO
205
SO
204
SO
203
SO
202
SO
201
SO
200
t SIO2 monitor
Displays I/O information on a serial I/O unit (CC-Link, DeviceNet or PROFIBUS).
SI 10000000 10000000
   00000000 00000000
SO 10100000 00000000
2  00000000 00000000
SI
SI
231
SI
230
SI
229
SI
228
SI
227
SI
226
SI
225
SI
224
SI
223
SI
222
SI
221
SI
220
SI
219
SI
218
SI
217
SI
216
– – – – – – – – – – – – – – – –
SO
2
SO
231
SO
230
SO
229
SO
228
SO
227
SO
226
SO
225
SO
224
SO
223
SO
222
SO
221
SO
220
SO
219
SO
218
SO
217
SO
216
– – – – – – – – – – – – – – – –
6-2 6-3
Chapter 6 Other functions
6
O
ther functions
y WIO monitor
Displays word I/O information on a serial I/O unit (CC-Link, DeviceNet or PROFIBUS).
WI 00000000 00000000
   00000000 00000000
WO 00000000 00000000
   00000000 00000000
WI
WI3 WI2 WI1 WI0
WI7 WI6 WI5 WI4
WO
WO3 WO2 WO1 WO0
WO7 WO6 WO5 WO4
u MIO monitor
Displays memory I/O information.
M  00000000 00000000
   00000000 00000000
   00000000 00000001
M
115 114 113 112 111 110 109 108 107 106 105 104 103 102 101 100
131 130 129 128 127 126 125 124 123 122 121 120 119 118 117 116
147 146 145 144 143 142 141 140 139 138 137 136 135 134 133 132
6-4
Chapter 6 Other functions
O
ther functions
6
6-5
6.1.2 Duty (load factor) monitor
The SR1 has a duty (load factor) monitor to allow you to operate the robot under the most
optimal conditions. The duty monitor checks the robot's motor load factor and displays it
in percent (%) versus the motor rating.
An overload error might appear if the duty exceeds 100% during robot operation. If this
happens, either lower the robot acceleration or maximum speed, or increase the robot
stop time (lower the duty ratio). On the other hand, if you want to shorten the cycle
time even further, when there is currently no overload, you can raise the acceleration or
maximum speed, or shorten the robot stop time (raise the duty ratio).
There are the following two methods to measure the duty.
Method 1 On the HPB, select DUTY mode and measure the duty during robot
movement with a dedicated command input (Normal mode).
Method 2 Specify an interval in a program in which you want to measure the duty
and run the program.
[Method 1]
1) Operate the robot with a dedicated command input (Normal mode).
2) On the HPB, select DUTY mode.
3) Measure the operation duty.
See the "HPB Operation Guide" section for the procedures to start and stop
measurement.
4) Check the measurement result.
See the "HPB Operation Guide" section for the procedure to check the result.
6-4 6-5
Chapter 6 Other functions
6
O
ther functions
[Method 2]
1) Add the robot language command "DUTY 1" to the beginning of the interval in a
program in which you want to measure the duty and also add the robot language
command "DUTY 0" to the end of the interval.
005:
006:
007:
008:
009:
010:
011:
012:
013:
014:
015:
016:
017:
018:
DO 0,1
WAIT 1,1
DO 0,0
TIMR 100
DUTY 1 ← Start operation duty measurement
DO 0,0
WAIT 0,1
MOVA 2,100
DO 0,1
WAIT 1,1
DO 1,0
TIMR 100
DUTY 0 ← Stop operation duty measurement
DO 0,0
Operation duty
measurement interval
2) Run the program including the operation duty measurement interval.
3) Stop (end) the program.
4) On the HPB, select DUTY mode and check the measurement result.
See the "HPB Operation Guide" section for the procedure to check the result.
6-6
Chapter 6 Other functions
O
ther functions
6
6-7
6.1.3 Alarm information monitor
This displays information such as the particular I/O when an alarm has occurred. This can
be used for viewing information just on the latest alarm that occurred. Resetting the alarm
clears the monitor.
X04: OVER LOAD
MODE:PTP/DI=ABS-PT
POS :260.00[mm]
PNT :1
PGM :0/1,0/1,0/1,0/1
DI  :0000,0401
DO  :C000,0000
SI  :----,----,----,
SO  :----,----,----,
WI  :----,----,----,
    :----,----,----,
WO  :----,----,----,
    :----,----,----,
ADIN:0.01V
X04: OVER LOAD
MODE:PTP/DI=ABS - PT
POS :260.00[mm]
PNT :1
PGM :0/1,0/1,0/1,0/1
DI  :0000,0401
DO  :C000,0000
SI  :----,----,----,----
SO  :----,----,----,----
WI  :----,----,----,----
    :----,----,----,----
WO  :----,----,----,----
    :----,----,----,----
ADIN:0.01V
: Alarm name
: Movement mode/command when alarm occurred
: Position when alarm occurred
: Movement point number when alarm occurred
: Program step/program number (task 0 to 3) when alarm occurred
: Status of parallel dedicated input and general-purpose inputs DI15 to 0 when alarm occurred
: Status of parallel dedicated output and general-purpose outputs DO5 to 0 when alarm occurred
: Status of serial dedicated input and general-purpose inputs SI215 to 200, 231 to 216 when alarm occurred
: Status of serial dedicated output and general-purpose outputs SO215 to 200, 231 to 216 when alarm occurred
: Status of serial remote commands WI0, WI1, WI2 and WI3 when alarm occurred
: Status of serial remote commands WI4, WI5, WI6 and WI7 when alarm occurred
: Status of serial remote commands WO0, WO1, WO2 and WO3 when alarm occurred
: Status of serial remote commands WO4, WO5, WO6 and WO7 when alarm occurred
: Analog input voltage when alarm occurred
6.2 Checking and setting the clock
The SR1 controller contains a real-time clock. This clock is mainly used for a time display
of histories and file time management on the HPB. See 10.13, "Setting the clock", in
Chapter 10 of the HPB Operation Guide section.
6.3 LED status
The SR1 controller has a LED display on the front panel using 2 LED types.
The status and meaning of each LED are described below.
LED name Color Status Meaning
PWR Green
OFF Control power supply is off.
Flashing (half-second intervals) Servo-off
ON Servo-on
ERR Red
OFF Normal
Flashing (half-second intervals) Emergency stop state
ON Alarm state
6-6 6-7
Chapter 6 Other functions
6
O
ther functions
6.4 Analog monitor output
Various types of data can be monitored by an analog voltage output.
Signal name Meaning Connector I/O type
AO1, AO2 Analog monitor output Monitor I/O pins 19, 20 Output
Related parameters
Parameter No. Name Setting Default See page:
PRM220, 221 Analog monitor select 1, 2 0 to 3999 0 (none) 5-18
PRM222, 223 Analog monitor zero levels 1, 2 0 to 255 128 5-18
PRM224, 225 Analog monitor scales 1, 2 -5 to 5 0 5-19
Description
The information listed below is available from the analog monitor output.
MEMO
The analog monitor output voltage is from 0 to +10V and has a resolution of 8 bits.
n Outline
Parameter data Type
0 No output
1 to 999 Analog information
1000 to 1999 Digital input information
2000 to 2999 Digital output information
3000 to 3999 Other information
6-8
Chapter 6 Other functions
O
ther functions
6
n Detailed information
Category Input value Output data type Units
Analog
0 No output –
1 Current command -05: 1.28Ap-p/V, -10: 2.56Ap-p/V, -20: 5.12Ap-p/V
2 Current feedback -05: 1.28Ap-p/V, -10: 2.56Ap-p/V, -20: 5.12Ap-p/V
3 Speed command SR1-X: 600rpm/V, SR1-P: 150mm/s/V
4 Speed feedback SR1-X: 600rpm/V, SR1-P: 150mm/s/V
7 Analog input = Input voltage
Parallel
input
1000 to 1015 DI0 to 15 OFF: 5V, ON: 7.5V
1032 SERVO input OFF: 5V, ON: 7.5V
1033 INC-PT input OFF: 5V, ON: 7.5V
1034 ABS-PT input OFF: 5V, ON: 7.5V
1035 STEP-R input OFF: 5V, ON: 7.5V
1036 AUTO-R input OFF: 5V, ON: 7.5V
1037 RESET input OFF: 5V, ON: 7.5V
1038 ORG-S input OFF: 5V, ON: 7.5V
1039 LOCK input OFF: 5V, ON: 7.5V
Serial
input
1200 to 1231 SI200 to 231 OFF: 5V, ON: 7.5V
1232 SERVO input OFF: 5V, ON: 7.5V
1233 INC-PT input OFF: 5V, ON: 7.5V
1234 ABS-PT input OFF: 5V, ON: 7.5V
1235 STEP-R input OFF: 5V, ON: 7.5V
1236 AUTO-R input OFF: 5V, ON: 7.5V
1237 RESET input OFF: 5V, ON: 7.5V
1238 ORG-S input OFF: 5V, ON: 7.5V
1239 LOCK input OFF: 5V, ON: 7.5V
Parallel
output
2000 to 2015 DO0 to 15 OFF: 5V, ON: 7.5V
2045 END OFF: 5V, ON: 7.5V
2046 BUSY OFF: 5V, ON: 7.5V
2047 READY OFF: 5V, ON: 7.5V
Serial
output
2200 to 2231 SO200 to 231 OFF: 5V, ON: 7.5V
2232 Servo state OFF: 5V, ON: 7.5V
2238 Return-to-origin state OFF: 5V, ON: 7.5V
2245 END OFF: 5V, ON: 7.5V
2246 BUSY OFF: 5V, ON: 7.5V
2247 READY OFF: 5V, ON: 7.5V
3031 Origin sensor input OFF: 5V, ON: 7.5V
3108 SAFETY LOCK input OFF: 5V, ON: 7.5V
3109 SAFETY SVCE input OFF: 5V, ON: 7.5V
Chapter 7 Message lists
Contents
7.1 Error messages 7-1
7.1.1 Message specifications 7-1
7.1.2 Command error messages 7-1
7.1.3 Operation error messages 7-2
7.1.4 Program error messages 7-3
7.1.5 System error messages 7-4
7.1.6 Multi-task error messages 7-4
7.2 Stop messages 7-5
7.2.1 Stop message specifications 7-5
7.2.2 Stop messages 7-5
7.3 Error history 7-6
7-1
7-1
Chapter 7 Message lists
7
M
essage lists
This chapter explains the messages that are displayed on the HPB screen or sent to the PC
(personal computer) to notify the operator of an error in operation or a current status. For
a list of the alarm messages displayed if any trouble occurs, refer to section 8.2, "Alarm
and countermeasures", in Chapter 8.
7.1 Error messages
7.1.1 Message specifications
The error message transmission format is as follows. (Refer to the "HPB Operation Guide"
section for information about the error message display on the HPB screen.)
: c/r l/f
The length of an character string is 17 characters. (Spaces are added until
the message contains 17 characters.) The character string length containing the c/r l/f will
be 22 characters.
7.1.2 Command error messages
Error No.
20
Message no start code
Cause The command does not begin with a start code (@).
Action Add a start code (@) to the beginning of the command.
Error No.
21
Message illegal type
Cause The command is erroneous.
Action Use the correct command.
Error No.
22
Message line buf overflow
Cause The number of characters per line exceeds 80.
Action Limit the number of characters per line to 80 or less.
Error No.
23
Message data error
Cause There is an error in numeric data.
Action Correct the data.
Error No.
24
Message cannot access
Cause Command execution is limited by the password or access level (operation level).
Action Cancel the limit.
7-2
Chapter 7 Message lists
M
essage lists
7
7-3
7.1.3 Operation error messages
Error No.
30
Message soft limit over
Cause
Executing the command will move the robot to a position that exceeds
the softlimit specified by the parameter.
Action Check the point data or soft limit parameter and correct it.
Error No.
31
Message running
Cause Another command is being executed, so the command cannot be accepted.
Action Wait until the current command is finished and then input the next command.
Error No.
32
Message origin incomplete
Cause
The command cannot be executed because return-to-origin has not yet been
completed.
Action Complete return-to-origin first.
Error No.
33
Message emergency stop
Cause The command cannot be executed because emergency stop is triggered.
Action Cancel emergency stop.
Error No.
34
Message servo off
Cause The command cannot be executed because the servo is off.
Action Turn servo on.
Error No.
35
Message system error 2
Cause
An error interruption occurred due to noise or an unknown cause, so the status
changed to servo off.
Action Turn servo on.
Error No.
36
Message cannot restart
Cause Restart of the interpolation operation program was attempted.
Action Reset the program.
Error No.
37
Message SVCE-port changed
Cause
Command execution was interrupted because the SERVICE mode input state
was changed.
Action Restart execution.
Error No.
38
Message net link error
Cause
The connection was disconnected because an error occurred in
the networkconnection.
Action Correct the network connection error and then restart.
Error No.
39
Message TLM timeout
Cause A timeout has occurred during torque limiting.
Action Turn servo off.
Error No.
81
Message move mode changed
Cause Command execution was interrupted because the CHG input state was changed.
Action Restart execution.
7-2 7-3
Chapter 7 Message lists
7
M
essage lists
7.1.4 Program error messages
Error No.
40
Message stack overflow
Cause
q Seven or more successive CALL statements were used within a CALL
statement.
w In the program called as a subroutine by a CALL statement, a jump was
made to another program by a JMP or JMPF statement.
Action
q Reduce the number of CALL statements used in a CALL statement to 6 or
less.
w Review the program.
Error No.
41
Message cannot find label
Cause The specified label cannot be found.
Action Create the required label.
Error No.
42
Message cannot find step
Cause The specified step cannot be found.
Action Check whether the step number is correct.
Error No.
43
Message cannot find PGM
Cause The specified program cannot be found.
Action Check whether the program number is correct.
Error No.
44
Message PGM memory full
Cause The total number of steps in all programs has exceeded 3000.
Action Delete unnecessary programs or steps.
Error No.
45
Message step over
Cause The total number of steps in one program has exceeded 255.
Action Delete unnecessary steps or divide the program into two parts.
7-4
Chapter 7 Message lists
M
essage lists
7
7-5
7.1.5 System error messages
Error No.
50
Message system error
Cause An unexpected error occurred.
Action Contact YAMAHA and describe the problem.
Error No.
51
Message illegal opecode
Cause There is an error in a registered program.
Action Check the program.
Error No.
52
Message no point data
Cause No data has been registered for the specified point number.
Action Register the point data.
Error No.
59
Message robot type error
Cause An incorrect parameter was transmitted to the controller.
Action
Initialize the parameters.
Transmit the correct parameter.
7.1.6 Multi-task error messages
Error No.
70
Message task running
Cause An attempt was made to start the task which is already in progress.
Action Check the program.
Error No.
71
Message can't select task
Cause
An attempt was made by a task to finish itself.
An attempt was made to switch a task which is suspended.
Action
Check the program.
Check the task status.
Error No.
72
Message not execute task
Cause An attempt was made to switch a task which has not started.
Action Check the task status.
7-4 7-5
Chapter 7 Message lists
7
M
essage lists
7.2 Stop messages
7.2.1 Stop message specifications
The stop message transmission format is as follows.
: c/r l/f
The length of a character string is 17 characters. (Spaces are added until
the message contains 17 characters.) The character string length containing the c/r l/f will
be 22 characters.
7.2.2 Stop messages
No. 60
Message program end
Meaning Execution has stopped because the program has ended.
No. 61
Message stop key
Meaning Execution has stopped because the [Stop] key on the HPB was pressed.
No. 62
Message interlock
Meaning Execution has stopped because an I/O interlock was activated.
No. 63
Message stop command
Meaning Execution has stopped because the STOP command was run.
No. 64
Message key release
Meaning Execution has stopped by the hold-to-run function.
No. 65
Message alarm on
Meaning Execution has stopped because an alarm occurred.
7-6
Chapter 7 Message lists
M
essage lists
7
7.3 Error history
The SR1 controller stores an error history containing a maximum of up to 100 past
errors. This error history can be checked on the HPB screen or PC screen using the
communication command (?ERR). For instructions on how to display the error history, refer
to the "HPB Operation Guide" section or "RS-232C Communication Command Guide"
section.
n Error history display on HPB
,CMU,33:emergency st
,CMU,60:program end
,PIO,62:interlock
,CMU,32:origin incom
Chapter 8 Troubleshooting
Contents
8.1 If trouble occurs 8-1
8.2 Alarm and countermeasures 8-2
8.2.1 Alarm specifications 8-2
8.2.2 Alarm message list 8-3
8.2.3 Alarm and countermeasures 8-4
8-1
8-1
Chapter 8 Troubleshooting
8
Troubleshooting
8.1 If trouble occurs
If trouble or a breakdown occurs, contact our sales office or sales representative and
provide us with the following information in as much detail as possible.
Item (example) Description (example)
P
ro d u ct in fo rm a ti o n What you
were using
Controller model name
Controller serial No.
Robot model name
Robot serial No.
Controller version
Power supply for controller
SR1-xxxx
xxxxxx
F14-20-350
xxx-xxxxxx
Ver. 53.01
200V
T
ro u b le d e sc ri p ti o n When
When purchased
How long used
How often
When problem happen?
Aug. 2006
One year
24 hours a day
One hour after power was turned on.
Under what
conditions
Under what conditions did the
problem happen?
· During automatic operation
· While writing a program
· When the robot was at a specific position.
What
happened
What happened when the
problem occurred?
· Servo does not lock.
· Alarm (No. and message) is issued.
· Motor makes an unusual sound.
· A program was lost.
How often
How often does the problem
occur?
· Always occurs.
· Occurs once an hour.
· Cannot be made to occur again.
8-2
Chapter 8 Troubleshooting
Troubleshooting
8
8-3
8.2 Alarm and countermeasures
If the READY output is off during operation except in cases of emergency stop, then an
alarm has probably been issued. The status LED on the front panel of the controller lights
up in red.
8.2.1 Alarm specifications
l If an alarm has occurred:
If an alarm has occurred, keep the power turned on and connect the HPB or start the
POPCOM on the on-line PC to check the contents of the alarm. The alarm message
will appear on the HPB or PC screen. (Refer to the "HPB Operation Guide" section for
information about the alarm display on the HPB screen.)
The transmission format for alarm messages is as follows.
: c/r l/f
The is displayed in two digits, so a one-digit number is prefixed with a
"0".
The length of an character string is 17 characters. (Spaces are added
until the message contains 17 characters.) The character string containing the c/r and
l/f will be 22 characters.
l To cancel the alarm:
There are the following methods to cancel the alarm.
(1) Input ALMRST after eliminating the cause of the alarm.
(2) Turn off the control power supply and then turn it back on after eliminating the
cause of the alarm.
8-2 8-3
Chapter 8 Troubleshooting
8
Troubleshooting
8.2.2 Alarm message list
The table below shows alarm messages and whether they can be reset, and also shows
whether the origin position data is retained.
Alarm No. *1 Alarm message Meaning Reset *2 Origin position *3
01 OVERLOAD Excessive load on motor Yes Yes
02 OVERCURRENT Excessive current Yes Yes
03 OVERHEAT Abnormally high temperature Yes Yes
04 POWER DOWN Control power supply voltage is low. Yes Yes
05 BATT. LOW VOLTAGE System backup battery voltage is low. Yes Yes
06 24V POWER OFF Internal 24V circuit failure No Yes
07 P. E. COUNTER OVER Position deviation counter error No Yes
08 POINT DATA DESTROY Point data defect No Yes
09 PRM DATA DESTROY Parameter data defect No
10 PGM DATA DESTROY Program data defect No Yes
11 SYSTEM FAULT System error No Yes
12 BAD ORG-SENSOR Origin sensor error Yes
13 ENCODER PZ ERROR Origin phase Z detection error Yes
14 FEEDBACK ERROR 1 Position detection error Yes
15 FEEDBACK ERROR 2 Signal line error No
16 ABNORMAL VOLTAGE Excessive voltage Yes Yes
17 SYSTEM FAULT 2 System error 2 No Yes
18 FEEDBACK ERROR 3 Mechanical lockup Yes Yes
19 SYSTEM FAULT 3 CPU error No
22 VERSION MISMATCH HPB and controller version mismatch Yes Yes
23 ABS BAT. LOW VOLTAGE Absolute battery voltage is low. Yes Yes
24 ABS DATA ERROR Absolute detection error Yes
26 FEEDBACK ERROR 4 Motor power line error Yes Yes
27 POLE SEARCH ERROR Magnetic pole detection error Yes
32 12V POWER OFF Internal 12V circuit failure No
33 MAIN POWER OFF Main power supply is off. Yes Yes
34 LOW VOLTAGE Main power supply voltage is low. Yes Yes
35 DRIVER DISCONNECT Driver board is not connected. No Yes
40 ABS. OS ERROR Absolute count speed error Yes
41 ABS. RO ERROR Excitation wire open-circuit error Yes
42 ABS. RE ERROR Resolver R/D error Yes
43 ABS. OF ERROR Absolute counter overflow Yes
44 ABS. ME ERROR Yes
45 ABS. BAT ERROR Absolute battery error Yes
*1 : Alarm number is sent to general-purpose output in binary when the Alarm number output (PRM302) parameter is
enabled.
*2 : "Yes" indicates the alarm can be reset.
*3 : "Yes" indicates the origin position data is retained even if the alarm occurs.
8-4
Chapter 8 Troubleshooting
Troubleshooting
8
8-5
8.2.3 Alarm and countermeasures
Alarm
No. Alarm message Meaning Possible cause Remedy
01 OVER LOAD Excessive load on
motor
Motor current higher than
rated current has flown due
to excessive load on motor.
Reduce the load on the motor.
Correct the payload or acceleration
parameter.
Lower the operation duty on the robot.
Motor drive parts were
mechanically locked.
Check the conditions of the movable
parts.
Perform maintenance on the robot.
Electromagnetic brake
failure or wire breakage
Replace the electromagnetic brake.
Robot number setting is
incorrect.
Set the correct robot number and
initialize the parameters.
02 OVER CURRENT Excessive current Short-circuit, earth fault or
wire breakage occurred in
motor cable.
Replace the motor cable.
Motor failure Replace the motor.
Controller board is
defective.
Replace the controller.
Robot number setting is
incorrect.
Set the correct robot number and
initialize the parameters.
03 OVER HEAT Abnormally high
temperature
Ambient temperature around
the controller is above 40°C.
Correct the ambient conditions so that
temperature is below 40°C.
Excessive load on motor Lower the load on the motor.
Cooling fan stopped
working.
Replace the controller.
Thermal sensor failed. Replace the controller.
04 POWER DOWN Control power supply
voltage is low.
AC power line voltage is
less than 80V.
Use the correct AC line voltage.
Momentary power outage
occurred.
Reset the alarm to resume operation.
05 BATT. LOW-VOLTAGE System backup
battery voltage is low.
Battery connection is
incorrect.
Connect the battery correctly.
Battery voltage is lower than
specified.
Replace the battery.
06 24V POWER OFF Internal 24V circuit
failure
Controller board failed. Replace the controller.
07 P.E. COUNTER OVER Deviation counter
error
08 PNT DATA DESTROY Point data defect Control power supply was
turned off while writing data.
Initialize the data.
Data was destroyed by
external noise.
Check the surrounding environment
for noise.
Controller board failed. Replace the controller.
09 PRM DATA DESTROY Parameter data defect Control power supply was
turned off while writing data.
Initialize the data.
Data was destroyed by
external noise.
Check the surrounding environment
for noise.
Controller board failed. Replace the controller.
10 PRG DATA DESTROYED Program data defect Control power supply was
turned off while writing data.
Initialize the data.
Data was destroyed by
external noise.
Check the surrounding environment
for noise.
Controller board failed. Replace the controller.
11 SYSTEM FAULT System error Driver was not recognized
correctly at power-on.
Replace the controller.
External noise has disrupted
software program.
Check the environment for noise.
RS-232C receiving buffer
has overflown.
Select the XON/XOFF control with the
host device.
8-4 8-5
Chapter 8 Troubleshooting
8
Troubleshooting
Alarm
No. Alarm message Meaning Possible cause Remedy
12 BAD ORG-SENSOR Origin sensor defect Origin sensor connection is
incorrect.
Connect the origin sensor correctly.
Origin sensor wire broke or
sensor became defective.
Replace the origin sensor.
Origin sensor dog (target) is
not properly adjusted.
Adjust the origin sensor dog correctly.
13 BAD PZ Phase Z detection
error
Position detector failure Replace the motor or robot.
Phase Z detection error Connect the robot I/O cable correctly.
Replace the robot I/O cable.
14 FEEDBACK ERROR 1 Position detection
error
Controller position detection
circuit failed.
Replace the controller.
Position detector (motor)
failed.
Replace the motor.
15 FEEDBACK ERROR 2 Signal line error Robot I/O cable connection
is incorrect.
Connect the robot I/O cable correctly.
Robot I/O cable broke. Replace the robot I/O cable.
16 ABNORMAL VOLTAGE Excessive voltage
(Motor power supply
voltage is higher than
420V.)
AC power line voltage is too
high.
Use the correct AC line voltage.
Regenerative unit
connection is incorrect.
Connect the regenerative unit
correctly.
Temperature of regenerative
absorption resistance is too
high (above 120°C).
Reduce the ambient temperature.
Use the correct AC line voltage.
Lower the operation duty on the robot.
Regenerative unit cable
failed.
Replace the connection cable.
Regenerative unit failed. Replace the regenerative unit.
Power supply voltage setting
(200V/100V) is incorrect.
Check the wiring on the input voltage
select terminals.
17 SYSTEM FAULT 2 System error 2
(at servo-on)
Controller board failed. Replace the controller.
18 FEEDBACK ERROR 3 Mechanical lockup
was detected.
Motor drive parts are
mechanically locked.
Check the conditions of the movable
parts.
Perform maintenance on the robot.
Correctly adjust the Mechanical
locking detect level (PRM142).
19 SYSTEM FAULT 3 CPU error External noise has disrupted
software program.
Check the environment for noise.
CPU failure or malfunction Replace the controller.
22 VERSION MISMATCH Wrong combination of
PB (TPB-E) and
controller
The programming box PB
(TPB-E) that does not
support the controller is
being used.
Use the HPB that supports the
controller.
23 ABS BAT. LOW VOLTAGE Absolute battery
voltage is low.
Absolute battery voltage is
less than 3.1V.
Replace the absolute battery.
24 ABS. DATA ERROR Absolute detection
error
Absolute search for
"semi-absolute" ended
abnormally.
Register the correct stroke length
(PRM102).
Initialize the parameters.
26 FEEDBACK ERROR 4 Motor power line
error
Motor cable connection is
incorrect.
Connect the motor cable correctly.
Motor cable broke or failed. Replace the motor cable.
Motor failed. Replace the motor.
Controller board failed. Replace the controller.
27 POLE SEARCH ERROR Magnetic pole
detection error
Motor cable connection is
incorrect.
Connect the motor cable correctly.
Motor cable broke or failed. Replace the motor cable.
Robot I/O cable connection
is incorrect.
Connect the robot I/O cable correctly.
Robot I/O cable broke. Replace the robot I/O cable.
Motor failed. Replace the motor.
Controller board failed. Replace the controller.
Robot number setting is
incorrect.
Set the correct robot number and
initialize the parameters.
32 12V POWER OFF Internal 12V circuit
failure
Controller board failed. Replace the controller.
8-6
Chapter 8 Troubleshooting
Troubleshooting
8
Alarm
No. Alarm message Meaning Possible cause Remedy
33 MAIN POWER OFF Main power supply is
off.
AC power line voltage is
less than 100V (when 200V
is selected).
Use the correct AC line voltage.
AC power line voltage is
less than 40V (when 100V is
selected).
Use the correct AC line voltage.
Power supply voltage setting
(200V/100V) is incorrect.
Check the wiring on the input voltage
select terminals.
Controller failed. Replace the controller.
34 LOW VOLTAGE Main power supply
voltage is low. (Motor
power supply voltage
is less than 165V.)
AC line voltage is low. Use the correct AC line voltage.
Power supply voltage setting
(200V/100V) is incorrect.
Check the wiring on the input voltage
select terminals.
35 DRIVER DISCONNECT Driver board is not
connected.
Driver board connection
failure
Replace the controller.
40 ABS. OS ERROR
41 ABS. RO ERROR Excitation wire
open-circuit error
Robot I/O cable broke during
power-off.
42 ABS. RE ERROR Resolver R/D error Robot I/O cable broke during
power-on.
43 ABS. OF ERROR Absolute counter
overflow
44 ABS. ME ERROR
45 ABS. BAT ERROR Absolute battery error Absolute battery voltage is
less than 2.5V.
Replace the absolute battery.
Chapter 9 Warranty
Contents
9.1 Warranty 9-1
9-1
9-1
Chapter 9 Warranty
9
W
arranty
9.1 Warranty
For information on the product warranty, please contact your local agent where you
purchased your product.
9-2
MEMO
Chapter 10 Specifications and dimensions
Contents
10.1 "X type" specifications and dimensions 10-1
10.1.1 "X type" basic specifications 10-1
10.1.2 Dimensional outlines 10-2
10.2 "P type" specifications and dimensions 10-3
10.2.1 "P type" basic specifications 10-3
10.2.2 Dimensional outlines 10-4
10.3 I/O unit specifications 10-5
10.4 Peripheral equipment specifications
and dimensional outlines 10-7
10.4.1 Regenerative unit 10-7
10.4.2 Absolute battery 10-8
10.4.3 Connectors 10-9
10-1
10-1
Chapter 10 Specifications and dimensions
10
Specifi
cations and dim
ensions
10.1 "X type" specifications and dimensions
10.1.1 "X type" basic specifications
Driver type
Item
05 10 20
Applicable motor output 200V, 100W or less 200V, 200W or less 200V, 600W or less
Power capacity 400VA 600VA 1400VA
Dimensions W74×H210×D146mm W99×H210×D146mm
Mass 1.54kg 1.92kg
Control power supply voltage Single phase AC100 to 115/200 to 230V ±10%, 50/60Hz
Main power supply voltage Single phase AC100 to 115/200 to 230V ±10%, 50/60Hz
Single phase AC200 to
230V ±10%, 50/60Hz
No. of controllable axes 1 axis
Control method AC full digital software servo control
Operation mode Point trace movement, program operation, Operation using RS-232C communication
Position detection method Multi-turn resolver with data backup function
Resolution 16384 pulses/rev
Input signal Contact input: LOCK, SVCE
Analog input 1 channel (0 to +10V)
Emergency stop input Normally-closed contact input
Origin sensor input Connectable to DC 24V normally-closed contact sensor
Output signal Contact output: MPRDY
Analog output 2 channels (0 to +10V for monitoring)
Brake output Relay output (for 24V/300mA brake)
Communication RS-232C, 1 channel
Program Up to 3000 steps in total, 255 steps per program, 100 programs maximum
Point 1000 points MDI (coordinate value input), teaching playback, direct teaching
Multitask Maximum 4 tasks
Operating temperature 0°C to 40°C
Storage temperature -10°C to 65°C
Operating humidity 35% to 85% RH (no condensation)
Noise immunity IEC61000-4-4 Level 3
10-2
Chapter 10 Specifications and dimensions
Specifi
cations and dim
ensions
10
10-3
10.1.2 Dimensional outlines
l SR1-X 05/10
146
(25)
74
4415
5.5
22
5
25
0
21
0
(100)
9
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
User ground terminals (M4)
Battery holder
Bracket mounting position (changeable)
unit: mm
l SR1-X 20
146
(25)
(100)
9
Battery holder
Bracket mounting position (changeable)
User ground terminals (M4)
74
4415
5.5
BAT
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
25
22
5
25
0
21
0
18
0
unit: mm
10-2 10-3
Chapter 10 Specifications and dimensions
10
Specifi
cations and dim
ensions
10.2 "P type" specifications and dimensions
10.2.1 "P type" basic specifications
Driver type
Item
05 10 20
Applicable motor output 200V, 100W or less 200V, 200W or less 200V, 600W or less
Power capacity 400VA 600VA 1400VA
Dimensions W74×H210×D146mm W99×H210×D146mm
Mass 1.54kg 1.92kg
Control power supply voltage Single phase AC100 to 115/200 to 230V ±10%, 50/60Hz
Main power supply voltage Single phase AC100 to 115/200 to 230V ±10%, 50/60Hz
Single phase AC200 to
230V ±10%, 50/60Hz
No. of controllable axes 1 axis
Control method AC full digital software servo control
Operation mode Point trace movement, program operation, Operation using RS-232C communication
Position detection method Magnetic linear scale
Resolution 1μm
Input signal Contact input: LOCK, SVCE
Analog input 1 channel (0 to +10V)
Emergency stop input Normally-closed contact input
Origin sensor input Connectable to DC 24V normally-closed contact sensor
Output signal Contact output: MPRDY
Analog output 2 channels (0 to +10V for monitoring)
Communication RS-232C, 1 channel
Program Up to 3000 steps in total, 255 steps per program, 100 programs maximum
Point 1000 points MDI (coordinate value input), teaching playback, direct teaching
Multitask Maximum 4 tasks
Operating temperature 0°C to 40°C
Storage temperature -10°C to 65°C
Operating humidity 35% to 85% RH (no condensation)
Noise immunity IEC61000-4-4 Level 3
10-4
Chapter 10 Specifications and dimensions
Specifi
cations and dim
ensions
10
10-5
10.2.2 Dimensional outlines
l SR1-P 05/10
146
74
4415
5.5
22
5
25
0
21
0
(7)
(100)
9
SR1-P
Bracket mounting position (changeable)
User ground terminals (M4)
unit: mm
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
l SR1-P 20
146
7425
4415
5.5
22
5
25
0
21
0
18
0
(7)
(100)
9
SR1-P
PWR ERR
HPB
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
Bracket mounting position (changeable)
User ground terminals (M4)
unit: mm
10-4 10-5
Chapter 10 Specifications and dimensions
10
Specifi
cations and dim
ensions
10.3 I/O unit specifications
Specification item Description
P
a ra lle
l N
P
N
u n it I/O points
Dedicated input : 8 points
Dedicated output : 4 points
General-purpose input : 16 points
General-purpose output : 16 points
(Supports NPN/PNP specifications)
Input response time Within 30ms
Output response time Within 1ms
Input current 5mA/DC 24V
Output current 50mA/DC 24V per one output
C
C
-L
in k u n it CC-Link support version Ver. 1.10
Remote station type Remote device station
No. of occupied stations 2 stations (fixed)
Station number setting 1 to 63 (set by HPB)
Transmission speed setting 10M/5M/2.5M/625K/156Kbps (set by HPB)
Minimum length between
stations 0.2m or more
Overall length
100m (10Mbps)
160m (5Mbps)
400m (2.5Mbps)
900m (625Kbps)
1200m( 156Kbps)
Monitor LED RUN, ERR, SD, RD
No. of CC-Link I/O points
General-purpose input: 32 points
General-purpose output: 32 points
Dedicated input: 16 points
Dedicated output: 16 points
Input register: 8 words
Output register: 8 words
D
e vi ce N
e t u n it Applicable DeviceNet
specifications
Volume 1 Release 2.0
Volume 2 Release 2.0
Device type Generic Device (Device number 0)
MAC ID setting 0 to 63 (set by DIP switch on board or HPB)
Transmission speed setting 500K/250K/125Kbps (set by DIP switch on board or HPB)
Communication data
Predefined Master/Slave Connection Set : Group 2 only server
Dynamic connection (UCMM) : Not supported
Fragmented transmission of explicit message : Supported
Network length
Overall length Branch length Total branch length
500Kbps 100m 6m or less 39m or less
250Kbps 250m 6m or less 78m or less
125Kbps 500m 6m or less 156m or less
Monitor LED Module, Network
DeviceNet I/O points /
No. of occupied channels
General-purpose input: 16 points
General-purpose output: 16 points
Dedicated input: 16 points
Dedicated output: 16 points
Input: 2 ch
Output: 2 ch
General-purpose input: 32 points
General-purpose output: 32 points
Dedicated input: 16 points
Dedicated output: 16 points
Input register: 8 words
Output register: 8 words
Input: 12 ch
Output: 12 ch
(continued to next page)
10-6
Chapter 10 Specifications and dimensions
Specifi
cations and dim
ensions
10
10-7
Specification item Description
P
R
O
F
IB
U
S
u n it 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/1.5M/3M/6M/12Mbps (auto recognition)
PROFIBUS I/O points
General-purpose input 32 points
General-purpose output 32 points
Dedicated input 16 points
Dedicated output 16 points
Input register 8 words
Output register 8 words
10-6 10-7
Chapter 10 Specifications and dimensions
10
Specifi
cations and dim
ensions
10.4 Peripheral equipment specifications and dimensional outlines
10.4.1 Regenerative unit
l RG1
MODEL.
SER. NO.
MANUFACTURED
12 16
10
12
6
146 12 16
5.5
21
0
22
5
25
0
40
RG1
(Unit: mm)
l RGU-2
P
N
RGEN
25
0
29
0
40
157
26
5
5.5
16
25
0
(Unit: mm)
10-8
Chapter 10 Specifications and dimensions
Specifi
cations and dim
ensions
10
10-9
10.4.2 Absolute battery
The following shows the Absolute battery and installation holder models.
l Absolute battery
Type No. KAS-M53G0-10
Data hold time 1 year (NOTE)
NOTE: The data hold time should be viewed as a guide only. This may vary depending on the operating conditions,
such as ambient temperature. For reference replacement timing, the total power off time should be considered.
l Battery case (Installation holder)
Type No. KBG-M5395-00
10-8 10-9
Chapter 10 Specifications and dimensions
10
Specifi
cations and dim
ensions
10.4.3 Connectors
Common accessories
l Power connector
Wire release lever : 231-131
(WAGO)
Connector : 231-704/026-000
(WAGO)
l SAFETY connector
Connector cover : 10314-52A0-008
Connector plug : 10114-3000PE
(3M)
l HPB dummy connector
Accessories supplied with each selected I/O type
l NPN connector, PNP connector
Connector cover : 10350-52A0-008
Connector plug : 10150-3000PE
(3M)
10-10
Chapter 10 Specifications and dimensions
Specifi
cations and dim
ensions
10
l CC-Link connector
Connector plug : MSTB2.5/5-STF-5,08
(Phoenix Contact)
DA DB DG SLD FG
l DeviceNet connector
Connector plug : MSTB2.5/5-STF-5,08
(Phoenix Contact)
l PROFIBUS connector (recommended)
Connector plug : SUBCON-PLUS-PROFIB/SC2
(Phoenix Contact)
(NOTE) No connector is supplied for PROFIBUS, so the above connector is a recommended
type. Some other connectors may not be attached depending on their shape.
Option
l Monitor I/O cable
Connector : XG4M-2030-U
(OMRON)
Supplied with 1.5m flat cable
HPB Operation Guide
SR1 series
YAMAHA SINGLE-AXIS ROBOT CONTROLLER
Contents
1. An overview of the HPB H1-1
1.1 HPB functions H1-1
1.2 Part names and functions H1-2
2. Connecting and disconnecting the HPB H2-1
2.1 Connecting to the SR1 controller H2-1
2.2 Disconnecting from the SR1 controller H2-4
3. Basic operations H3-1
3.1 HPB operation keys H3-1
3.2 Basic key operation H3-3
3.3 How to read the screens H3-5
3.4 Hierarchical menu structure H3-6
4. Restricted key operation by access level H4-1
4.1 Access levels H4-1
4.2 Changing an access level H4-2
5. Setting the parameters H5-1
5.1 How to set the parameters H5-1
6. I/O unit setting H6-1
6.1 Setting the CC-Link unit H6-1
6.1.1 Validating the CC-Link unit H6-1
6.1.2 Setting the station No. H6-2
6.1.3 Setting the communication speed H6-3
6.2 Setting the DeviceNet unit H6-4
6.2.1 Validating the DeviceNet unit H6-4
6.2.2 System setting H6-5
6.2.3 Selecting the profile type H6-6
6.2.4 How to check MAC ID and communication speed (hardware setting) H6-7
6.2.5 Setting the MAC ID H6-8
6.2.6 Setting the communication speed H6-9
6.3 Setting the PROFIBUS unit H6-10
6.3.1 Validating the PROFIBUS unit H6-10
6.3.2 Setting the station address H6-11
6.3.3 Checking the communication speed H6-12
7. Programming H7-1
7.1 Robot language list H7-1
7.2 Relation between robot language and point data H7-2
7.3 Entering a robot language command H7-2
7.4 Program specifications H7-3
7.5 Creating or editing a program H7-3
7.5.1 Creating a new program (after initialization) H7-4
7.5.2 Creating a new program H7-6
7.5.3 Adding a step H7-7
7.5.4 Changing a step H7-8
7.5.5 Inserting a step H7-10
7.5.6 Deleting a step H7-11
7.6 Program utility H7-12
7.6.1 Copying a program H7-12
7.6.2 Deleting a program H7-13
7.6.3 Viewing the program information H7-14
8. Editing point data H8-1
8.1 Manual data input H8-2
8.2 Teaching playback H8-3
8.3 Direct teaching H8-6
8.4 Manual control of general-purpose output H8-8
8.5 Manual release of the holding brake H8-9
8.6 Deleting point data H8-10
8.7 Point trace (moving to a registered data point) H8-11
9. Operating the robot H9-1
9.1 Performing return-to-origin H9-2
9.1.1 Return-to-origin by the search method H9-2
9.1.2 Return-to-origin by the mark method H9-3
9.2 Using step operation H9-6
9.3 Using automatic operation H9-9
9.4 Changing the execution program H9-11
10. Other operations H10-1
10.1 Emergency stop function H10-2
10.1.1 Initiating an emergency stop H10-2
10.1.2 Resuming operation after emergency stop H10-2
10.2 Initializing the program and data H10-4
10.3 Displaying the DIO monitor H10-6
10.3.1 Displaying from the monitor menu H10-6
10.3.2 Displaying from the DIO key H10-7
10.4 Displaying the memory I/O status H10-8
10.5 Displaying the variables H10-8
10.6 Displaying the system information H10-9
10.7 Using the duty (load factor) monitor H10-10
10.8 SERVICE mode function H10-11
10.8.1 Safety control description H10-12
10.8.2 Setting the SERVICE mode function on or off H10-14
10.8.3 Setting the SERVICE mode safety control H10-15
10.9 Displaying the hidden parameters H10-17
10.10 Using SD memory cards H10-18
10.10.1 Before using an SD memory card H10-18
10.10.2 Saving controller data to an SD memory card H10-23
10.10.3 Loading SD memory card data to the controller H10-26
10.10.4 Creating directories on the SD memory card H10-29
10.10.5 Deleting files and directories from the SD memory card H10-32
10.10.6 Displaying SD memory card file content H10-33
10.11 Displaying the error and alarm histories H10-35
10.12 Displaying the alarm information H10-37
10.13 Setting the clock H10-38
11. Error and alarm H11-1
11.1 HPB error message list H11-2
12. Specifications H12-1
12.1 HPB specifications H12-1
12.2 Dimensions H12-2
H-i
Introduction
Introduction
This "HPB Operation Guide" explains how to use the HPB (programming box) that comes
with the SR1 controller as an option. It includes the procedures for setting parameters,
creating programs, editing point data and operating the robot. Before reading this
operation guide, read the precautions and description in the "SR1 User's Manual" section
to understand the functions and use of the SR1 controller.
Key symbols
This operation guide uses the following symbols to indicate the HPB control keys.
n Operation key symbols
H-ii
MEMO
1
A
n overview
of the H
PB
Chapter 1 An overview of the HPB
H1-1
1. An overview of the HPB
The HPB is a handheld, pendant type programming box that connects to the SR1 controller
to teach positions, edit various data, and run programs for robot operation.
Featuring an interactive user operation on the LCD display, the HPB operating procedures
can be easily mastered even by first-time users. The HPB of Ver. 23.01 or later can be
used with the SR1 controller.
1.1 HPB functions
The HPB connected to the SR1 controller can be used to perform the following operations
and checks.
Functions Description Refer to:
Programming and
data editing
Parameter setting Sets parameters for robot operation. Chapter 5
Programming Creates and edits programs for robot operation. Chapter 7
Point data entry
Enters point data to move the
robot to. Either manual key entry
or teaching can be used.
Chapter 8
Teaching
Moves the robot to a position and
teach that position to store it as
point data.
8.2 in Chapter 8
8.3 in Chapter 8
Trace Moves the robot to a point data position that has been registered. 8.7 in Chapter 8
Robot operation
Return-to-origin Returns the robot to its origin position. 9.1 in Chapter 9
Step operation Performs program operation one step at a time. 9.2 in Chapter 9
Automatic operation Performs automatic operation according to a program. 9.3 in Chapter 9
Safety functions
Emergency stop
The HPB has an emergency stop
button used to trigger robot
emergency stop.
10.1 in Chapter 10
Service mode Enhances safety when working in the robot movement range. 10.8 in Chapter 10
Data backup
Data backup Saves the data stored in the SR1 to a memory card. 10.10.2 in Chapter 10
Data load Loads the data stored in a memory card to the SR1. 10.10.3 in Chapter 10
Display functions
Error and alarm display
Displays the description of an
error or problem if it occurs. Also
displays a history of past errors
and alarms.
10.11 in Chapter 10
Others
Duty monitor
DIO monitor
System information display
10.7 in Chapter 10
10.3 in Chapter 10
10.6 in Chapter 10
A
n overview
of the H
PB
1
Chapter 1 An overview of the HPB
H1-2
1.2 Part names and functions
■ HPB unit
This is a 20-character, 4-line
LCD screen. The operation
menu and other information
are displayed here.
Liquid crystal display
Performs a robot emergency
stop when pressed during
robot operation. Release the
button lock (locks when
pressed) by turning the button
in the CW direction.
After releasing the button, a
servo recovery must be
performed from the HPB (or by
I/O operation) in order to
recover from the emergency
stop status.
Emergency Stop button
An SD memory card can be
inserted here.
SD memory card connector
These keys are used to
operate the robot and to
enter programs and data, etc.
The keys are divided into 2
main groups: function keys
and data entry/operation
keys. (For operation key
details, see Chapter 3,
"Basic operations".)
Operation keys
Attaching a short strap or
necklace strap here prevents
dropping the HPB while
operating it or installing it
onto equipment.
Strap hole
Connects the HPB to the
controller. A D-Sub 9-pin
connector (male) is provided at
one end of the cable.
Connection cable
■ Rear view
This switch is effective for use
with an external safety circuit.
This switch opens (cuts off) the
circuit when pressed or released.
Pressing it to mid-position connects
the circuit. Use this switch as the
enable switch in Service mode,
so that the external safety circuit
triggers emergency stop on the robot
when this switch is pressed or released.
3-position enable switch
(HPB-D only)
Use this connector with the
emergency stop or enable switch
to configure an external safety circuit.
Attaching the supplied
15-pin D-sub connector (female)
directly to this safety connector
enables the emergency stop button
only.
Safety connector
(HPB-D only)
wWARNING• The fl uid (liquid crystal) in the LCD display module is a hazardous substance. If
this fl uid leaks from the display due to damage and adheres to skin or clothes,
wash it off with soap and water.
• Do not wind the connection cable around the HPB body when storing or bend it
sharply since this might break the wires in the connection cable.
• Do not use an extension cord with the connection cable.
H1-2
1
A
n overview
of the H
PB
Chapter 1 An overview of the HPB
H1-3
n HPB-D wiring diagram
External safety circuit
(provided by customer)
Controller
9 6
HPB
HPB-D cable
Emergency stop Enable
5 6 7 81 2 3 4 14 15
5 6 7 81 2 3 4 14 15
9 6
HPB-D
HPB-D SAFETY
SAFETY
15-pin D-sub connector (female)
If not using the HPB-D then connect the supplied
15-pin D-sub connector (male) to this connector.
Do not attempt to extend the shorting wire between pins 14 and 15.
wWARNING • Configure an external safety circuit that matches the user equipment.
A
n overview
of the H
PB
1
Chapter 1 An overview of the HPB
H1-4 H1-5
l 15-pin D-sub connectors (supplied only with HPB-D)
Use these connectors with the emergency stop or enable switch to configure an
external safety circuit.
n 15-pin D-sub connector (female: KS9-M532A-000)
Pin No.
1
2







14
15
Attaching this connector directly to the safety connector
on the HPB-D enables the emergency stop button only.
n 15-pin D-sub connector (male: KS9-M532E-001)
Pin No.
1
2
3
4





15
If not using the HPB-D then attach this connector directly to
the 15-pin D-sub connector on the external safety circuit
so that the emergency stop circuit is shorted.
cCAUTION Set so the voltage and current ratings on the circuit connected to pins 1 to 8 on
the supplied 15-pin D-sub connector are no higher than 30V DC and 1A.
Pins 1 and 14, and pins 2 and 15 on the supplied 15-pin D-sub connector are
shorted prior to shipment. When connecting the HPB-D contacts to the external
emergency stop circuit, change the wiring as shown in the above diagram to
short pins 14 and 15 together.
Never attempt to extend the shorting wire between pins 14 and 15. Doing so
might cause noise in the wiring that interferes with HPB-D or controller operation
and causes faulty operation. This wiring should be kept short.
1
A
n overview
of the H
PB
Chapter 1 An overview of the HPB
H1-5
● SD memory card
SD memory cards are not available as accessory or optional items. Only SD memory
cards with a " FAT12/16" format can be used.
(For SD memory card handling information, see 10.10, "Using SD memory cards" in
Chapter 10.)
■ SD memory card
SD memory card
Insertion direction
S
D
M
E
M
O
R
Y
C
A
R
D
cCAUTION• The recommended SD memory card size is up to 32MB. Using a memory card
size of 64MB or more might cause a message "FAT32" to appear as the preset
value during format on Windows. Always select "FAT" at this time because the
HPB cannot use FAT32.
• The maximum size of the controller data fi le backed up on the SD memory card
is "328KB". The data fi le size is generally about "64KB" so up to 512 fi les can
usually be stored on a 32MB memory card.
H1-6
MEMO
2
C
onnecting and disconnecting the H
PB
Chapter 2 Connecting and disconnecting the HPB
H2-1
2. Connecting and disconnecting the HPB
The HPB can be connected to, or disconnected from, an SR1 controller regardless of
whether the controller power is on or off.
2.1 Connecting to the SR1 controller
cCAUTION • Do not use a modified HPB connection cable to connect the HPB to an SR1
controller, as this can result in communication errors and equipment failure.
• A poor connection or an incorrect connector insertion can result in equipment
failure and malfunctions. Be sure that the cable is securely connected.
• When connecting or disconnecting the HPB from the controller, always grip the
connector body itself. When removing the connector from the controller, pull it
straight out so as not to bend the connector pins. When attaching the HPB to the
controller, make sure that both connectors are aligned with each other.
When SR1 controller power is off
1 Connect the HPB to the SR1 controller.
Plug the HPB connection cable into the HPB connector on the front
panel of the SR1 controller and then tighten the screws on both sides of
the connector.
n HPB connection to SR1
BAT
PWR ERR
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
HPB
HPBHPB connector
2 Turn on the power to the SR1 controller.
A buzzer sounds for approximately 1 second and the initial menu screen
then appears.
C
onnecting and disconnecting the H
PB
2
Chapter 2 Connecting and disconnecting the HPB
H2-2 H2-3
3 Check that the initial menu screen is displayed.
n Initial menu screen
[MENU]
select menu
1 EDIT 2 OPRT 3 SYS 4 MON
When SR1 controller power is on
The HPB can be connected to the SR1 controller even when the controller power is on.
1 Connect the HPB to the SR1 controller.
Plug the HPB connection cable into the HPB connector on the front
panel of the SR1 controller and then tighten the screws on both sides of
the connector. A buzzer sounds for approximately 1 second, then the
initial menu screen displays.
n HPB connection to SR1
BAT
PWR ERR
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
HPBHPB connector
HPB
cCAUTION If the HPB is connected to the controller while a program or I/O dedicated
command is being executed, the command execution is aborted, and robot
operation is stopped.
H2-2
2
C
onnecting and disconnecting the H
PB
Chapter 2 Connecting and disconnecting the HPB
H2-3
2 Check that the initial menu screen is displayed
n Initial menu screen
[MENU]
select menu
1 EDIT 2 OPRT 3 SYS 4 MON
C
onnecting and disconnecting the H
PB
2
Chapter 2 Connecting and disconnecting the HPB
H2-4
2.2 Disconnecting from the SR1 controller
The HPB can be disconnected regardless of whether the SR1 controller power is on or off.
Simply disconnect the HPB cable from the SR1 controller.
n HPB disconnection from SR1
BAT
PWR ERR
MOTOR
U
V
W
I/O
AC IN
ROB I/O
L
N
L1
N1
RGEN
SAFETYP
N
SHORT:
AC100V
OPEN:
AC200V
HPB
HPB
HPB connector
cCAUTION • If the HPB is disconnected from the SR1 controller when the controller power is
on, an emergency stop and a robot servo OFF status will occur. If not using the
HPB, attach the dummy connector supplied with the SR1. Neglecting to do so
will cause an emergency stop.
• If the HPB is disconnected from the controller while a program or I/O dedicated
command is being executed, the command execution is aborted, and robot
operation is stopped.
3
B
asic operations
Chapter 3 Basic operations
H3-1
3. Basic operations
3.1 HPB operation keys
The HPB operation keys are divided into 2 main groups, as shown below.
n HPB control key layout
2. Data entry / operation keys
1. Function keys
The key functions are described below.
1. Function keys
Keys Description
to Selects the menus displayed on the bottom line of the HPB screen.
The function key numbers correspond to the numbers to the left of each mode or
command.
2. Data entry/operation keys
Keys Description
Starts robot operation according to the selected program and parameters.
Stops robot operation. Press to resume operation.
Displays the DIO monitor.
to Enters numbers.
Enters a dot ( . ) or minus sign ( - ).
to Directly enters a robot language command when creating a program in EDIT-PGM mode.
B
asic operations
3
Chapter 3 Basic operations
H3-2 H3-3
Keys Description
Moves the robot in the + or – direction on the X, Y, Z or R coordinate.
Scrolls the screen to the left or right or moves the cursor to the left or right.
Scrolls up or down the screen to display more parameter numbers or point numbers.
Returns to the previous mode or screen.
Moves the cursor back one space, erasing the entry in that space when entering
numeric values.
Enables the entered value.
H3-2
3
B
asic operations
Chapter 3 Basic operations
H3-3
3.2 Basic key operation
You can operate the HPB while selecting the necessary items from the hierarchical menu
(see 3.4, "Hierarchical menu structure" in this chapter). To select a menu item, press the
corresponding function key. To enter numbers, use the number keys and key.
The following steps explain a basic HPB key operation, showing how to select a program
from the initial menu.
1 Check the initial menu screen. [MENU]
select menu
1EDIT2OPRT3SYS 4MON
Selectable menu items and
corresponding function keys
The initial screen shows the title [MENU] on
the top line and allows you to select one
of the 4 modes displayed on the bottom
line.
1EDIT (edit)
2OPRT (operation)
3SYS (system)
4MON (monitor)
nNOTE The number to the left of each mode corresponds to the function keys from to .
2 Press the function key of the mode
you want to select.
[OPRT]
select menu
1ORG 2STEP3AUTO
Current mode
The screen changes to the selected
mode.
The example on the right is the OPRT
(operation) mode screen that appears
after pressing the (OPRT) key on the
initial menu screen. You can select the
following 3 sub-modes from OPRT mode.
1ORG (return-to-origin)
2STEP (step operation)
3AUTO (automatic operation)
B
asic operations
3
Chapter 3 Basic operations
H3-4 H3-5
3 Use a function key to select a submode. [STEP] 100%  0:    0
001:MOVA 254,100
          [    0.00]
1SPD 2RSET3CHG 4next
Current mode
Pressing displays other menu items.
Each time you press a function key to
select a menu item, the operation
proceeds in sequence down the
hierarchical menu.
The example on the right is the STEP mode
screen that appears after pressing the
(STEP) key on the OPRT mode screen.
nNOTE The [4 next] item displays at the right end of the bottom line when there are 5 or more
selectable menu items. The key can then be pressed to display the next set of menu
items. Press to return to the previous set of menu items.
4 Use the same procedure to select a
next mode.
[STEP] 100%  0:    0
PGM  No  = _
(program No) 0→99
Enter a program number here.
Shows the input range.
The example on the right is the STEP-CHG
(program switching) mode screen that
appears after pressing the (CHG) key
on the STEP mode screen. A blinking
cursor (_) appears at a position where you
can enter a number with the number keys.
5 Enter the program number you want
to select.
Use the number keys to enter the program
number and press the key to select the
program.
nNOTE To return to the previous screen or menu level, press the key.
H3-4
3
B
asic operations
Chapter 3 Basic operations
H3-5
3.3 How to read the screens
The following explains the basic screen displays in each mode and what they mean.
Program execution screen
This is a program execution screen in STEP mode that allows step operation with the
selected program. This screen consists of the following elements.
n Program execution screen example
1. Current mode
2. Execution speed
3. Task number being executed
4. Program number being executed *
5. Step number being executed
6. Current position
* When switched from the lead program
to another program, this area shows
the program numbers as the "currently
executed program / lead program".
[STEP] 100%  0:    0
062:MOVA 200,100
          [    0.00]
1SPD 2RSET3CHG 4next
1
65
2 3 4
Program edit screen
This is a program edit screen in EDIT-PGM mode for editing the selected program. This
screen consists of the following elements.
n Program edit screen
1. Current mode
2. Program number being edited
3. Step number being edited
[EDIT-PGM]      No31
062:MOVA 200,100
1MOD 2INS 3DEL 4CHG
1
3
2
Point edit - teaching playback screen
This is a point edit - teaching playback screen in EDIT-PNT-TCH mode for editing or
teaching the selected point. This screen consists of the following elements.
n Point edit - teaching playback screen example
1. Current mode
2. Speed selection number
3. Speed parameter (%)
4. Edit point number
5. Current position
[EDIT-PNT-TCH](1)100
P255 = 123.45   [mm]
          [    0.00]
1CHG 2SPD3S_SET4next
1
4
32
5
B
asic operations
3
Chapter 3 Basic operations
H3-6
3.4 Hierarchical menu structure
HPB operations are performed by making selections from a hierarchical menu system. The
HPB menu hierarchy structure is shown below.
Power ON
(Initial menu screen)
MOD (Step edit)
INS (Step insert)
DEL (Step delete)
CHG (Program change)
MDI (Manual data input)
TCH
(Teaching playback)
DTCH (Direct teaching )
DEL (Delete)
COPY (Program copy)
DEL (Program delete)
LIST (Program list)
SPD (Speed setting)
RSET (Program reset)
CHG (Program change)
VAL (Variable monitor)
S_ON (Servo ON)
CHGT (Task change)
MIO (Memory IO monitor)
SIO (Serial IO monitor)*1
AXIS (Axis parameters)
DATA (Data parameters)
SYS1 (System parameters 1)
SYS2 (System parameters 2)
CARD
(Memory card)
FROM *2
(Flash ROM)
PGM (Program)
PNT (Point)
PRM (Parameter)
ALL (All data)
ACLV (Access level)
SVCE (SERVICE mode)
(CC-Link)
(DeviceNet)
(PROFIBUS)
HDPR (Hidden parameter display)
REC (Record)
TIME (Time)
RUN (Monitor start)
STOP (Monitor stop)
RSLT (Result display)
CHG (Point change)
CHG (Point change)
SPD (Speed change)
S_SET (Speed set)
DO (General-purpose output control)
TRC (Point trace)
CHG (Point change)
DO (General-purpose output control)
BRK (Brake)
SPD (Execution speed change)
RSET (Program reseet)
CHG (Program change)
VAL (Variable monitor)
S_ON (Servo ON)
CHGT (Task change)
MIO (Memory IO monitor)
SIO (Serial IO monitor)*1
EDIT (Editing)
OPRT (Operation)
SYS (System)
CARD (Memory card)
SET (Enable/Disable setting)
DEV (Limitation to operating device)
SPD (Speed limitation)
RUN (Step Run/Auto run limitation)
HtoR (Hold-to-Run setting)
DEV (Valid/invalid setting)
NODE (Station number)
SPD (Communication speed)
DEV (Valid/invalid setting)
NODE (Station number)
SPD (Communication speed)
TYPE (Profile type select)
SYS (System)
DEV (Valid/invalid setting)
NODE (Station address setting)
SPD (Communication speed)
ALM (Alarm)
ERR (Error)
INF (Alarm information)
PGM
(Program edit)
PNT
(Point edit)
UTL
(Utility)
ORG
(Return-to-origin)
STEP
(Step run)
AUTO
(Auto run)
PRM
(Parameter setting)
B.UP
(Backup)
INIT
(Initialization)
SAFE
(Safety setting)
OPT
(Option)
UTL
(Utility)
DIO
(DIO monitor)
DUTY
(DUTY monitor)
INFORMATION
(System information)
EDIT
(Editing)
OPRT
(Operation)
SYS
(System)
MON
(Monitor)
SAVE (Save)
LOAD (Load)
LIST (List)
ALL (All data)
ALM (Alarm history)
ERR (Error history)
PGM (Program)
PNT (Point)
PRM (Parameter)
ALL (All data)
*1: The serial I/O monitor is displayed only when the HPB is connected to the controller with a serial I/O unit
installed. The method of operating the serial I/O monitor is the same as that for the memory I/o monitor. Refer to
10.4, "Displaying the memory I/O status" in Chapter 10.
*2: Flash ROM is not available with the SR1 controllers.
4
R
estricted key operation by access level
Chapter 4 Restricted key operation by access level
H4-1
4. Restricted key operation by access level
The HPB key operations can be limited by setting the access levels (operation levels).
A person not trained in robot operation might accidentally damage the robot system or
endanger others by using the HPB incorrectly. Set the access levels to restrict HPB key
operations and prevent such accidents.
cCAUTION The access level settings are protected by a password so that changes cannot
be instantly made. The user is responsible for controlling who knows the password.
4.1 Access levels
The access levels can be set individually for editing, operation, system-related data and
memory card, as explained below.
n Editing
Level Description
0 All operations are permitted.
1 Program editing is prohibited. (Program data can be checked.)
2
In addition to Level 1, point data editing, manual release of brake and point trace
(movement to registered data point) are prohibited.
(The keys can be used to move the robot and general-purpose outputs can be
controlled.)
3 Any operation in EDIT mode is prohibited. (Cannot enter EDIT mode.)
n Operation
Level Description
0 All operations are permitted.
1 Changing the execution speed and program is prohibited.
2
In addition to Level 1, automatic operation, step operation and program reset are
prohibited.
(Return-to-origin can be performed and variables can be monitored.)
3 Any operation in OPRT mode is prohibited. (Cannot enter OPRT mode.)
n System-related data
Level Description
0 All operations are permitted.
1 Initialization is prohibited.
2
In addition to Level 1, changing the parameters and setting the option units are
prohibited.
(Parameter data and option unit settings can be checked.)
3 Parameter editing, initialization and option setting are prohibited. (Cannot enter SYS-PRM, SYS-INIT and SYS-OPT modes.)
R
estricted key operation by access level
4
Chapter 4 Restricted key operation by access level
H4-2 H4-3
n Memory card
Level Description
0 All operations are permitted.
1 Batch loading of paramenters and all data to the controller is prohibited. (Point data or program data can be loaded.)
2 Loading any data to the controller is prohibited. (Data can be saved and the memory card formatted.)
3 Use of memory card is prohibited. (Cannot enter SYS-B.UP mode.)
4.2 Changing an access level
To change an access level, follow these steps. (Password is required.)
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
The SYS (system) mode screen appears.
2 Enter the SAFE mode. [SYS]
select menu
1SAFE2OPT 3UTL 4next
1. Press (next) to switch the menu
display and then press (SAFE).
The password entry screen appears.
[SYS-SAFE]
 Password: 33.01_
input password
2. Enter the password and press .
The SYS-SAFE mode screen appears if
the password is correct.
3 Press (ACLV).
[SYS-SAFE]
select menu
1ACLV2SVCE
The access level entry screen appears.
4 Select the item you want to change. [SYS-SAFE-ACLV]
select menu
1EDIT2OPRT3SYS 4CARD
• To change the access level for editing,
press (EDIT).
• To change the access level for
operation, press (OPRT).
• To change the access level for systemrelated data, press (SYS).
• To change the access level for memory
card, press (CARD).
• The current access level of the selected
item then appears.
H4-2
4
R
estricted key operation by access level
Chapter 4 Restricted key operation by access level
H4-3
5 Change the access level with the
number key and press .
[SYS-SAFE-ACLV-EDIT]
access level : _0
all access OKThe access level save screen appears.
6 Save the change you made to the
access level.
[SYS-SAFE-ACLV-EDIT]
access level : 1
change PGM invalid
1SAVE2CHG 3CANCEL
• To save the change permanently (retain
the change even after the controller
power is turned off), press (SAVE).
• To save the change temporarily (retain
the change until the controller power is
turned off), press (CHG).
• To cancel saving the change, press
(CANCEL).
When any of the above operation is
complete, the screen returns to step 5.
nNOTE The password is identical to the controller version number. For example, if the controller
version is 33.01, enter 33.01 as the password. Once the password is accepted, it will not be
requested unless the HPB is disconnected from the controller or the controller is turned off.
nNOTE To avoid access level conflict between operation and others, the access levels may be
automatically adjusted. For example, if the access levels related to editing, system and
memory card are "0", they are automatically changed to "1" when the operation-related
access level is "1" or "2" or "3". The access levels remain unchanged if they are "1" or "2" or "3".
H4-4
MEMO
5
Setting the param
eters
Chapter 5 Setting the parameters
H5-1
5. Setting the parameters
Parameters needed to operate the robot can be easily set or checked with the HPB. This
section explains how to set them with the HPB.
5.1 How to set the parameters
The following steps explain a basic procedure for setting a parameter, using PRM110 (+
soft limit) as an example. Use the same procedure when setting the other parameters.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
The SYS (system) mode screen appears.
2 Press (PRM) to enter the
parameter setting mode.
[SYS]
select menu
1PRM 2B.UP3INIT4next
The SYS-PRM mode screen appears.
3 Select the parameter group. [SYS-PRM]
select menu
1AXIS2DATA3SYS14SYS2
Press here.
The current setting for PRM100 (Robot
type) appears on the screen.
4 Display the PRM110 (+ soft limit)
parameter.
[SYS-PRM-AXIS]
PRM100 = _4020
robot type
read only
Press the keys to scroll up or down
the parameter list and select the
parameter you want to set.
5 Set the parameter. [SYS-PRM-AXIS]
PRM110 = 300_ [mm]
(+)soft limit
range -9999→9999
Enter the parameter value with the
number keys and press .
The parameter setting range is shown on
the bottom line of the screen. (-9999 to
9999 in this case) When setting is
complete, the cursor moves back to the
beginning of the parameter data.
H5-2
MEMO
6
I/O
unit setting
Chapter 6 I/O unit setting
H6-1
6. I/O unit setting
6.1 Setting the CC-Link unit
6.1.1 Validating the CC-Link unit
To use the CC-Link unit, make setting so that the controller can identify the CC-Link unit.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
2 Press (next) to switch the menu
display and then press (OPT).
[SYS]
select menu
1SAFE2OPT 3UTL 4next
3 Press (DEV).
[SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
4 The screen shows whether the CC-Link
unit is currently identified.
[SYS-OPT-DEV]
CC-Link = 0
0:invalid 1:validTo prevent the CC-Link unit from being
identified by the controller, enter "0" with
the number key and press . To allow the
CC-Link unit to be identified by the
controller, enter "1" and press .
5 When writing is complete, the screen
returns to step 4.
[SYS-OPT-DEV]
CC-Link = 1
0:invalid 1:valid
I/O
unit setting
6
Chapter 6 I/O unit setting
H6-2 H6-3
6.1.2 Setting the station No.
The CC-Link unit requires 2 stations, so the station displayed on the HPB and another
station (the station No. + 1) are required.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
2 Press (next) to switch the menu
display and then press (OPT).
[SYS]
select menu
1SAFE2OPT 3UTL 4next
3 Press (NODE). [SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
4 The currently set station No. appears
on the screen.
[SYS-OPT-NODE]
node   = 30
range 1→63To change the setting, enter the new
station No. with the number keys and
press .
5 When writing is complete, the screen
returns to step 4.
[SYS-OPT-NODE]
node   = 1
range 1→63
H6-2
6
I/O
unit setting
Chapter 6 I/O unit setting
H6-3
6.1.3 Setting the communication speed
Communication speed can be set to 10M, 5M, 2.5M, 625K and 156K in bps. The
communication speed must match the master station.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
2 Press (next) to switch the menu
display and then press (OPT).
[SYS]
select menu
1SAFE2OPT 3UTL 4next
3 Press (SPD). [SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
4 The currently set communication
speed appears on the screen.
[SYS-OPT-SPD]
speed  = 5M [bps]
110M 25M  32.5M4next
To change the speed, press the function
key matching the desired communication
speed you want to set. If the desired
communication speed is not displayed,
press (next) and the remaining
available communication speeds will
appear.
5 When setting is complete, the screen
returns to step 4.
[SYS-OPT-SPD]
speed  = 10M [bps]
110M 25M  32.5M4next
I/O
unit setting
6
Chapter 6 I/O unit setting
H6-4 H6-5
6.2 Setting the DeviceNet unit
6.2.1 Validating the DeviceNet unit
To use the DeviceNet unit, make setting so that the controller can identify the DeviceNet
unit.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
2 Press (next) to switch the menu
display and then press (OPT).
[SYS]
select menu
1SAFE2OPT 3UTL 4next
3 Press (DEV). [SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
4 The screen shows whether the
DeviceNet unit is currently identified.
[SYS-OPT-DEV]
DeviceNet = 0
0:invalid 1:validTo prevent the DeviceNet unit from being
identified by the controller, enter "0" with
the number key and press . To allow the
DeviceNet unit to be identified by the
controller, enter "1" and press .
5 When writing is complete, the screen
returns to step 4.
[SYS-OPT-DEV]
DeviceNet = 1
0:invalid 1:valid
H6-4
6
I/O
unit setting
Chapter 6 I/O unit setting
H6-5
6.2.2 System setting
When setting the MAC ID and communication speed for the DeviceNet unit, there are two
methods that can be selected. One is H/W setting with a DIP switch and the other is S/W
setting with the HPB.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
2 Press (next) to switch the menu
display and then press (OPT).
[SYS]
select menu
1SAFE2OPT 3UTL 4next
3 Press (next) to switch the menu
display and then press (SYS).
[SYS-OPT]
select menu
1TYPE2SYS 3    4next
4 The screen shows whether the
DeviceNet unit is currently identified.
[SYS-OPT-SYS]
system = 0
0:H/W 1:S/WTo make setting with the DIP switch, enter
"0" (H/W) with the number key and press
. To make setting with the HPB, enter "1"
(S/W) and press .
5 When writing is complete, the screen
returns to step 4.
[SYS-OPT-SYS]
system = 1
0:H/W 1:S/W
I/O
unit setting
6
Chapter 6 I/O unit setting
H6-6 H6-7
6.2.3 Selecting the profile type
Profile 1 (normal type) or profile 2 (expanded type) can be selected to match the particular
application.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
2 Press (next) to switch the menu
display and then press (OPT).
[SYS]
select menu
1SAFE2OPT 3UTL 4next
3 Press (next) to switch the menu
display and then press (TYPE).
[SYS-OPT]
select menu
1TYPE2SYS 3    4next
4 The currently selected profile type
appears on the screen.
[SYS-OPT-TYPE]
type = 1
1:normal 2:expandTo select profile 1 (normal type), enter "1"
with the number key and press . To
select profile 2 (expanded type), enter "2"
and press .
5 When writing is complete, the screen
returns to step 4.
[SYS-OPT-TYPE]
type = 2
1:normal 2:expand
H6-6
6
I/O
unit setting
Chapter 6 I/O unit setting
H6-7
6.2.4 How to check MAC ID and communication speed (hardware setting)
MAC ID and communication speed settings made with the DIP switch on the board can
be checked on the HPB. After changing the DIP switch settings, always check that the new
settings are correct.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
2 Press (next) to switch the menu
display and then press (OPT).
[SYS]
select menu
1SAFE2OPT 3UTL 4next
3 Press (NODE) to display the MAC
ID.
[SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
4 The currently set MAC ID appears on
the screen.
[SYS-OPT-NODE]
MAC ID = 30
5 Press to return to the screen of
step 3.
[SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
Next, press (SPD) to display the
communication speed.
6 The currently set communication
speed appears on the screen.
[SYS-OPT-SPD]
speed  = 500K [bps]
Press to return to the previous screen.
I/O
unit setting
6
Chapter 6 I/O unit setting
H6-8 H6-9
6.2.5 Setting the MAC ID
The MAC ID for DeviceNet unit can be selected from 0 to 63. The following steps explain
the procedure when "1" (S/W) is selected by system setting.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
2 Press (next) to switch the menu
display and then press (OPT).
[SYS]
select menu
1SAFE2OPT 3UTL 4next
3 Press (NODE).
[SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
4 The currently set station No. appears
on the screen.
[SYS-OPT-NODE]
node   = 30
range 1→63To change the setting, enter the new
station No. with the number keys and
press .
5 When writing is complete, the screen
returns to step 4.
[SYS-OPT-NODE]
node   = 1
range 1→63
H6-8
6
I/O
unit setting
Chapter 6 I/O unit setting
H6-9
6.2.6 Setting the communication speed
Communication speed can be set to 125K, 250K and 500K in bps. The communication
speed must match the master station.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
2 Press (next) to switch the menu
display and then press (OPT).
[SYS]
select menu
1SAFE2OPT 3UTL 4next
3 Press (SPD). [SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
4 The currently set communication
speed appears on the screen.
[SYS-OPT-SPD]
speed  = 500K [bps]
1125K2250K3500K
To change the speed, press the function
key matching the desired communication
speed you want to set. If the desired
communication speed is not displayed,
press (next) and the remaining
available communication speeds will
appear.
5 When setting is complete, the screen
returns to step 4.
[SYS-OPT-SPD]
speed  = 125K [bps]
1125K2250K3500K
I/O
unit setting
6
Chapter 6 I/O unit setting
H6-10 H6-11
6.3 Setting the PROFIBUS unit
6.3.1 Validating the PROFIBUS unit
To use the PROFIBUS unit, make setting so that the controller can identify the PROFIBUS
unit.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
[SYS]
select menu
1SAFE2OPT 3UTL 4next
2 Press (next) to switch to the menu
display and then press (OPT).
3 Press (DEV). [SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
[SYS-OPT-DEV]
PROFIBUS = 0
0:invalid 1:valid
4 The screen shows whether the
PROFIBUS unit is currently identified.
To prevent the PROFIBUS unit from being
identified by the controller, enter "0" with
the number key and press . To allow the
PROFIBUS unit to be identified by the
controller, enter "1" and press .
5 When writing is complete, the screen
returns to step 4.
[SYS-OPT-DEV]
PROFIBUS = 1
0:invalid 1:valid
H6-10
6
I/O
unit setting
Chapter 6 I/O unit setting
H6-11
6.3.2 Setting the station address
The station address can be set from 0 to 126.
1 Press (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
[SYS]
select menu
1SAFE2OPT 3UTL 4next
2 Press (next) to switch to the menu
display and then press (OPT).
3 Press (NODE). [SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
[SYS-OPT-NODE]
address = 30
range 0→126
4 The currently set station address
appears on the screen.
To change this setting, enter the new
station address with the number keys, and
press the key.
5 When writing is complete, the screen
returns to step 4.
[SYS-OPT-NODE]
address = 1
range 0→126
I/O
unit setting
6
Chapter 6 I/O unit setting
H6-12
6.3.3 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 (SYS) on the initial menu
screen.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
[SYS]
select menu
1SAFE2OPT 3UTL 4next
2 Press (next) to switch to the menu
display and then press (OPT).
3 Press (SPD). [SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
[SYS-OPT-SPD]
speed  = 12M  [bps]
4 The currently set communication
speed appears on the screen.
To return to the previous screen, press the
key.
7
Program
m ing
Chapter 7 Programming
H7-1
7. Programming
Programs for operating the robot can be easily created and edited with the YAMAHA robot
language similar to BASIC. This chapter explains how to make or edit programs using the HPB.
7.1 Robot language list
The following table shows a quick-reference list for YAMAHA robot language. For detailed
information on the robot language, see the "Programming Guide" section.
Command Meaning Format Command
MOVA Moves to a point data position. MOVA ,
MOVI Moves from current position by amount of point data. MOVI ,< maximum speed>
MOVF Moves until a specified DI input is received. MOVF ,,
JMP Jumps to a specified label in the specified program. JMP

PDF Document reader online

This website is focused on providing document in readable format, online without need to install any type of software on your computer. If you are using thin client, or are not allowed to install document reader of particular type, this application may come in hand for you. Simply upload your document, and Docureader.top will transform it into readable format in a few seconds. Why choose Docureader.top?

  1. Unlimited sharing - you can upload document of any size. If we are able to convert it into readable format, you have it here - saved for later or immediate reading
  2. Cross-platform - no compromised when reading your document. We support most of modern browers without the need of installing any of external plugins. If your device can oper a browser - then you can read any document on it
  3. Simple uploading - no need to register. Just enter your email, title of document and select the file, we do the rest. Once the document is ready for you, you will receive automatic email from us.

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