POPCOM Windows English - Yamaha Robotics
POPCOM Windows English - Yamaha Robotics
POPCOM Windows English - Yamaha Robotics
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YAMAHA ROBOT CONTROLLER SUPPORTING SOFTWARE<br />
<br />
User’s Manual<br />
ENGLISH<br />
E<br />
E64-P-Ver. 1.13.0
Contents:<br />
[1] Installation Guide<br />
[2] Backup current data from robot controller<br />
[3] Restore previously saved data to robot controller<br />
[4] Operate robot controller and robots directly<br />
[5] Modify robot controller data directly<br />
[6] Modify various data as file on your computer<br />
[7] Data Files Details<br />
This document contains operation guide and supplementary information of <strong>POPCOM</strong> <strong>Windows</strong>. Be sure to read this<br />
document before using this software.<br />
Microsoft, <strong>Windows</strong> and <strong>Windows</strong> NT are trademarks of Microsoft Corporation. All other company and product names<br />
mentioned are trademarks or registered trademarks of their respective owners.<br />
Sep.22 2006<br />
v1.13.0<br />
1
[1] Installation Guide<br />
Precautions<br />
(*) As a rule, separate software sets should be purchased for each computer.<br />
(*) This software, help and manual may not be used or reproduced in part or in their entirety without permission.<br />
(*) Responsibility is not accepted for any situations that may occur as a result of using this software, help or<br />
manual.<br />
(*) The specifications of this software, and information contained in manual and help, may be updated without<br />
notice.<br />
(*) The contents of this product are considered to be fully adequate and satisfactory. Should the user have any<br />
questions or concerns, however, about this software or information contained in help and manual, please<br />
contact your agent.<br />
(*) Prepare to enter emergency stop input for safe when moves any axis by using automatic operation, step<br />
operation, manual movement and trace operation.<br />
About <strong>POPCOM</strong> <strong>Windows</strong><br />
This application is assistant software for single to quadruple axes robot controller and robots. This application<br />
can be used in the following ways:<br />
(*) Backup current data from robot controller.<br />
(*) Restore previously saved data to robot controller.<br />
(*) Operate robot controller and robots directly.<br />
(*) Modify robot controller data directly.<br />
(*) Modify various data as file on your computer.<br />
[A type of robot controller]<br />
Single Axis:<br />
SRC, SRCA, ERC, SRCH, SRCH-E, ERCX, SRCX, SRCP, SRCD, ERCD<br />
SR1-X, SR1-P<br />
Double Axes:<br />
DRC, DRCA, DRC-R, DRCH, DRCH-E, DRCX<br />
Double to Quadruple Axes:<br />
TRCH, TRCX<br />
2
Package contents<br />
[Setup disk]<br />
CD-ROM<br />
[Serial communication cable (Option)]<br />
9 pins – 25 pins (for IBM-PC/AT or compatibles)<br />
P/N: KR7-M538F-100 (for <strong>POPCOM</strong>/VIP/CUP)<br />
P/N: KD4-M538F-010 (for <strong>POPCOM</strong>)<br />
Memo<br />
1. There is an emergency stop signal input between pin nos. 18 and 21 on the robot controller side.<br />
Under normal circumstances this contact is closed (it is a B-type contact). When you want to be able<br />
to use an emergency stop signal, connect a switch retard for 50 mA or greater. If this circuit is open,<br />
an emergency stop is performed.<br />
Input response: 5 msec or less<br />
Input current: 33.3 mA/DC 24V<br />
2. ERCD, SR1-X and SR1-P robot controller needs special 9 pins (Plug) - 25 pins (Socket) straight<br />
serial conversion adapter (P/N: KAX-M657E-010) to communicate with your computer.<br />
3
Required system environment<br />
[Personal computer]<br />
PC with an 80386-processor minimum<br />
32MB of RAM minimum<br />
2MB of available hard-disk space minimum<br />
CD-ROM drive x4 speed or more<br />
Serial communication port<br />
(*) USB-Serial adapter that can through any control code and manage XON/XOFF flow control can be<br />
used.<br />
[Operation software]<br />
Microsoft <strong>Windows</strong> 95, NT 4.0 or later operating system<br />
[Robot controller and robot]<br />
SRC/DRC/ERC/TRC/SR1 series<br />
(*) To operate robot from your computer, it is necessary to connect robots to robot controller and complete<br />
to setup robot controller for the robots.<br />
Install and Un-install<br />
Installing to hard disk on your computer is necessary for operating <strong>POPCOM</strong> <strong>Windows</strong>. If previous version of<br />
<strong>POPCOM</strong> <strong>Windows</strong> was installed on your computer, please remove it before installing.<br />
[Install]<br />
1. Insert disk into the CD-ROM drive. The setup program should start automatically. If the setup program<br />
does not start, double-click install.exe from the directory window for your CD-ROM drive.<br />
2. Follow the instructions on your screen.<br />
[Un-install]<br />
1. Click [Uninstall] item in [<strong>POPCOM</strong> <strong>Windows</strong>] under [Programs] on [Start] menu.<br />
2. Follow the instructions on your screen.<br />
3. Delete configuration settings file <strong>POPCOM</strong>.INI file in the <strong>Windows</strong> folder using <strong>Windows</strong> Explorer.<br />
[Un-install by manual]<br />
1. Delete folder (<strong>POPCOM</strong>) where <strong>POPCOM</strong> <strong>Windows</strong> was installed by using <strong>Windows</strong> Explorer.<br />
2. Delete configuration settings file <strong>POPCOM</strong>.INI file in the <strong>Windows</strong> folder by using <strong>Windows</strong> Explorer.<br />
3. Click [Taskbar and Start Menu] under [Settings] on [Start] menu.<br />
4. Click [Advanced] tab in [Taskbar and Start Menu Properties] dialog box, then click [Advanced...] button in<br />
[Start menu] group.<br />
5. Expand [Programs] and delete [<strong>POPCOM</strong> <strong>Windows</strong>] folder.<br />
Directory structure<br />
When setup was completed, files are installed in the specified directory (folder).<br />
<strong>POPCOM</strong>.EXE<br />
POPLANG.DLL<br />
<strong>POPCOM</strong>.HLP<br />
README.TXT<br />
UPDATE.TXT<br />
5
Start and Exit<br />
[Start]<br />
1. Click [Popcom] item in [<strong>POPCOM</strong> <strong>Windows</strong>] under [Programs] on [Start] menu.<br />
2. [Select] dialog box of <strong>POPCOM</strong> <strong>Windows</strong> is shown.<br />
3. Click [Cancel] button to open an empty [Main] window.<br />
[Exit]<br />
1. Click [Exit] command in [File] menu to quit the application. Or, double click system menu box in [Main]<br />
window.<br />
2. When unsaved data exists in [File Editor] window, a message box that suggest saving data to file is<br />
shown.<br />
3. When [Robot Operate] window is opened with automatic operation, a message box that suggest to stop<br />
running is shown.<br />
6
[2] Backup current data from robot controller<br />
There are two methods to backup robot controller data listed below.<br />
(*) Use System - Save command in [Robot Operate] window<br />
(*) Use [Download] command in empty [File Editor] window<br />
7
Use System - Save command in [Robot Operate] window<br />
1. Stop running in robot controller and connect serial port on your computer with DPB/TPB connector on robot<br />
controller by using serial communication cable. Then, Click [Connect Robot Controller...] command in [File]<br />
menu.<br />
2. [Select Serial Port] dialog box is shown.<br />
Select serial port where serial communication cable was connected and enter DPBVER. Then click [OK]<br />
button.<br />
112 or later SRC, SRCA, ERC, DRC, DRCA, DRC-R<br />
201 or later SRCH, DRCH, TRCH<br />
201E or later SRCH-E, DRCH-E<br />
212 or later SRCX, ERCX. DRCX, TRCX<br />
250 or later SRCP, SRCD<br />
260 or later ERCD<br />
300 or lator SR1-X, SR1-P<br />
3. [Robot Operate] window is shown.<br />
Click [System...] button.<br />
8
4. [System] dialog box is shown.<br />
Click [Save...] button.<br />
5. A message box is shown.<br />
Click [OK] button.<br />
6. [Save As] dialog box is shown.<br />
Enter a new filename and click [OK] button.<br />
7. [Communicating...] dialog box is shown while saving data specified by file extension and write them to the<br />
specified file. Return to [System] dialog box if completed. Normally, click [Close] button to return to [Robot<br />
Operate] window, and click [Close] command in [File] menu to close [Robot Operate] window.<br />
9
Use [Download] command in empty [File Editor] window<br />
1. Stop running in robot controller and connect serial port on your computer with DPB/TPB connector on robot<br />
controller by using serial communication cable. Then, Click [Connect Robot Controller...] command in [File]<br />
menu.<br />
2. [Select Serial Port] dialog box is shown.<br />
Select serial port where serial communication cable was connected and enter DPBVER. Then click [OK]<br />
button.<br />
112 or later SRC, SRCA, ERC, DRC, DRCA, DRC-R<br />
201 or later SRCH, DRCH, TRCH<br />
201E or later SRCH-E, DRCH-E<br />
212 or later SRCX, ERCX. DRCX, TRCX<br />
250 or later SRCP, SRCD<br />
260 or later ERCD<br />
300 or lator SR1-X, SR1-P<br />
3. [Robot Operate] window is shown.<br />
Click [New...] command in [File] menu.<br />
10
4. [Select File Type] dialog box is shown.<br />
Select System (*.all) and click [OK] button.<br />
5. [Select Robot Controller Type] dialog box is shown.<br />
Select type of robot controller and click [OK] button.<br />
(*) Type of robot controller and minor version limits usable program command and changes meaning<br />
and range of parameter.<br />
6. [Input Program Name] dialog box is shown.<br />
Click [Cancel] button.<br />
11
7. An empty [File Edit] window is shown.<br />
Click [Download...] in [Edit] menu.<br />
(*) If no [Robot Operate] window is available, [Download...] command is disabled (grayed). In this case<br />
please connect robot controller again and change [File Edit] window to active.<br />
8. [Select Serial Port - Download] dialog box is shown.<br />
A list of connected robot controllers is shown. Select robot controller to backup data and click [OK] button.<br />
(*) This list box shows only matched robot controller for [File Edit] window. If an empty list is shown,<br />
robot controller type between [File Edit] window and [Robot Operate] window are different. In this<br />
case please create new file again with same robot controller type as connected robot controller.<br />
9. [Select Data - Download] dialog box is shown.<br />
A list of data contained in the specified robot controller is shown. Select data to backup to [File Edit] window<br />
and click [OK] button.<br />
(*) Select program item to select entire programs.<br />
(*) Type of robot controller and minor version specified in creating or opening limits data (parameter).<br />
12
10. [Communicating...] dialog box is shown while saving data specified by file extension. Received data to [File<br />
Editor] window from robot controller are appended or over-written if existed. Return to [File Editor] dialog box<br />
if completed. Normally, click [Save As...] command in [File] menu.<br />
11. [Save As] dialog box is shown.<br />
Enter a new filename and click [OK] button. Entire data in [File Edit] window is saved as a file and a caption<br />
of [File Edit] window is changed to specified filename.<br />
12. Click [Close] command in [File] menu to close [File Editor] window. Then returns to [Robot Operate] window.<br />
Normally, click [Close] command in [File] menu to close [Robot Operate] window.<br />
13
[3] Restore previously saved data to robot controller<br />
There are two methods to restore robot controller data listed below.<br />
(*) Use System - Load command in [Robot Operate] window<br />
(*) Use [Upload] command in [File Editor] window<br />
14
Use System - Load command in [Robot Operate] window<br />
1. Stop running in robot controller and connect serial port on your computer with DPB/TPB connector on robot<br />
controller by using serial communication cable. Then, Click [Connect Robot Controller...] command in [File]<br />
menu.<br />
2. [Select Serial Port] dialog box is shown.<br />
Select serial port where serial communication cable was connected and enter DPBVER. Then click [OK]<br />
button.<br />
112 or later SRC, SRCA, ERC, DRC, DRCA, DRC-R<br />
201 or later SRCH, DRCH, TRCH<br />
201E or later SRCH-E, DRCH-E<br />
212 or later SRCX, ERCX. DRCX, TRCX<br />
250 or later SRCP, SRCD<br />
260 or later ERCD<br />
300 or lator SR1-X, SR1-P<br />
3. [Robot Operate] window is shown.<br />
Click [System...] button.<br />
15
4. [System] dialog box is shown.<br />
Click [Load...] button.<br />
5. A message box is shown.<br />
Click [OK] button.<br />
6. [Open] dialog box is shown.<br />
Select a filename and click [OK] button.<br />
7. [Communicating...] dialog box is shown while restoring data to robot controller from previously saved file in<br />
your computer. Transmitted data to robot controller are appended or over-written if existed. Return to<br />
[System] dialog box if completed. Normally, click [Close] button to return to [Robot Operate] window, and<br />
click [Close] command in [File] menu to close [Robot Operate] window.<br />
16
Use [Upload] command in [File Editor] window<br />
1. Stop running in robot controller and connect serial port on your computer with DPB/TPB connector on robot<br />
controller by using serial communication cable. Then, Click [Connect Robot Controller...] command in [File]<br />
menu.<br />
2. [Select Serial Port] dialog box is shown.<br />
Select serial port where serial communication cable was connected and enter DPBVER. Then click [OK]<br />
button.<br />
112 or later SRC, SRCA, ERC, DRC, DRCA, DRC-R<br />
201 or later SRCH, DRCH, TRCH<br />
201E or later SRCH-E, DRCH-E<br />
212 or later SRCX, ERCX. DRCX, TRCX<br />
250 or later SRCP, SRCD<br />
260 or later ERCD<br />
300 or lator SR1-X, SR1-P<br />
3. [Robot Operate] window is shown.<br />
Click [Open...] command in [File] menu.<br />
17
4. [Open] dialog box is shown.<br />
Select a filename and click [OK] button.<br />
5. [Select Robot Controller Type] dialog box is shown.<br />
Select type of robot controller and click [OK] button.<br />
(*) Type of robot controller and minor version limits usable program command and changes meaning<br />
and range of parameter.<br />
18
6. [File Edit] window is shown.<br />
Click [Upload...] in [Edit] menu.<br />
(*) If no [Robot Operate] window is available, [Upload...] command is disabled (grayed). In this case<br />
please connect robot controller again and change [File Edit] window to active.<br />
7. [Select Serial Port - Upload] dialog box is shown.<br />
A list of connected robot controllers is shown. Select robot controller to restore data and click [OK] button.<br />
(*) This list box shows only matched robot controller for [File Edit] window. If an empty list is shown,<br />
robot controller type between [File Edit] window and [Robot Operate] window are different. In this<br />
case please open file again with same robot controller type as connected robot controller.<br />
8. [Select Data - Upload] dialog box is shown.<br />
A list of data contained in [File Edit] window is shown. Select data to restore to the specified robot controller<br />
and click [OK] button.<br />
(*) Select program item to select entire programs.<br />
(*) Type of robot controller and minor version specified in creating or opening limits data (parameter).<br />
19
9. [Communicating...] dialog box is shown while restoring data to robot controller from previously saved data in<br />
[File Editor] window. Transmitted data to robot controller are appended or over-written if existed. Return to<br />
[File Editor] window if completed. Click [Close] command in [File] menu to close [File Editor] window. Then<br />
returns to [Robot Operate] window. Normally, click [Close] command in [File] menu to close [Robot Operate]<br />
window.<br />
20
[4] Operate robot controller and robots directly<br />
To operate or observe status of robots connected to robot controller can be used. Prepare to enter an emergency<br />
stop input when executing automatic operation, step operation, manual movement and trace operation.<br />
(*) Connect a robot controller<br />
(*) Return to the origin position<br />
(*) Move various axes manually<br />
(*) Monitor robot controller and swicth servo on/off<br />
(*) Start automatic operation<br />
(*) Initialize robot controller data<br />
(*) Browse a list of alarms and errors in robot controller.<br />
21
Connect a robot controller<br />
[Robot Operate] window is needed to operate or observe status of robots connected to robot controller.<br />
1. Stop running in robot controller and connect serial port on your computer with DPB/TPB connector on robot<br />
controller by using serial communication cable. Then, Click [Connect Robot Controller...] command in [File]<br />
menu.<br />
2. [Select Serial Port] dialog box is shown.<br />
Select serial port where serial communication cable was connected and enter DPBVER. Then click [OK]<br />
button.<br />
112 or later SRC, SRCA, ERC, DRC, DRCA, DRC-R<br />
201 or later SRCH, DRCH, TRCH<br />
201E or later SRCH-E, DRCH-E<br />
212 or later SRCX, ERCX. DRCX, TRCX<br />
250 or later SRCP, SRCD<br />
260 or later ERCD<br />
300 or lator SR1-X, SR1-P<br />
3. [Robot Operate] window is shown.<br />
22
Return to the origin position<br />
X-series robot controller (SRCX/DRCX/ERCX/TRCX/SR1-X) is attached an absolute type encoder of motor. An<br />
absolute type does not need to return to origin at every power turning on. When robot connecting cable or<br />
absolute backup battery was removed, please execute to return to origin before robot moving.<br />
Non X-series robot controller is attached an incremental type encoder of motor. An incremental type needs to<br />
return to origin at every power turning on before robot moving.<br />
There are 3 methods to return to origin: sensor, torque and mark. Method is fixed for the robot. In the case of<br />
sensor or torque method, each axis is started to returning the origin position automatically. In the case of mark<br />
method, follow the instructions on your screen to return to the origin position.<br />
[In the case of mark method for X series robot controller (SRCX/DRCX/ERCX/TRCX/SR1-X)]<br />
1. Click [Origin...] button in [Robot Operate] window.<br />
2. [Origin] dialog box is shown.<br />
A current origin status is shown. For double and more axis robot controller, click one of [X axis] to [Z axis]<br />
radio button to start returning to origin because mark method axis cannot return to origin when [All axes] was<br />
selected.<br />
3. Clicking [Go !] button in [Origin] dialog box shows [Origin (Mark)] dialog box.<br />
Specify type of teaching in the radio button and click [OK] button.<br />
(*) Direct teaching needs you to move axis manually to the origin position by your hand under<br />
emergency stop status.<br />
(*) Teaching playback need you to move axis manually to the origin position by using remote jog<br />
operation.<br />
23
3a. In the case of direct teaching, [Origin (Mark - Direct teaching)] dialog box is shown.<br />
Move this axis to the mark (=origin) position that reference is from 25 to 75(%) by your hand. Then enter<br />
position and click [OK] button.<br />
(*) Keep safe before brake off because vertical type of axis falls movable part down.<br />
(*) No brake effect occurs if no brake attach on the motor.<br />
A message box is shown due to canceling emergency stop status.<br />
Set emergency stop from parallel I/O and click [OK] button.<br />
3b. In the case of teaching playback, [Origin (Mark - Teaching playback)] dialog box is shown.<br />
Move this axis to the mark (=origin) position that reference is from 25 to 75(%) by using [-] or [+] button.<br />
Then enter position and click [OK] button.<br />
4. After returning to the origin for the entire axis, an origin status is updated and machine references are shown.<br />
Click [Close] button to return to [Robot Operate] window.<br />
24
[In the case of sensor or torque method]<br />
1. Click [Origin...] button in [Robot Operate] window.<br />
2. [Origin] dialog box is shown.<br />
3. Clicking [Go !] button in [Origin] dialog box shows a message box.<br />
Keep safe for the robot movable area and click [OK] button to start returning to the origin position.<br />
4. To pause moving, please click [Stop !] button. To stop robot immediately, please open parallel I/O<br />
emergency signal circuit.<br />
5. After returning to the origin, an origin status is updated and machine references are shown.<br />
Click [Close] button to return to [Robot Operate] window.<br />
25
Move various axes manually<br />
1. Click [Manual...] button in [Robot Operate] window.<br />
2. [Manual] dialog box is shown.<br />
Current robot positions and manual speed are shown.<br />
(*) Click [-] or [+] button for each axis to move inching distance.<br />
(*) Hold down [-] or [+] button for each axis to move smoothly. When the jog button is released, the axis<br />
stops immediately.<br />
(*) Click [...] button right-side of [Speed:] to enter a new speed.<br />
(*) Click [Point Trace...] button to move to a point data position.<br />
(*) Click [Position Trace...] button to move to a specified position.<br />
(*) Click [DIO...] button to monitor and operate the robot I/O.<br />
(*) Click [Utility...] button to change the entire servo motor status.<br />
(*) Click [Update] button to update actual robot position.<br />
3. Click [Point Trace...] button shows [Point Trace] dialog box.<br />
Specify axis, point number and speed, then click [Go !] button.<br />
(*) Click [...] button right-side of [Point No] to change point number to be moved.<br />
(*) An edit box for each axis shows point data for the specified point number.<br />
(*) Click check box for each axis to select moving axis while executing trace movement.<br />
(*) Click [...] button right-side of [Speed:] to enter a new speed.<br />
(*) An edit box right-side of [POS:] button shows actual robot position. Click [POS:] button to update<br />
actual robot position.<br />
(*) Click [Go !] button to start trace movement.<br />
(*) [Go !] button changes to [Stop !] button during moving to cancel.<br />
26
4. Click [Position Trace...] button shows [Position Trace] dialog box.<br />
Specify axis, position and speed, then click [Go !] button.<br />
(*) Click check box for each axis to select moving axis while executing trace movement.<br />
(*) Enter edit box a new position for each axis where robot moves to.<br />
(*) Click [...] button right-side of [Speed:] to enter a new speed.<br />
(*) An edit box right-side of [POS:] button shows actual robot position. Click [POS:] button to update<br />
actual robot position.<br />
(*) Click [Go !] button to start trace movement.<br />
(*) [Go !] button changes to [Stop !] button during moving to cancel.<br />
27
Monitor robot controller and swicth servo on/off<br />
1. Click [DIO...] button in [Robot Operate] window shows [DIO] dialog box.<br />
Current robot signal status is shown. (No real-time updates)<br />
(*) Each signal box shows robot I/O name automatically when mouse moves on box. A signal box that<br />
background colored gray shows current status. A signal box that background colored white shows<br />
current status and toggle status.<br />
(*) Click [Update] button to reload robot I/O status.<br />
28
2. Click [Watch...] button in [Robot Operate] window shows [Watch] dialog box.<br />
Please browse registered variables when automatic operation is paused or step operation is completed.<br />
(*) Click [Update] button to reload a list of registered variables.<br />
(*) Click [Modify...] button to change value of highlighted item of variable.<br />
(*) Click [Insert...] button to insert new variable in the list box.<br />
(*) Click [Remove] button to remove highlighted item of variable in the list box.<br />
3. Click [Utility...] button in [Robot Operate] window shows [Utility] dialog box.<br />
Current servo, brake memory and language status are shown.<br />
(*) Click radio buttons right-side of [Servo:] can operate servo on/off for entire axes.<br />
(*) Click radio buttons right-side of [Brake:] can operate brake on/off for entire axes in the servo off status.<br />
Keep safe before brake off because vertical type of axis falls movable part down.<br />
(*) No brake effect occurs if no brake attach on the motor.<br />
29
Start automatic operation<br />
1. Check [Show Exe.Program] check box to show currently execution program list.<br />
Current execution program steps and yellow colored current step for robot controller are shown in right side<br />
of window.<br />
(*) Click [...] button right-side of [Exe.Program:] to change execution program. When program was<br />
changed, whole outputs and variables will be cleared.<br />
(*) Click [...] button right-side of [Exe.Task] to change task.<br />
(*) Click [...] button right-side of [Exe.Speed:] to enter a new speed.<br />
(*) Click [Start...] button to start automatic operation.<br />
(*) Click [Step] button to execute current step.<br />
(*) Click [Reset...] button to reset operation. When program reset was executed, whole outputs and<br />
variables will be cleared and program step will be return to the top step of first executed program.<br />
(*) [Stop] button is enabled while running.<br />
30
Initialize robot controller data<br />
Initialize parameter, program and/or point data contained in the robot controller. Specify actual robot type when<br />
parameter was initialized.<br />
1. Click [System...] button in [Robot Operate] window.<br />
2. [System] dialog box is shown.<br />
Click [Initialize...] button.<br />
3 [Initialize] dialog box is shown.<br />
Check the box for each data to be initialized.<br />
4 If parameter was checked, [Set Robot Layout] dialog box is shown.<br />
Click [Generate...] button to confirm and specify new robot settings for the actual robot.<br />
31
5 [Generation] dialog box is shown.<br />
Enter a new robot number and auxiliary stroke.<br />
6. Please confirm that SRCP, SRCD and ERCD robot controller automatically turn servo off when new<br />
generation was specified.<br />
Click [OK] button.<br />
32
Browse a list of alarms and errors in robot controller<br />
Browse a list of alarms and errors occurred in robot controller. This function may keep hint for troubleshooting.<br />
1. Click [System...] button in [Robot Operate] window.<br />
2. [System] dialog box is shown.<br />
(*) Click [Alarm History...] button to browse a list of alarms.<br />
(*) Click [Error History...] button to browse a list of errors.<br />
(*) Click [Alarm Reset...] button to reset alarm.<br />
3. Click [Alarm History...] button shows [Alarm History] dialog box.<br />
A list of alarms occurred in robot controller is shown.<br />
(*) Click [Update] button to reload a list of alarms.<br />
(*) Click [Save...] button to save history as a file.<br />
33
4. Click [Error History...] button shows [Error History] dialog box.<br />
A list of errors occurred in robot controller is shown.<br />
(*) Click [Update] button to reload a list of errors.<br />
(*) Click [Save...] button to save history as a file.<br />
5a. For SR1 series robot controller (SR1-X/SR1-P), please click [Alarm Reset] button to reset alarm before<br />
moving axis.<br />
Click [OK] button.<br />
5b. For non SR1 serties robot controller, please click [Alarm Reset] button to reset alarm berore operating robot<br />
controller.<br />
Follow the instructions on your screen to reboot robot controller.<br />
34
[5] Modify robot controller data directly<br />
To create and edit parameter, program and point data directory used with the robot controller. (Online Editing)<br />
Palette data can be modified for double or greater axes robot controller<br />
(*) How to use [Online Edit] dialog box<br />
(*) Modify parameter data<br />
(*) Add a new program<br />
(*) Modify program steps<br />
(*) Modify point data<br />
(*) Modify palette data<br />
35
How to use [Online Edit] dialog box<br />
1. Click [Online Edit...] button in [Robot Operate] window.<br />
2. [Online Edit] dialog box is shown.<br />
List of entire data that contains in the robot controller is displayed in the list box. Function buttons are<br />
enabled or disabled after selecting list item.<br />
36
Modify parameter data<br />
1. Select [Parameter] item and click [Modify...] button or double-click [Parameter] item on [Online Edit] dialog<br />
box can modify parameter data.<br />
2. [Data List] dialog box is shown.<br />
List of entire parameter data is shown in the list box.<br />
3. Click [Modify...] button or double-click to show [Line Edit] dialog box.<br />
4. [Line Edit] dialog box is shown.<br />
Enter a new parameter data. Then click [O] button.<br />
37
Add a new program<br />
1. Select [Program] item and click [Insert...] button or double-click [Program] item on [Online Edit] dialog box<br />
2. [Input Program Name] dialog box is shown.<br />
Enter a new program name and click [OK] button.<br />
3. An empty [Data List] dialog box is shown.<br />
4. Check [Function] check box and select list item and click [Insert...] button or double-click bottom list item to<br />
insert a new program step.<br />
38
5. [Function] dialog box is shown.<br />
Select opecode in the list box and click [O] button.<br />
6. [Function - Option] dialog box is shown.<br />
Enter options for the opecode and click [OK] button.<br />
39
7. A new program step added in [Data List] dialog box.<br />
8. Select list item and click [Modify...] button or double-click bottom list item.<br />
9. [Line Edit] dialog box is shown.<br />
Enter a new program step and click [O] button.<br />
10. Select list item and click [Delete...] button to remove program step.<br />
40
Modify program steps<br />
1. Select [NOx] item and click [Modify...] button or double-click [NOx] item on [Online Edit] dialog box.<br />
2. [Data List] dialog box is shown.<br />
List of entire program steps for the program name is shown in the list box.<br />
3. Check [Function] check box and select list item and click [Insert...] button or double-click bottom list item to<br />
insert a new program step.<br />
4. [Function] dialog box is shown.<br />
Select opecode in the list box and click [O] button.<br />
41
5. [Function - Option] dialog box is shown.<br />
Enter options for the opecode and click [OK] button.<br />
6. A new program step added in [Data List] dialog box.<br />
7. Select list item and click [Modify...] button or double-click bottom list item.<br />
8. [Line Edit] dialog box is shown.<br />
Enter a new program step and click [O] button.<br />
9. Select list item and click [Delete...] button to remove program step.<br />
42
Modify point data<br />
1. Select [Point] item and click [Modify...] button or double-click [Point] item on [Online Edit] dialog box.<br />
2. [Data List] dialog box is shown.<br />
List of entire parameter data is shown in the list box.<br />
3. Select list item and click [Modify...] button or double-click bottom list item.<br />
4. [Line Edit] dialog box is shown.<br />
Enter a new point data and click [O] button.<br />
5. Select list item and click [Delete...] button to remove point data.<br />
43
6. Click [Point Teach...] button to show [Point Teach] dialog box.<br />
Specify the axis to teach, move axis by [-] or [+] button, and then press [OK] button to teach actual position<br />
to point data.<br />
(*) Click [-] or [+] button for each axis to move inching distance.<br />
(*) Hold down [-] or [+] button for each axis to move smoothly. When the jog button is released, the axis<br />
stops immediately.<br />
(*) Click [...] button right-side of [Speed:] to enter a new speed.<br />
(*) Click [DIO...] button to monitor and operate the robot I/O.<br />
(*) Click [Utility...] button to change the entire servo motor status.<br />
7. Click [Point Trace...] button to show [Point Trace] dialog box.<br />
Specify the axis to trace movement, specify point data and speed, and then click [Go !] button to start trace<br />
movement. [Go !] button changes to [Stop !] button during moving to cancel.<br />
(*) Click [...] button right-side of [Point No] to change point number to be moved.<br />
(*) An edit box for each axis shows point data for the specified point number.<br />
(*) Click check box for each axis to select moving axis while executing trace movement.<br />
(*) Click [...] button right-side of [Speed:] to enter a new speed.<br />
(*) An edit box right-side of [POS:] button shows actual robot position. Click [POS:] button to update<br />
actual robot position.<br />
44
Modify palette data<br />
Palette data can be modified for double or greater axes robot controller. One palette is composed from 4 points<br />
and every point means each summit of rectangle.<br />
1. Select [PLTx] item and click [Modify...] button or double-click [PLTx] item on [Online Edit] dialog box.<br />
2. [Data List] dialog box is shown.<br />
List of entire point data for the palette is shown in the list box.<br />
3. Select list item and click [Modify...] button or double-click bottom list item.<br />
4. [Line Edit] dialog box is shown.<br />
Enter a new point data and click [O] button.<br />
5. Select list item and click [Delete...] button to remove point data.<br />
45
[6] Modify various data as file on your computer<br />
To create and edit program, point or parameter data as a file used with the robot controller on your computer.<br />
(Offline Editing)<br />
(*) Create a new file<br />
(*) Open a previously created file<br />
(*) Modify parameter data<br />
(*) Create a new program<br />
(*) Modify program steps<br />
(*) Modify point data<br />
46
Create a new file<br />
1. Click [New...] command in [File] menu.<br />
2. [Select File Type] dialog box is shown.<br />
Select System (*.all) and click [OK] button.<br />
3. [Select Robot Controller Type] dialog box is shown.<br />
Select type of robot controller and click [OK] button.<br />
(*) Type of robot controller and minor version limits usable program command and changes meaning<br />
and range of parameter.<br />
4. [Input Program Name] dialog box is shown.<br />
Click [Cancel] button.<br />
47
5. An empty [File Edit] window is shown.<br />
6. Click [Option...] command in [Edit] menu to open [File Option] dialog box.<br />
This dialog box is used to confirm file name, robot controller name and robot controller type, confirm and<br />
modify a minor version.<br />
(*) Usable program command and meaning and range of parameter is changed when mainor version is<br />
changed.<br />
48
Open a previously created file<br />
1. Click [Open...] command in [File] menu.<br />
2. [Open] dialog box is shown.<br />
Select a filename and click [OK] button.<br />
3. [Select Robot Controller Type] dialog box is shown.<br />
Select type of robot controller and click [OK] button.<br />
(*) Type of robot controller and minor version limits usable program command and changes meaning<br />
and range of parameter.<br />
49
4. [File Edit] window is shown.<br />
5. Click [Option...] command in [Edit] menu to open [File Option] dialog box.<br />
This dialog box is used to confirm file name, robot controller name and robot controller type, confirm and<br />
modify a minor version.<br />
(*) Usable program command and meaning and range of parameter is changed when mainor version is<br />
changed.<br />
50
Modify parameter data<br />
1. Click [Parameter] item in the left-side pane in [File Edit] window. List of parameter data are shown in the<br />
right-side pane in [File Edit] window.<br />
2. Modify a parameter data for each line according to operation manual for robot controller.<br />
(*) Standard editing commands are prepared in [Edit] menu.<br />
(*) Click [Data Check] command in [Edit] menu to check parameter ranges for each parameter.<br />
51
Create a new program<br />
1. Click [Program Create...] command in [Edit] menu.<br />
2. [Input Program Name] dialog box is shown.<br />
Enter a new program name and click [OK] button.<br />
3. An empty program step is shown in the right-side pane in [File Edit] window.<br />
Enter a program step for each line.<br />
(*) Click [Function Bar] command in [View] menu to open [Function] dialog box. [Function] dialog box is<br />
designed to enter program step easily.<br />
(*) Standard editing commands are prepared in [Edit] menu.<br />
(*) Click [Data Check] command in [Edit] menu to check opecode and options for each program step.<br />
(*) Click [Program Create...] command in [Edit] menu to add a new program.<br />
(*) Click [Program Copy...] command in [Edit] menu to copy list of the program steps to another program.<br />
(*) Click [Program Delete...] command in [Edit] menu to delete list of the program steps and delete this<br />
program.<br />
52
Modify program steps<br />
1. Click [NOx] item in the left-side pane in [File Edit] window. List of program steps are shown in the right-side<br />
pane in [File Edit] window.<br />
2. Modify a program step for each line.<br />
(*) Click [Function Bar] command in [View] menu to open [Function] dialog box. [Function] dialog box is<br />
designed to enter program step easily.<br />
(*) Standard editing commands are prepared in [Edit] menu.<br />
(*) Click [Data Check] command in [Edit] menu to check opecode and options for each program step.<br />
(*) Click [Program Create...] command in [Edit] menu to add a new program.<br />
(*) Click [Program Copy...] command in [Edit] menu to copy list of the program steps to another program.<br />
(*) Click [Program Delete...] command in [Edit] menu to delete list of the program steps and delete this<br />
program.<br />
53
Modify point data<br />
1. Click [Point] item in the left-side pane in [File Edit] window. List of point data are shown in the right-side pane<br />
in [File Edit] window.<br />
2. Modify a point data for each line.<br />
(*) Standard editing commands are prepared in [Edit] menu.<br />
(*) Click [Data Check] command in [Edit] menu to check point ranges and format for each point.<br />
54
[7] Data Files Details<br />
To change the data in a file directly, please refer to the robot controller's manual, and make sure you understand<br />
the contents thoroughly before entering the changes.<br />
Items Common to All Files<br />
The first line of the file specifies the robot controller type.<br />
[SRC series]<br />
Robot<br />
Controller<br />
Robot<br />
Controller<br />
Type<br />
SRC<br />
SRCA<br />
ERC<br />
SRCH<br />
SRCH-E<br />
ERCX<br />
SRCX<br />
communicate with<br />
SRCP SRCD ERCD SR1-X SR1-P<br />
SRC W W W W W W W W<br />
SRC SRC[1.nn] O S S S S S S S<br />
SRCA SRC[2.nn] O S S S S S S S<br />
SRCH SRC[3.nn] S O S S S S S S<br />
SRCH-E SRC[3.nnE] S O S S S S S S<br />
ERC SRC[4.nn] O S S S S S S S<br />
ERCX SRC[13.nn] S S O S S S S S<br />
SRCX SRC[13.nn] S S O S S S S S<br />
SRCP SRC[24.nn] S S S O S S S S<br />
SRCD SRC[24.nnB] S S S S O S S S<br />
ERCD SRC[33.nn] S S S S S O S S<br />
SR1-X SRC[53.nn] S S S S S S O S<br />
SR1-P SRC[54.nn] S S S S S S S O<br />
[DRC series]<br />
Robot<br />
Controller<br />
Robot<br />
communicate with<br />
Controller DRC DRCH DRCX<br />
Type DRCA DRCH-E<br />
DRC-R<br />
DRC W W W<br />
DRC DRC[5.nn] O S S<br />
DRCA DRC[6.nn] O S S<br />
DRC-R DRC[7.nn] O S S<br />
DRCH DRC[8.nn] S O S<br />
DRCH-E DRC[8.nnE] S O S<br />
DRCX DRC[18.nn] S S O<br />
[TRC2 series]<br />
Robot<br />
Controller<br />
Robot<br />
Controller<br />
Type<br />
TRC2<br />
communicate with<br />
TRCX(2axes)<br />
W<br />
TRCX(2axes) TRC2[19.nn] O<br />
[TRC3 series]<br />
Robot Robot<br />
communicate with<br />
Controller Controller TRCH(3axes) TRCX(3axes)<br />
Type<br />
TRC3 W W<br />
TRCH(3axes) TRC3[9.nn] O S<br />
TRCX(3axes) TRC3[19.nn] S O<br />
[TRC4 series]<br />
Robot<br />
Controller<br />
Robot<br />
Controller<br />
Type<br />
communicate with<br />
TRCH(4axes) TRCX(4axes)<br />
TRC4 W W<br />
TRCH(4axes) TRC4[9.nn] O S<br />
TRCX(4axes) TRC4[19.nn] S O<br />
55
[Note]<br />
O Parameter,program and point data are permitted to load to the robot controller.<br />
W Program and pont data are permitted to load to the robot controller.But warning message is shown when<br />
loading parameter data.<br />
S Program and pont data are permitted to load to the robot controller.But parameter data is protected to<br />
load.<br />
Other combinations: Parameter,program and point data are protected to load to the robot controller.<br />
File Extension<br />
The file extension specifies type of data<br />
Extension Data type<br />
ALL Parameter + Program + Point<br />
PRM Parameter<br />
PGM Program<br />
PNT Point<br />
LOG Alarm history<br />
ERR Error history<br />
System File(*.ALL)<br />
This file handles entire user data.<br />
Parameter File<br />
Point File<br />
Program File<br />
Parameter File(*.PRM)<br />
Parameter Data Format<br />
PRM + number = data + CR + LF<br />
Note<br />
Robot Controller<br />
SRC<br />
SRCA<br />
ERC<br />
Number<br />
0..63<br />
SRCH<br />
0..63<br />
SRCH-E<br />
ERCX<br />
0..63<br />
SRCX<br />
SRCP 0..99<br />
SRCD 0..99<br />
ERCD 0..99<br />
SR1-X<br />
SR1-P<br />
DRC<br />
DRCA<br />
DRC-R<br />
100..499<br />
0..127<br />
DRCH<br />
0..127<br />
DRCH-E<br />
DRCX 0..127<br />
TRCX(2axes) 0..127<br />
TRCH(3axes) 0..167<br />
TRCX(3axes)<br />
TRCH(4axes) 0..207<br />
TRCX(4axes)<br />
1. Each parameter has specified meaning and range.<br />
2. No spaces needed between PRM and number, and also number to '='(equal).<br />
3. If there is more than one parameter in a file with the same number, the last parameter data in the file<br />
will be read.<br />
56
Program File(*.PGM)<br />
Program Name Format<br />
NO + number + CR + LF<br />
Program Data Format<br />
Opecode + [' ' + Option 1] + [',' + Option 2] + [','+ Option 3] + [';' + Comment] + CR + LF<br />
Note<br />
Robot Controller Number Max characters in one line Max steps in one program Max steps in file<br />
SRC<br />
SRCA<br />
ERC<br />
0..31 30 255 1024<br />
SRCH<br />
0..99 80 255 3000<br />
SRCH-E<br />
ERCX<br />
0..99 80 255 3000<br />
SRCX<br />
SRCP 0..99 80 255 3000<br />
SRCD 0..99 80 255 3000<br />
ERCD 0..99 80 255 1024<br />
SR1-X<br />
SR1-P<br />
DRC<br />
DRCA<br />
DRC-R<br />
0..99 80 255 3000<br />
0..31 30 255 3000<br />
DRCH<br />
0..99 80 255 3000<br />
DRCH-E<br />
DRCX 0..99 80 255 3000<br />
TRCX(2axes) 0..99 80 255 3000<br />
TRCH(3axes) 0..99 80 255 3000<br />
TRCX(3axes)<br />
TRCH(4axes) 0..99 80 255 3000<br />
TRCX(4axes)<br />
1. Max characters in one line excludes comment, CR, LF.<br />
2. Max steps in one program excludes program name.<br />
3. Max steps in file include program name.<br />
4. Each opecode has specified number of options and each option has specified meaning and range.<br />
5. At least one ' '(space) is needed between opecode and first option.<br />
6. A ','(comma) is needed to separate options if exists.<br />
7. A ';'(semi-colon) is needed to separate comment if exists.<br />
8. If there are more than one program in a file with the same number, the program data from the last<br />
program in the file will be read.<br />
57
Point File(*.PNT)<br />
Point Data Format<br />
P + number = X Axis + [',' + Y Axis] + [',' + Z Axis] + [',' + R Axis] + CR + LF<br />
Note<br />
Robot Controller Number Format Ranges<br />
SRC<br />
SRCA<br />
ERC<br />
0..254 X -9999.99 .. +9999.99<br />
SRCH<br />
0..999 X -9999.99 .. +9999.99<br />
SRCH-E<br />
ERCX<br />
0..999 X -9999.99 .. +9999.99<br />
SRCX<br />
SRCP 0..999 X -9999.99 .. +9999.99<br />
SRCD 0..999 X -9999.99 .. +9999.99<br />
ERCD 0..999 X -9999.99 .. +9999.99<br />
SR1-X<br />
SR1-P<br />
DRC<br />
DRCA<br />
DRC-R<br />
0..999 X -9999.99 .. +9999.99<br />
0..254 X,Y -9999.99 .. +9999.99<br />
DRCH<br />
0..999 X,Y -9999.99 .. +9999.99<br />
DRCH-E<br />
DRCX 0..999 X,Y -9999.99 .. +9999.99<br />
TRCX(2axes) 0..999 X,Y -9999.99 .. +9999.99<br />
TRCH(3axes) 0..999 X,Y,Z -9999.99 .. +9999.99<br />
TRCX(3axes)<br />
TRCH(4axes) 0..999 X,Y,Z,R -9999.99 .. +9999.99<br />
TRCX(4axes)<br />
1. No spaces needed between P and number, and also number to '='(equal).<br />
2. A ','(comma) is needed to separate data.<br />
3. The maximum digits to the right of the decimal point is 2.<br />
4. Digits to the right of the decimal point can be omitted.<br />
5. If there are more than one point in a file with the same number, the last point data in the file will be read.<br />
58
OPERATION MANUAL<br />
<strong>POPCOM</strong> <strong>Windows</strong><br />
Sep. 2006<br />
Ver. 1.13.0<br />
This manual is based on Ver. 1.13.0 of Japanese manual.<br />
© YAMAHA MOTOR CO., LTD.<br />
IM Operations<br />
Support Soft<br />
All rights reserved. No part of this publication may be reproduced in<br />
any form without the permission of YAMAHA MOTOR CO., LTD.<br />
Information furnished by YAMAHA in this manual is believed to be<br />
reliable. However, no responsibility is assumed for possible<br />
inaccuracies or omissions. If you find any part unclear in this manual,<br />
please contact YAMAHA or YAMAHA sales representatives.