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雅马哈使用手册.pdf

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雅马哈 使用手册
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User’s Manual ENGLISH E YAMAHA ROBOT CONTROLLER SUPPORTING SOFTWARE E64-P-Ver. 1.13.0 101$0. Contents: [1] Installation Guide [2] Backup current data from robot controller [3] Restore previously saved data to robot controller [4] Operate robot controller and robots directly [5] Modify robot controller data directly [6] Modify various data as file on your computer [7] Data Files Details This document contains operation guide and supplementary information of POPCOM Windows. Be sure to read this document before using this software. Microsoft, Windows and Windows NT are trademarks of Microsoft Corporation. All other company and product names mentioned are trademarks or registered trademarks of their respective owners. Sep.22 2006 v1.13.0 1 [1] Installation Guide Precautions (*) As a rule, separate software sets should be purchased for each computer. (*) This software, help and manual may not be used or reproduced in part or in their entirety without permission. (*) Responsibility is not accepted for any situations that may occur as a result of using this software, help or manual. (*) The specifications of this software, and information contained in manual and help, may be updated without notice. (*) The contents of this product are considered to be fully adequate and satisfactory. Should the user have any questions or concerns, however, about this software or information contained in help and manual, please contact your agent. (*) Prepare to enter emergency stop input for safe when moves any axis by using automatic operation, step operation, manual movement and trace operation. About POPCOM Windows This application is assistant software for single to quadruple axes robot controller and robots. This application can be used in the following ways: (*) Backup current data from robot controller. (*) Restore previously saved data to robot controller. (*) Operate robot controller and robots directly. (*) Modify robot controller data directly. (*) Modify various data as file on your computer. [A type of robot controller] Single Axis: SRC, SRCA, ERC, SRCH, SRCH-E, ERCX, SRCX, SRCP, SRCD, ERCD SR1-X, SR1-P Double Axes: DRC, DRCA, DRC-R, DRCH, DRCH-E, DRCX Double to Quadruple Axes: TRCH, TRCX 2 Package contents [Setup disk] CD-ROM [Serial communication cable (Option)] 9 pins – 25 pins (for IBM-PC/AT or compatibles) P/N: KR7-M538F-100 (for POPCOM/VIP/CUP) P/N: KD4-M538F-010 (for POPCOM) Memo 1. There is an emergency stop signal input between pin nos. 18 and 21 on the robot controller side. Under normal circumstances this contact is closed (it is a B-type contact). When you want to be able to use an emergency stop signal, connect a switch retard for 50 mA or greater. If this circuit is open, an emergency stop is performed. Input response: 5 msec or less Input current: 33.3 mA/DC 24V 2. ERCD, SR1-X and SR1-P robot controller needs special 9 pins (Plug) - 25 pins (Socket) straight serial conversion adapter (P/N: KAX-M657E-010) to communicate with your computer. 3 4 Required system environment [Personal computer] PC with an 80386-processor minimum 32MB of RAM minimum 2MB of available hard-disk space minimum CD-ROM drive x4 speed or more Serial communication port (*) USB-Serial adapter that can through any control code and manage XON/XOFF flow control can be used. [Operation software] Microsoft Windows 95, NT 4.0 or later operating system [Robot controller and robot] SRC/DRC/ERC/TRC/SR1 series (*) To operate robot from your computer, it is necessary to connect robots to robot controller and complete to setup robot controller for the robots. Install and Un-install Installing to hard disk on your computer is necessary for operating POPCOM Windows. If previous version of POPCOM Windows was installed on your computer, please remove it before installing. [Install] 1. Insert disk into the CD-ROM drive. The setup program should start automatically. If the setup program does not start, double-click install.exe from the directory window for your CD-ROM drive. 2. Follow the instructions on your screen. [Un-install] 1. Click [Uninstall] item in [POPCOM Windows] under [Programs] on [Start] menu. 2. Follow the instructions on your screen. 3. Delete configuration settings file POPCOM.INI file in the Windows folder using Windows Explorer. [Un-install by manual] 1. Delete folder (POPCOM) where POPCOM Windows was installed by using Windows Explorer. 2. Delete configuration settings file POPCOM.INI file in the Windows folder by using Windows Explorer. 3. Click [Taskbar and Start Menu] under [Settings] on [Start] menu. 4. Click [Advanced] tab in [Taskbar and Start Menu Properties] dialog box, then click [Advanced.] button in [Start menu] group. 5. Expand [Programs] and delete [POPCOM Windows] folder. Directory structure When setup was completed, files are installed in the specified directory (folder). POPCOM.EXE POPLANG.DLL POPCOM.HLP README.TXT UPDATE.TXT 5 Start and Exit [Start] 1. Click [Popcom] item in [POPCOM Windows] under [Programs] on [Start] menu. 2. [Select] dialog box of POPCOM Windows is shown. 3. Click [Cancel] button to open an empty [Main] window. [Exit] 1. Click [Exit] command in [File] menu to quit the application. Or, double click system menu box in [Main] window. 2. When unsaved data exists in [File Editor] window, a message box that suggest saving data to file is shown. 3. When [Robot Operate] window is opened with automatic operation, a message box that suggest to stop running is shown. 6 [2] Backup current data from robot controller There are two methods to backup robot controller data listed below. (*) Use System - Save command in [Robot Operate] window (*) Use [Download] command in empty [File Editor] window 7 Use System - Save command in [Robot Operate] window 1. Stop running in robot controller and connect serial port on your computer with DPB/TPB connector on robot controller by using serial communication cable. Then, Click [Connect Robot Controller.] command in [File] menu. 2. [Select Serial Port] dialog box is shown. Select serial port where serial communication cable was connected and enter DPBVER. Then click [OK] button. 112 or later SRC, SRCA, ERC, DRC, DRCA, DRC-R 201 or later SRCH, DRCH, TRCH 201E or later SRCH-E, DRCH-E 212 or later SRCX, ERCX. DRCX, TRCX 250 or later SRCP, SRCD 260 or later ERCD 300 or lator SR1-X, SR1-P 3. [Robot Operate] window is shown. Click [System.] button. 8 4. [System] dialog box is shown. Click [Save.] button. 5. A message box is shown. Click [OK] button. 6. [Save As] dialog box is shown. Enter a new filename and click [OK] button. 7. [Communicating.] dialog box is shown while saving data specified by file extension and write them to the specified file. Return to [System] dialog box if completed. Normally, click [Close] button to return to [Robot Operate] window, and click [Close] command in [File] menu to close [Robot Operate] window. 9 Use [Download] command in empty [File Editor] window 1. Stop running in robot controller and connect serial port on your computer with DPB/TPB connector on robot controller by using serial communication cable. Then, Click [Connect Robot Controller.] command in [File] menu. 2. [Select Serial Port] dialog box is shown. Select serial port where serial communication cable was connected and enter DPBVER. Then click [OK] button. 112 or later SRC, SRCA, ERC, DRC, DRCA, DRC-R 201 or later SRCH, DRCH, TRCH 201E or later SRCH-E, DRCH-E 212 or later SRCX, ERCX. DRCX, TRCX 250 or later SRCP, SRCD 260 or later ERCD 300 or lator SR1-X, SR1-P 3. [Robot Operate] window is shown. Click [New.] command in [File] menu. 10 4. [Select File Type] dialog box is shown. Select System (*.all) and click [OK] button. 5. [Select Robot Controller Type] dialog box is shown. Select type of robot controller and click [OK] button. (*) Type of robot controller and minor version limits usable program command and changes meaning and range of parameter. 6. [Input Program Name] dialog box is shown. Click [Cancel] button. 11 7. An empty [File Edit] window is shown. Click [Download.] in [Edit] menu. (*) If no [Robot Operate] window is available, [Download.] command is disabled (grayed). In this case please connect robot controller again and change [File Edit] window to active. 8. [Select Serial Port - Download] dialog box is shown. A list of connected robot controllers is shown. Select robot controller to backup data and click [OK] button. (*) This list box shows only matched robot controller for [File Edit] window. If an empty list is shown, robot controller type between [File Edit] window and [Robot Operate] window are different. In this case please create new file again with same robot controller type as connected robot controller. 9. [Select Data - Download] dialog box is shown. A list of data contained in the specified robot controller is shown. Select data to backup to [File Edit] window and click [OK] button. (*) Select program item to select entire programs. (*) Type of robot controller and minor version specified in creating or opening limits data (parameter). 12 10. [Communicating.] dialog box is shown while saving data specified by file extension. Received data to [File Editor] window from robot controller are appended or over-written if existed. Return to [File Editor] dialog box if completed. Normally, click [Save As.] command in [File] menu. 11. [Save As] dialog box is shown. Enter a new filename and click [OK] button. Entire data in [File Edit] window is saved as a file and a caption of [File Edit] window is changed to specified filename. 12. Click [Close] command in [File] menu to close [File Editor] window. Then returns to [Robot Operate] window. Normally, click [Close] command in [File] menu to close [Robot Operate] window. 13 [3] Restore previously saved data to robot controller There are two methods to restore robot controller data listed below. (*) Use System - Load command in [Robot Operate] window (*) Use [Upload] command in [File Editor] window 14 Use System - Load command in [Robot Operate] window 1. Stop running in robot controller and connect serial port on your computer with DPB/TPB connector on robot controller by using serial communication cable. Then, Click [Connect Robot Controller.] command in [File] menu. 2. [Select Serial Port] dialog box is shown. Select serial port where serial communication cable was connected and enter DPBVER. Then click [OK] button. 112 or later SRC, SRCA, ERC, DRC, DRCA, DRC-R 201 or later SRCH, DRCH, TRCH 201E or later SRCH-E, DRCH-E 212 or later SRCX, ERCX. DRCX, TRCX 250 or later SRCP, SRCD 260 or later ERCD 300 or lator SR1-X, SR1-P 3. [Robot Operate] window is shown. Click [System.] button. 15 4. [System] dialog box is shown. Click [Load.] button. 5. A message box is shown. Click [OK] button. 6. [Open] dialog box is shown. Select a filename and click [OK] button. 7. [Communicating.] dialog box is shown while restoring data to robot controller from previously saved file in your computer. Transmitted data to robot controller are appended or over-written if existed. Return to [System] dialog box if completed. Normally, click [Close] button to return to [Robot Operate] window, and click [Close] command in [File] menu to close [Robot Operate] window. 16 Use [Upload] command in [File Editor] window 1. Stop running in robot controller and connect serial port on your computer with DPB/TPB connector on robot controller by using serial communication cable. Then, Click [Connect Robot Controller.] command in [File] menu. 2. [Select Serial Port] dialog box is shown. Select serial port where serial communication cable was connected and enter DPBVER. Then click [OK] button. 112 or later SRC, SRCA, ERC, DRC, DRCA, DRC-R 201 or later SRCH, DRCH, TRCH 201E or later SRCH-E, DRCH-E 212 or later SRCX, ERCX. DRCX, TRCX 250 or later SRCP, SRCD 260 or later ERCD 300 or lator SR1-X, SR1-P 3. [Robot Operate] window is shown. Click [Open.] command in [File] menu. 17 4. [Open] dialog box is shown. Select a filename and click [OK] button. 5. [Select Robot Controller Type] dialog box is shown. Select type of robot controller and click [OK] button. (*) Type of robot controller and minor version limits usable program command and changes meaning and range of parameter. 18 6. [File Edit] window is shown. Click [Upload.] in [Edit] menu. (*) If no [Robot Operate] window is available, [Upload.] command is disabled (grayed). In this case please connect robot controller again and change [File Edit] window to active. 7. [Select Serial Port - Upload] dialog box is shown. A list of connected robot controllers is shown. Select robot controller to restore data and click [OK] button. (*) This list box shows only matched robot controller for [File Edit] window. If an empty list is shown, robot controller type between [File Edit] window and [Robot Operate] window are different. In this case please open file again with same robot controller type as connected robot controller. 8. [Select Data - Upload] dialog box is shown. A list of data contained in [File Edit] window is shown. Select data to restore to the specified robot controller and click [OK] button. (*) Select program item to select entire programs. (*) Type of robot controller and minor version specified in creating or opening limits data (parameter). 19 9. [Communicating.] dialog box is shown while restoring data to robot controller from previously saved data in [File Editor] window. Transmitted data to robot controller are appended or over-written if existed. Return to [File Editor] window if completed. Click [Close] command in [File] menu to close [File Editor] window. Then returns to [Robot Operate] window. Normally, click [Close] command in [File] menu to close [Robot Operate] window. 20 [4] Operate robot controller and robots directly To operate or observe status of robots connected to robot controller can be used. Prepare to enter an emergency stop input when executing automatic operation, step operation, manual movement and trace operation. (*) Connect a robot controller (*) Return to the origin position (*) Move various axes manually (*) Monitor robot controller and swicth servo on/off (*) Start automatic operation (*) Initialize robot controller data (*) Browse a list of alarms and errors in robot controller. 21 Connect a robot controller [Robot Operate] window is needed to operate or observe status of robots connected to robot controller. 1. Stop running in robot controller and connect serial port on your computer with DPB/TPB connector on robot controller by using serial communication cable. Then, Click [Connect Robot Controller.] command in [File] menu. 2. [Select Serial Port] dialog box is shown. Select serial port where serial communication cable was connected and enter DPBVER. Then click [OK] button. 112 or later SRC, SRCA, ERC, DRC, DRCA, DRC-R 201 or later SRCH, DRCH, TRCH 201E or later SRCH-E, DRCH-E 212 or later SRCX, ERCX. DRCX, TRCX 250 or later SRCP, SRCD 260 or later ERCD 300 or lator SR1-X, SR1-P 3. [Robot Operate] window is shown. 22 Return to the origin position X-series robot controller (SRCX/DRCX/ERCX/TRCX/SR1-X) is attached an absolute type encoder of motor. An absolute type does not need to return to origin at every power turning on. When robot connecting cable or absolute backup battery was removed, please execute to return to origin before robot moving. Non X-series robot controller is attached an incremental type encoder of motor. An incremental type needs to return to origin at every power turning on before robot moving. There are 3 methods to return to origin: sensor, torque and mark. Method is fixed for the robot. In the case of sensor or torque method, each axis is started to returning the origin position automatically. In the case of mark method, follow the instructions on your screen to return to the origin position. [In the case of mark method for X series robot controller (SRCX/DRCX/ERCX/TRCX/SR1-X)] 1. Click [Origin.] button in [Robot Operate] window. 2. [Origin] dialog box is shown. A current origin status is shown. For double and more axis robot controller, click one of [X axis] to [Z axis] radio button to start returning to origin because mark method axis cannot return to origin when [All axes] was selected. 3. Clicking [Go !] button in [Origin] dialog box shows [Origin (Mark)] dialog box. Specify type of teaching in the radio button and click [OK] button. (*) Direct teaching needs you to move axis manually to the origin position by your hand under emergency stop status. (*) Teaching playback need you to move axis manually to the origin position by using remote jog operation. 23 3a. In the case of direct teaching, [Origin (Mark - Direct teaching)] dialog box is shown. Move this axis to the mark (=origin) position that reference is from 25 to 75(%) by your hand. Then enter position and click [OK] button. (*) Keep safe before brake off because vertical type of axis falls movable part down. (*) No brake effect occurs if no brake attach on the motor. A message box is shown due to canceling emergency stop status. Set emergency stop from parallel I/O and click [OK] button. 3b. In the case of teaching playback, [Origin (Mark - Teaching playback)] dialog box is shown. Move this axis to the mark (=origin) position that reference is from 25 to 75(%) by using [-] or [+] button. Then enter position and click [OK] button. 4. After returning to the origin for the entire axis, an origin status is updated and machine references are shown. Click [Close] button to return to [Robot Operate] window. 24 [In the case of sensor or torque method] 1. Click [Origin.] button in [Robot Operate] window. 2. [Origin] dialog box is shown. 3. Clicking [Go !] button in [Origin] dialog box shows a message box. Keep safe for the robot movable area and click [OK] button to start returning to the origin position. 4. To pause moving, please click [Stop !] button. To stop robot immediately, please open parallel I/O emergency signal circuit. 5. After returning to the origin, an origin status is updated and machine references are shown. Click [Close] button to return to [Robot Operate] window. 25 Move various axes manually 1. Click [Manual.] button in [Robot Operate] window. 2. [Manual] dialog box is shown. Current robot positions and manual speed are shown. (*) Click [-] or [+] button for each axis to move inching distance. (*) Hold down [-] or [+] button for each axis to move smoothly. When the jog button is released, the axis stops immediately. (*) Click [.] button right-side of [Speed:] to enter a new speed. (*) Click [Point Trace.] button to move to a point data position. (*) Click [Position Trace.] button to move to a specified position. (*) Click [DIO.] button to monitor and operate the robot I/O. (*) Click [Utility.] button to change the entire servo motor status. (*) Click [Update] button to update actual robot position. 3. Click [Point Trace.] button shows [Point Trace] dialog box. Specify axis, point number and speed, then click [Go !] button. (*) Click [.] button right-side of [Point No] to change point number to be moved. (*) An edit box for each axis shows point data for the specified point number. (*) Click check box for each axis to select moving axis while executing trace movement. (*) Click [.] button right-side of [Speed:] to enter a new speed. (*) An edit box right-side of [POS:] button shows actual robot position. Click [POS:] button to update actual robot position. (*) Click [Go !] button to start trace movement. (*) [Go !] button changes to [Stop !] button during moving to cancel. 26 4. Click [Position Trace.] button shows [Position Trace] dialog box. Specify axis, position and speed, then click [Go !] button. (*) Click check box for each axis to select moving axis while executing trace movement. (*) Enter edit box a new position for each axis where robot moves to. (*) Click [.] button right-side of [Speed:] to enter a new speed. (*) An edit box right-side of [POS:] button shows actual robot position. Click [POS:] button to update actual robot position. (*) Click [Go !] button to start trace movement. (*) [Go !] button changes to [Stop !] button during moving to cancel. 27 Monitor robot controller and swicth servo on/off 1. Click [DIO.] button in [Robot Operate] window shows [DIO] dialog box. Current robot signal status is shown. (No real-time updates) (*) Each signal box shows robot I/O name automatically when mouse moves on box. A signal box that background colored gray shows current status. A signal box that background colored white shows current status and toggle status. (*) Click [Update] button to reload robot I/O status. 28 2. Click [Watch.] button in [Robot Operate] window shows [Watch] dialog box. Please browse registered variables when automatic operation is paused or step operation is completed. (*) Click [Update] button to reload a list of registered variables. (*) Click [Modify.] button to change value of highlighted item of variable. (*) Click [Insert.] button to insert new variable in the list box. (*) Click [Remove] button to remove highlighted item of variable in the list box. 3. Click [Utility.] button in [Robot Operate] window shows [Utility] dialog box. Current servo, brake memory and language status are shown. (*) Click radio buttons right-side of [Servo:] can operate servo on/off for entire axes. (*) Click radio buttons right-side of [Brake:] can operate brake on/off for entire axes in the servo off status. Keep safe before brake off because vertical type of axis falls movable part down. (*) No brake effect occurs if no brake attach on the motor. 29 Start automatic operation 1. Check [Show Exe.Program] check box to show currently execution program list. Current execution program steps and yellow colored current step for robot controller are shown in right side of window. (*) Click [.] button right-side of [Exe.Program:] to change execution program. When program was changed, whole outputs and variables will be cleared. (*) Click [.] button right-side of [Exe.Task] to change task. (*) Click [.] button right-side of [Exe.Speed:] to enter a new speed. (*) Click [Start.] button to start automatic operation. (*) Click [Step] button to execute current step. (*) Click [Reset.] button to reset operation. When program reset was executed, whole outputs and variables will be cleared and program step will be return to the top step of first executed program. (*) [Stop] button is enabled while running. 30 Initialize robot controller data Initialize parameter, program and/or point data contained in the robot controller. Specify actual robot type when parameter was initialized. 1. Click [System.] button in [Robot Operate] window. 2. [System] dialog box is shown. Click [Initialize.] button. 3 [Initialize] dialog box is shown. Check the box for each data to be initialized. 4 If parameter was checked, [Set Robot Layout] dialog box is shown. Click [Generate.] button to confirm and specify new robot settings for the actual robot. 31 5 [Generation] dialog box is shown. Enter a new robot number and auxiliary stroke. 6. Please confirm that SRCP, SRCD and ERCD robot controller automatically turn servo off when new generation was specified. Click [OK] button. 32 Browse a list of alarms and errors in robot controller Browse a list of alarms and errors occurred in robot controller. This function may keep hint for troubleshooting. 1. Click [System.] button in [Robot Operate] window. 2. [System] dialog box is shown. (*) Click [Alarm History.] button to browse a list of alarms. (*) Click [Error History.] button to browse a list of errors. (*) Click [Alarm Reset.] button to reset alarm. 3. Click [Alarm History.] button shows [Alarm History] dialog box. A list of alarms occurred in robot controller is shown. (*) Click [Update] button to reload a list of alarms. (*) Click [Save.] button to save history as a file. 33 4. Click [Error History.] button shows [Error History] dialog box. A list of errors occurred in robot controller is shown. (*) Click [Update] button to reload a list of errors. (*) Click [Save.] button to save history as a file. 5a. For SR1 series robot controller (SR1-X/SR1-P), please click [Alarm Reset] button to reset alarm before moving axis. Click [OK] button. 5b. For non SR1 serties robot controller, please click [Alarm Reset] button to reset alarm berore operating robot controller. Follow the instructions on your screen to reboot robot controller. 34 [5] Modify robot controller data directly To create and edit parameter, program and point data directory used with the robot controller. (Online Editing) Palette data can be modified for double or greater axes robot controller (*) How to use [Online Edit] dialog box (*) Modify parameter data (*) Add a new program (*) Modify program steps (*) Modify point data (*) Modify palette data 35 How to use [Online Edit] dialog box
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