User’s Manual ENGLISH E

YAMAHA ROBOT CONTROLLER SUPPORTING SOFTWARE

E64-P-Ver. 1.13.0

POPCOM

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

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[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

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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.

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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

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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.

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[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

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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.

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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.

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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.

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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.

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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).

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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.

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[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

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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.

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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.

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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.

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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.

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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).

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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.

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[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.

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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.

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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.

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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.

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[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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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[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

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How to use [Online Edit] dialog box 1. Click [Online Edit...] button in [Robot Operate] window. 2. [Online Edit] dialog box is shown.

List of entire data that contains in the robot controller is displayed in the list box. Function buttons are enabled or disabled after selecting list item.

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Modify parameter data 1. Select [Parameter] item and click [Modify...] button or double-click [Parameter] item on [Online Edit] dialog

box can modify parameter data. 2. [Data List] dialog box is shown.

List of entire parameter data is shown in the list box.

3. Click [Modify...] button or double-click to show [Line Edit] dialog box. 4. [Line Edit] dialog box is shown.

Enter a new parameter data. Then click [O] button.

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Add a new program 1. Select [Program] item and click [Insert...] button or double-click [Program] item on [Online Edit] dialog box 2. [Input Program Name] dialog box is shown.

Enter a new program name and click [OK] button.

3. An empty [Data List] dialog box is shown.

4. Check [Function] check box and select list item and click [Insert...] button or double-click bottom list item to

insert a new program step.

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5. [Function] dialog box is shown.

Select opecode in the list box and click [O] button.

6. [Function - Option] dialog box is shown.

Enter options for the opecode and click [OK] button.

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7. A new program step added in [Data List] dialog box.

8. Select list item and click [Modify...] button or double-click bottom list item. 9. [Line Edit] dialog box is shown.

Enter a new program step and click [O] button.

10. Select list item and click [Delete...] button to remove program step.

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Modify program steps 1. Select [NOx] item and click [Modify...] button or double-click [NOx] item on [Online Edit] dialog box. 2. [Data List] dialog box is shown.

List of entire program steps for the program name is shown in the list box.

3. Check [Function] check box and select list item and click [Insert...] button or double-click bottom list item to insert a new program step.

4. [Function] dialog box is shown.

Select opecode in the list box and click [O] button.

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5. [Function - Option] dialog box is shown.

Enter options for the opecode and click [OK] button.

6. A new program step added in [Data List] dialog box. 7. Select list item and click [Modify...] button or double-click bottom list item. 8. [Line Edit] dialog box is shown.

Enter a new program step and click [O] button.

9. Select list item and click [Delete...] button to remove program step.

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Modify point data 1. Select [Point] item and click [Modify...] button or double-click [Point] item on [Online Edit] dialog box. 2. [Data List] dialog box is shown.

List of entire parameter data is shown in the list box.

3. Select list item and click [Modify...] button or double-click bottom list item. 4. [Line Edit] dialog box is shown.

Enter a new point data and click [O] button.

5. Select list item and click [Delete...] button to remove point data.

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6. Click [Point Teach...] button to show [Point Teach] dialog box.

Specify the axis to teach, move axis by [-] or [+] button, and then press [OK] button to teach actual position to point data.

(*) 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 [DIO...] button to monitor and operate the robot I/O. (*) Click [Utility...] button to change the entire servo motor status.

7. Click [Point Trace...] button to show [Point Trace] dialog box.

Specify the axis to trace movement, specify point data and speed, and then click [Go !] button to start trace movement. [Go !] button changes to [Stop !] button during moving to cancel.

(*) 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.

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Modify palette data Palette data can be modified for double or greater axes robot controller. One palette is composed from 4 points and every point means each summit of rectangle. 1. Select [PLTx] item and click [Modify...] button or double-click [PLTx] item on [Online Edit] dialog box. 2. [Data List] dialog box is shown.

List of entire point data for the palette is shown in the list box.

3. Select list item and click [Modify...] button or double-click bottom list item. 4. [Line Edit] dialog box is shown.

Enter a new point data and click [O] button.

5. Select list item and click [Delete...] button to remove point data.

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[6] Modify various data as file on your computer To create and edit program, point or parameter data as a file used with the robot controller on your computer. (Offline Editing)

(*) Create a new file (*) Open a previously created file (*) Modify parameter data (*) Create a new program (*) Modify program steps (*) Modify point data

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Create a new file 1. Click [New...] command in [File] menu. 2. [Select File Type] dialog box is shown.

Select System (*.all) and click [OK] button.

3. [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.

4. [Input Program Name] dialog box is shown.

Click [Cancel] button.

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5. An empty [File Edit] window is shown.

6. Click [Option...] command in [Edit] menu to open [File Option] dialog box.

This dialog box is used to confirm file name, robot controller name and robot controller type, confirm and modify a minor version.

(*) Usable program command and meaning and range of parameter is changed when mainor version is changed.

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Open a previously created file 1. Click [Open...] command in [File] menu. 2. [Open] dialog box is shown.

Select a filename and click [OK] button.

3. [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.

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4. [File Edit] window is shown.

5. Click [Option...] command in [Edit] menu to open [File Option] dialog box.

This dialog box is used to confirm file name, robot controller name and robot controller type, confirm and modify a minor version.

(*) Usable program command and meaning and range of parameter is changed when mainor version is changed.

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Modify parameter data 1. Click [Parameter] item in the left-side pane in [File Edit] window. List of parameter data are shown in the

right-side pane in [File Edit] window.

2. Modify a parameter data for each line according to operation manual for robot controller.

(*) Standard editing commands are prepared in [Edit] menu. (*) Click [Data Check] command in [Edit] menu to check parameter ranges for each parameter.

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Create a new program 1. Click [Program Create...] command in [Edit] menu. 2. [Input Program Name] dialog box is shown.

Enter a new program name and click [OK] button.

3. An empty program step is shown in the right-side pane in [File Edit] window.

Enter a program step for each line.

(*) Click [Function Bar] command in [View] menu to open [Function] dialog box. [Function] dialog box is designed to enter program step easily.

(*) Standard editing commands are prepared in [Edit] menu. (*) Click [Data Check] command in [Edit] menu to check opecode and options for each program step. (*) Click [Program Create...] command in [Edit] menu to add a new program. (*) Click [Program Copy...] command in [Edit] menu to copy list of the program steps to another program. (*) Click [Program Delete...] command in [Edit] menu to delete list of the program steps and delete this

program.

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Modify program steps 1. Click [NOx] item in the left-side pane in [File Edit] window. List of program steps are shown in the right-side

pane in [File Edit] window.

2. Modify a program step for each line.

(*) Click [Function Bar] command in [View] menu to open [Function] dialog box. [Function] dialog box is designed to enter program step easily.

(*) Standard editing commands are prepared in [Edit] menu. (*) Click [Data Check] command in [Edit] menu to check opecode and options for each program step. (*) Click [Program Create...] command in [Edit] menu to add a new program. (*) Click [Program Copy...] command in [Edit] menu to copy list of the program steps to another program. (*) Click [Program Delete...] command in [Edit] menu to delete list of the program steps and delete this

program.

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Modify point data 1. Click [Point] item in the left-side pane in [File Edit] window. List of point data are shown in the right-side pane

in [File Edit] window.

2. Modify a point data for each line.

(*) Standard editing commands are prepared in [Edit] menu. (*) Click [Data Check] command in [Edit] menu to check point ranges and format for each point.

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[7] Data Files Details To change the data in a file directly, please refer to the robot controller's manual, and make sure you understand the contents thoroughly before entering the changes.

Items Common to All Files

The first line of the file specifies the robot controller type. [SRC series]

communicate with Robot Controller

Robot Controller Type

SRC SRCA ERC

SRCH SRCH-E

ERCX SRCX

SRCP SRCD ERCD SR1-X SR1-P

SRC W W W W W W W W SRC SRC[1.nn] O S S S S S S S SRCA SRC[2.nn] O S S S S S S S SRCH SRC[3.nn] S O S S S S S S SRCH-E SRC[3.nnE] S O S S S S S S ERC SRC[4.nn] O S S S S S S S ERCX SRC[13.nn] S S O S S S S S SRCX SRC[13.nn] S S O S S S S S SRCP SRC[24.nn] S S S O S S S S SRCD SRC[24.nnB] S S S S O S S S ERCD SRC[33.nn] S S S S S O S S SR1-X SRC[53.nn] S S S S S S O S SR1-P SRC[54.nn] S S S S S S S O

[DRC series] communicate with Robot

Controller Robot Controller Type

DRC DRCA DRC-R

DRCH DRCH-E

DRCX

DRC W W W DRC DRC[5.nn] O S S DRCA DRC[6.nn] O S S DRC-R DRC[7.nn] O S S DRCH DRC[8.nn] S O S DRCH-E DRC[8.nnE] S O S DRCX DRC[18.nn] S S O

[TRC2 series] communicate with Robot

Controller Robot Controller Type

TRCX(2axes)

TRC2 W TRCX(2axes) TRC2[19.nn] O

[TRC3 series] communicate with Robot

Controller Robot Controller Type

TRCH(3axes) TRCX(3axes)

TRC3 W W TRCH(3axes) TRC3[9.nn] O S TRCX(3axes) TRC3[19.nn] S O

[TRC4 series] communicate with Robot

Controller Robot Controller Type

TRCH(4axes) TRCX(4axes)

TRC4 W W TRCH(4axes) TRC4[9.nn] O S TRCX(4axes) TRC4[19.nn] S O

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[Note] O Parameter,program and point data are permitted to load to the robot controller. W Program and pont data are permitted to load to the robot controller.But warning message is shown when

loading parameter data. S Program and pont data are permitted to load to the robot controller.But parameter data is protected to

load. Other combinations: Parameter,program and point data are protected to load to the robot controller.

File Extension

The file extension specifies type of data Extension Data type ALL Parameter + Program + PointPRM Parameter PGM Program PNT Point LOG Alarm history ERR Error history

System File(*.ALL)

This file handles entire user data. Parameter File Point File Program File

Parameter File(*.PRM)

Parameter Data Format PRM + number = data + CR + LF

Note Robot Controller Number SRC SRCA ERC

0..63

SRCH SRCH-E

0..63

ERCX SRCX

0..63

SRCP 0..99 SRCD 0..99 ERCD 0..99 SR1-X SR1-P

100..499

DRC DRCA DRC-R

0..127

DRCH DRCH-E

0..127

DRCX 0..127 TRCX(2axes) 0..127 TRCH(3axes) TRCX(3axes)

0..167

TRCH(4axes) TRCX(4axes)

0..207

1. Each parameter has specified meaning and range. 2. No spaces needed between PRM and number, and also number to '='(equal). 3. If there is more than one parameter in a file with the same number, the last parameter data in the file

will be read.

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Program File(*.PGM) Program Name Format

NO + number + CR + LF Program Data Format

Opecode + [' ' + Option 1] + [',' + Option 2] + [','+ Option 3] + [';' + Comment] + CR + LF Note

Robot Controller Number Max characters in one line Max steps in one program Max steps in fileSRC SRCA ERC

0..31 30 255 1024

SRCH SRCH-E

0..99 80 255 3000

ERCX SRCX

0..99 80 255 3000

SRCP 0..99 80 255 3000 SRCD 0..99 80 255 3000 ERCD 0..99 80 255 1024 SR1-X SR1-P

0..99 80 255 3000

DRC DRCA DRC-R

0..31 30 255 3000

DRCH DRCH-E

0..99 80 255 3000

DRCX 0..99 80 255 3000 TRCX(2axes) 0..99 80 255 3000 TRCH(3axes) TRCX(3axes)

0..99 80 255 3000

TRCH(4axes) TRCX(4axes)

0..99 80 255 3000

1. Max characters in one line excludes comment, CR, LF. 2. Max steps in one program excludes program name. 3. Max steps in file include program name. 4. Each opecode has specified number of options and each option has specified meaning and range. 5. At least one ' '(space) is needed between opecode and first option. 6. A ','(comma) is needed to separate options if exists. 7. A ';'(semi-colon) is needed to separate comment if exists. 8. If there are more than one program in a file with the same number, the program data from the last

program in the file will be read.

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Point File(*.PNT) Point Data Format

P + number = X Axis + [',' + Y Axis] + [',' + Z Axis] + [',' + R Axis] + CR + LF Note

Robot Controller Number Format Ranges SRC SRCA ERC

0..254 X -9999.99 .. +9999.99

SRCH SRCH-E

0..999 X -9999.99 .. +9999.99

ERCX SRCX

0..999 X -9999.99 .. +9999.99

SRCP 0..999 X -9999.99 .. +9999.99SRCD 0..999 X -9999.99 .. +9999.99ERCD 0..999 X -9999.99 .. +9999.99SR1-X SR1-P

0..999 X -9999.99 .. +9999.99

DRC DRCA DRC-R

0..254 X,Y -9999.99 .. +9999.99

DRCH DRCH-E

0..999 X,Y -9999.99 .. +9999.99

DRCX 0..999 X,Y -9999.99 .. +9999.99TRCX(2axes) 0..999 X,Y -9999.99 .. +9999.99TRCH(3axes) TRCX(3axes)

0..999 X,Y,Z -9999.99 .. +9999.99

TRCH(4axes) TRCX(4axes)

0..999 X,Y,Z,R -9999.99 .. +9999.99

1. No spaces needed between P and number, and also number to '='(equal). 2. A ','(comma) is needed to separate data. 3. The maximum digits to the right of the decimal point is 2. 4. Digits to the right of the decimal point can be omitted. 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.

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Sep. 2006 Ver. 1.13.0 This manual is based on Ver. 1.13.0 of Japanese manual.

© YAMAHA MOTOR CO., LTD. IM Operations

All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If you find any part unclear in this manual, please contact YAMAHA or YAMAHA sales representatives.

OPERATION MANUAL

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