Yamaha SRCD User manual

User’s Manual ENGLISH E
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html
YAMAHA MOTOR CO., LTD.
YAMAHA NETWORK BOARD
SRCD/SRCP
ERCX/SRCX/DRCX
PROFIBUS
E88-Ver. 2.01

INTRODUCTION
Thank you for purchasing the PROFIBUS unit for the YAMAHA single-axis/dual-axis
robot controllers SRCP/SRCD/ERCX/SRCX/DRCX series.
This is an optional unit to allow connecting YAMAHA single-axis/dual-axis robot
controllers SRCP/SRCD/ERCX/SRCX/DRCX series (hereafter called "controller") to
the PROFIBUS widely used as a fieldbus.
This manual describes typical examples for taking safety measures, installing wiring,
making machine settings and operating the machine to ensure that the PROFIBUS unit is
used safely and effectively. After reading this manual keep it in a safe, easily accessible
location, so it can be referred to whenever needed. When moving this unit, always make
sure this manual accompanies it, and make sure that the person who will actually use this
PROFIBUS unit reads this manual thoroughly.
This manual only contains information involving the PROFIBUS unit. Please refer to the
controller user’s manual for information about basic controller operation and
programming, etc.
The HPB screen displays in this manual are for the DRCX series controllers (hereafter
called "dual-axis controller") and so may differ somewhat from the HPB screen display
for the SRCP/SRCD/ERCX/SRCX series controllers (hereafter called "single-axis
controller"). Please note that this will cause no problem with the functions of the controller
or PROFIBUS unit.
!
CAUTION
•The contents of this manual may be changed in advance without prior notice.
•Every effort was made to ensure the contents of this manual are complete, how-
ever please contact us if errors, ambiguities or possible trouble points are found.
•This manual does not constitute a warranty of industrial rights or other rights
nor a concession of utility rights. Further, no responsibility whatsoever is ac-
cepted for problems arising from use of the information contents listed in this
manual.

MEMO

Contents
Cautions To Ensure Safety ............................................................1
1-1 Basic safety points ............................................................................. 2
1-2 System design safety points .............................................................. 2
1-3 Installation and wiring safety points ................................................... 3
1-4 Start-up and maintenance safety points............................................. 4
1-5 Precautions when disposing of the unit.............................................. 4
1-6 Warranty ............................................................................................. 4
PROFIBUS Unit...............................................................................5
2-1 PROFIBUS unit features .................................................................... 6
2-2 PROFIBUS system concept ............................................................... 7
2-3 BROFIBUS cable connections ........................................................... 8
2-4 Parallel I/O connector......................................................................... 9
2-5 Controller (slave station) system setting .......................................... 11
2-5-1 Validating the PROFIBUS unit ..................................................... 11
2-5-2 Setting the station address........................................................... 12
2-5-3 Checking the communication speed ............................................ 13
2-6 Sequencer (master station) settings ................................................ 14
2-6-1 Exchanging data with the controller ............................................. 14
2-7 I/O information .................................................................................. 15
2-7-1 Profile (I/O signal table)................................................................ 15
2-7-2 Dedicated command inputs.......................................................... 17
2-7-3 General-purpose inputs (SI200 - SI231) ...................................... 21
2-7-4 Interlock (LOCK) .......................................................................... 22
2-7-5 Emergency stop input (EMG) ....................................................... 22
2-7-6 Service mode (SVCE) .................................................................. 23
2-7-7 Dedicated outputs ........................................................................ 24
2-7-8 General-purpose outputs (SO200 - SO231) ................................ 25
2-8 Timing chart...................................................................................... 26
2-8-1 Right after controller power turns on ............................................ 26
2-8-2 Dedicated input command execution ........................................... 27
2-8-3 When interlock signal is input....................................................... 31
2-8-4 When emergency stop signal is input .......................................... 32
2-8-5 When an alarm is issued .............................................................. 33
2-8-6 When point movement commands are run .................................. 34
2-9 I/O assignment change function....................................................... 35
2-9-1 Changing the I/O assignment....................................................... 35
2-9-2 I/O assignment list........................................................................ 36
2-9-3 I/O assignment selection parameter description .......................... 38
2-9-4 I/O signal descripion..................................................................... 40
2-9-5 Timing chart ................................................................................. 45
2-10 Robot language ................................................................................ 55
2-10-1 MOVF ........................................................................................... 55

2-10-2 JMPF ............................................................................................ 56
2-10-3 JMPB............................................................................................ 57
2-10-4 DO ................................................................................................ 57
2-10-5 WAIT ............................................................................................ 58
2-11 Emulated Serialization on parallel DIO ............................................ 59
2-12 Remote command ............................................................................ 61
2-12-1 Remote command specifications ................................................. 61
2-12-2 Remote command & status value list ........................................... 62
2-12-3 Remote command details (robot operation) ................................. 66
2-12-4 Remote command details (data handling) ................................. 100
2-12-5 Remote command details (utilities) ............................................ 123
2-12-6 Remote command details (Special commands)......................... 127
2-12-7 Status details.............................................................................. 128
2-12-8 Current position indication mode................................................ 129
2-12-9 Sending/receiving example ........................................................ 130
2-13 Other operations ............................................................................ 131
2-13-1 Serial I/O display ........................................................................ 131
2-13-2 Manual control of general-purpose output ................................. 134
2-14 Error Message ................................................................................ 135
2-15 Troubleshooting.............................................................................. 136
2-16 Specifications ................................................................................. 138
2-17 Supplement .................................................................................... 139
2-17-1 GSD files .................................................................................... 139

CHAPTER
1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890
1
1
Cautions To Ensure Safety

2
CHAPTER1 Cautions To Ensure Safety
1-1 Basic safety points
Besides reading this instruction manual and the controller user’s manual, also be sure to
handle the equipment correctly while paying sufficient attention to safety.
Points regarding safety in this instruction manual only list items involving this product.
Please refer to the controller instruction manual for information regarding safety when
using this unit with the controller.
It is not possible to detail all safety items within the limited space of this manual. So it is
essential that the user have a full knowledge of basic safety rules and also that the opera-
tor makes correct judgments on safety procedures during operation.
Industrial robots are highly programmable, mechanical devices that provide a large de-
gree of freedom when performing various manipulative tasks. Failure to take necessary
safety measures or mishandling due to not following the instruction in this manual may
result in trouble or damage to the robot and injury to personnel (robot operator or service
personnel) including fatal accidents.
Important caution points in this manual are from hereon indicated by the term:
!
CAUTION
1-2 System design safety points
!
CAUTION
When communication errors occur in the PROFIBUS system, check the status of
the network system and the controller beforehand by referring to the PROFIBUS
instruction manual and this instruction manual. Also use this communication sta-
tus information to contrive circuits and interlocks in the sequence program so that
the system including the controller will operate safely.
!
CAUTION
Emergency stop signals may sometimes interrupt register operation in the
PROFIBUS unit, however this is merely a software control process and is in no
way a problem. Therefore, we strongly advise contriving a hardware interlock
circuit connected to the emergency stop pin contacts in the parallel I/O of the
controller.
!
CAUTION
Do not bundle control lines or communication cables together or in close contact
with main circuit or motor/actuator lines. As a general rule, maintain a gap of at
least 100mm. Noise in signal lines may cause faulty operation.

3
CHAPTER1 Cautions To Ensure Safety
1-3 Installation and wiring safety points
!
CAUTION
Always cut off all power to the controller and the overall system before attempting
installation or wiring jobs. This will prevent possible electrical shocks.
After the controller has been on for a while, some points in the controller may be
extremely hot or remain at high voltages. After cutting off the power when install-
ing or removing the unit, wait at least 5 minutes before starting work.
!
CAUTION
Always uses the system specifications as listed in the controller instruction manual
during installation or wiring work on the controller. Attempting to use other than
these system specifications might cause electrical shocks, fire, faulty operation,
product damage or deteriorated performance.
!
CAUTION
Securely install the connectors into the unit, and when wiring the connectors, make
the crimp, contact or solder connections correctly, using the tool specified by the
manufacturer. Poor connections will cause faulty operation.
!
CAUTION
When installing the unit, be careful not to directly touch any electronic compo-
nents (except DIP switches) or parts conducting electrical current.
!
CAUTION
Make sure that foreign matter such as wiring debris or dust does not penetrate
into the controller.
!
CAUTION
Always store network cable inside cable ducts or clamp them securely in place.
Otherwise, excessive play or movement, or mistakenly pulling on the cable may
damage the unit or cables, or poor cable contact may lead to faulty operation.
!
CAUTION
When detaching the cable, remove by holding the connector itself and not by tug-
ging on the cable. Otherwise, removing by pulling on the cable itself may damage
the unit or cables, or poor cable contact may lead to faulty operation.

4
CHAPTER1 Cautions To Ensure Safety
1-4 Start-up and maintenance safety points
!
CAUTION
Never attempt to disassemble the robot or controller. When a robot or controller
component must be repaired or replaced, contact us for details on how to perform
the servicing.
!
CAUTION
Always cut off all power to the controller and the overall system before attempting
maintenance or servicing. This will prevent possible electrical shocks.
After the controller has been on for a while, some points in the controller may be
extremely hot or remain at high voltages. After cutting off the power when install-
ing or removing the unit, wait at least 5 minutes before starting work.
!
CAUTION
Do not touch the terminals (or pins) while power is still applied to the unit. This
may cause electrical shocks or faulty operation.
1-5 Precautions when disposing of the unit
!
CAUTION
This product must be properly handled as industrial waste when its disposal is
required.
1-6 Warranty
For information on the product warranty, please contact your local agent where you
purchased your product.

CHAPTER
1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1
23456789012345678901234567890121234567890123456789012345678901212345678901234567890123456789
0
1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890
2
2
PROFIBUS Unit

6
CHAPTER2 PROFIBUS Unit
2-1 PROFIBUS unit features
PROFIBUS is a fieldbus standard jointly developed by Siemens, Bosch, ABB, etc. in
Germany in the 1980s. The PROFIBUS specifications were established in 1989 and the
organization called "PNO" (PROFIBUS Nutzerorganisation) was founded in Germany
to start activities to spread the PROFIBUS.
To allow PROFIBUS to be used more effectively according to the specification purpose,
the PROFIBUS family is composed of two types of buses: PROFIBUS DP for factory
automation and PROFIBUS PA for process automation.
Main features of this PROFIBUS unit are as follows:
■The controller can be connected to the PROFIBUS system using this unit. This unit
fits directly inside the controller and so does not require any extra installation space.
■The PLC is connected to the robot system using only one dedicated cable (with 5
wires). This allows the entire system wiring to be reduced and also makes wiring
tasks faster and more efficient while reducing maintenance and installation costs.
■A total of 32 general-purpose input/output pins and 16 dedicated input/output pins
are available. The parallel I/O interface can of course be used as is.
■Emulated serialization on parallel I/O is available
All types of I/O equipment, such as sensors and relays, connected to the parallel I/
O of the controller can be controlled from the PLC (sequencer) just as if connected
to the I/O of the PROFIBUS system and without using a robot program.
■When the remote register is used, the message (remote command) can be issued
directly from the sequencer (PLC). The high-ranked commands such as MOVD
command (movement command which directly specifies the position coordinates),
which must use RS-232C unit conventionally, can be easily executed.
Refer to the particular service manual involved when detailed information on connecting
to the master station PLC (sequencer) or on PLC (sequencer) programs is needed when
using other equipment.
Refer to the controller instruction manual for information involving operating the con-
troller unit and on robot programming.

7
CHAPTER2 PROFIBUS Unit
2-2 PROFIBUS system concept
In order to understand how the controller and sequencer (PLC) operate on the PROFIBUS
system, let’s first take a look at how the system communicates.
Each unit connected in the PROFIBUS system is classified by function into a master
station and a slave station. The master station determines data communication and is
equivalent to a master PLC (sequencer) unit. The slave station is controlled by the master
station and processes data in response to a request from the maser station.
The controllers equipped with the PROFIBUS unit operate as slave stations and ex-
change I/O information with the master station.
Master Station
Master station determines data communication.
Slave Station Slave Station
This station is controlled
in the PROFIBUS system
by the master station.
This station is controlled
in the PROFIBUS system
by the master station.
Controllers
+
PROFIBUS unit
These function as slave stations.
qw
qThe controller on/off information is sent to the master station via the information
network (PROFIBUS system cable). Moreover, the response from the controller
against the message (remote command) is also similarly sent to the master station
via the network.
wMaster station sequencer (PLC) on/off information is sent to the controller via the
information network (PROFIBUS system cable). Moreover, the message (remote
command) from the master station is also similarly sent to the master station via
the network.
*The controller monitors the on/off information and message (remote command) at
10 millisecond intervals.
MEMO
MEMO
Station address is set from the HPB. Communication speed is automatically selected.
ON/OFF information handled by the PROFIBUS unit comes through 32 general-pur-
pose I/O pins and 16 Dedicated I/O pins.
ON/OFF information in the robot program is handled by DO statements, WAIT state-
ments, and JMPB statements. (Serial input/outputs (I/O) for the PROFIBUS are assigned
using I/O numbers from 200 onwards.) Designated I/O ports can be controlled indepen-
dently of the program by making emulated serialization settings on the parallel I/O.

8
CHAPTER2 PROFIBUS Unit
2-3 BROFIBUS cable connections
PROFIBUS cable connections require a 9-pin D-sub connector with pin assignments as
shown in the table below.
Pin No.
1
2
3
4
5
6
7
8
9
Signal
—
—
RxD/TxD-P
RTS
GND
5V
—
RxD/TxD-N
—
Meaning
—
—
Signal in line A
—
Signal in line B
—
PROFIBUS-DP
connector
Plug the bus connector
on the PROFIBUS cable
into this connector.
5
4
3
2
1
9
8
7
6
!
CAUTION
When wiring the bus connector, always follow the manufacturer's instructions to
avoid miswiring.
After plugging in the bus connector, be sure to tighten the screws to prevent the
connector from coming off.

9
CHAPTER2 PROFIBUS Unit
2-4 Parallel I/O connector
The I/O connector must be wired into the controller so install as shown below even if not
using the controller’s parallel I/O.
■ When the ERCX/SRCX/DRCX series controllers are used:
1. Short Pin No. A-24 (EMG 1) and B-24 (EMG 2).
2. Short Pin No. B-4 (LOCK) and A-15, to B-15 (0V).
3. Connect an external 24 volts to Pin No. A-13, B-13 (+IN COM).
(On DRCX and SRCX you can connect to A-14, B-14 (+24V) and to A-
13, B-13 (+IN COM) instead of connecting to an external 24 volt supply.
If Step 1 is not completed, an emergency stop will occur. If Step 2 is not completed, an
interlock will be applied. In either case, the controller cannot be operated (see Chapter
4).
Note that 24 volt power will not be supplied to the I/O circuit unless shorted as in 3.
An alarm is issued (06:24V POWER OFF) when power is not supplied and the opera-
tion disabled.
Please refer to “I/O Interface” in the controller instruction manual for detailed infor-
mation on parallel I/O operation.
Row B, No. 1
Row A, No. 1
Row B
Row A
The register in the PROFIBUS unit has an emergency stop input however this is
just for control by the software and is not by itself totally adequate. So installing
an interlock circuit for emergency stop using the above mentioned A-24 (EMG1)
and B-24 (EMG2) is recommended.

10
CHAPTER2 PROFIBUS Unit
■When the SRCP/SRCD series is used:
1. Short Pin No. 1 (EMG 1) and Pin No. 2 (EMG 2) of the EXT.CN connector.
2. Short Pin No. B-4 (LOCK) of the I/O.CN connector and Pin No. 4 (24G) of
the EXT.CN connector.
(This wiring can be eliminated by disabling bit 6 (Interlock function set-
ting) of PRM34 (System mode selection).)
3. Connect Pin No. 3 (24V) and Pin No. 4 (24G) of the EXT.CN connector
to an external 24 volt supply.
If Step 1 is not completed, an emergency stop will occur. If Step 2 is not completed, an
interlock will be activated. The robot cannot move in either case. Also note that 24
volt power will not be supplied to the I/O circuit unless connected as in Step 3. An
alarm is issued (06:24V POWER OFF) and the operation is disabled.
Refer to “I/O Interface” in the controller user's manual for detailed information on
parallel I/O operation.
A20
A19
•
•
•
•
•
•
•
•
•
•
•
A3
A2
A1
B20
B19
•
•
•
•
•
•
•
•
•
•
•
B3
B2
B1
Tr iangular mark
(on side of connector)
1234
Slotted screwdriver
Terminal numbers are not actually
indicated, but designated from 1 to
4, from the left as viewed from the
front (wire insertion side) as shown
in the drawing.
←Left: I/O.CN connector pin layout
↓ Below: EXT.CN connector pin layout
The register in the PROFIBUS unit has an emergency stop input. However, this is
just for control by the software and is not by itself totally adequate. So installing
an interlock circuit for emergency stop using the above mentioned Pin No.1
(EMG1) and Pin No. 2 (EMG2) of the EXT.CN connector is strongly
recommended.

11
CHAPTER2 PROFIBUS Unit
2-5 Controller (slave station) system setting
The station address must be set so that the controller can be correctly identified as a slave
station on the PROFIBUS system. Communication speed is automatically recognized.
The PROFIBUS unit station address is set from the HPB. This setting is enabled after the
controller is restarted.
2-5-1 Validating the PROFIBUS unit
Before the PROFIBUS unit can be used, it must first be set as follows, to allow it to be
identified by the controller.
1) Press
F3
(SYS) on the initial screen.
2) Press
F4
(next) to switch to the func-
tion display and then press
F2
(OPT).
3) Press
F1
(DEV).
4) The current PROFIBUS unit identity sta-
tus appears on the display.
Now, using the number key pad, enter a 1
to make the PROFIBUS unit identifiable
from the controller or enter a 0 to prevent
it being identified from the controller, and
then press the key.
5) When entry is finished, the screen returns
to 4).
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
[SYS]
select menu
1SAFE2OPT 3UTL 4next
[SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
[SYS-OPT-DEV]
PROFIBUS= 0
0:invalid 1:valid
[SYS-OPT-DEV]
PROFIBUS= 1
0:invalid 1:valid

12
CHAPTER2 PROFIBUS Unit
2-5-2 Setting the station address
The station address can be set from 0 to 126.
1) Press
F3
(SYS) on the initial screen.
2) Press
F4
(next) to switch to the func-
tion display and then press
F2
(OPT).
3) Press
F2
(NODE).
4) The currently set station address is dis-
played. To change this setting, enter the
new station address with the number pad
keys, and then press the key.
5) When entry is finished, the screen returns
to 4).
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
[SYS]
select menu
1SAFE2OPT 3UTL 4next
[SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
[SYS-OPT-NODE]
address = 30
range 0→126
[SYS-OPT-NODE]
address = 1
range 0→126

13
CHAPTER2 PROFIBUS Unit
2-5-3 Checking the communication speed
Communication speed is automatically recognized as any of 9.6K, 19.2K, 93.75K, 187.5K,
500K, 1.5M, 3M, 6M and 12M in units of bps.
1) Press
F3
(SYS) on the initial screen.
2) Press
F4
(next) to switch to the func-
tion display and then press
F2
(OPT).
3) Press
F3
(SPD).
4) The currently set communication speed
is displayed.
To return to the previous screen, press the
ESC
key.
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
[SYS]
select menu
1SAFE2OPT 3UTL 4next
[SYS-OPT]
select menu
1DEV 2NODE3SPD 4next
[SYS-OPT-SPD]
speed = 12M [bps]

14
CHAPTER2 PROFIBUS Unit
2-6 Sequencer (master station) settings
The master station sequencer (or PLC) in the PROFIBUS system can make line tests on
the slave station. Use this function to check whether or not the controller is identified as
a slave station on the PROFIBUS system before starting any actual work. Refer to the
instruction manual for the master station sequencer (PLC) for detailed information.
2-6-1 Exchanging data with the controller
To ensure that data is exchanged correctly and safely between the master station PLC
and controller, create a PLC program for the master station that takes the following
points into account.
■Put network status information into the PLC program as input conditions to help it
handle problems in the network itself. (See the master PLC instruction manual for
ways to enter status information.)
■When a network error is detected on the controller, the controller stops operating and
turns the servo off. Also all I/O input from the PROFIBUS are recognized as being off
during the error. The I/O inputs are automatically restored as the network recovers
from the error but the servo remains turned off. So to restore operation, [Eergency
stop must be canceled and the servo restore command (SERVO) must be run.
■The controller always keeps the servo off right after its power is turned on. To operate
the robot, cancel emergency stop and run the servo restore command (SERVO).
■The controller is resetting (initializing) itself immediately after the controller power
is turned on, so do not perform communications right away. The END output turns on
when the controller starts up normally and communication is allowed, so first check
that the END output is on before inputting commands to the controller.
(See "2-8-1 Right after controller power turns on".)