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SR1_E_V3.13.pdf
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SR1_E_V3.13,雅马哈机器人IO配置,程序编写学习
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Ver.1.09
SR1 Series
EUS312C313
E102
Ver. 3.13
UserʼsManual
SR1-X / SR1-P
YAMAHASINGLE-AXISROBOTCONTROLLER
i
Introduction
About this manual
Introduction
Thanks for your purchase of this YAMAHA SR1 series single-axis robot controller (hereafter
called "SR1 controller" or simply "SR1"). Read this manual and related equipment manuals
carefully to ensure correct and safe use of the SR1 controller.
About this manual
This manual consists mainly of "Using The Robot Safely", "SR1 Controller Manual" and
4 supplementary manuals as shown below. Read each part according to your particular
objective so that you can use the SR1 controller and optional products more efficiently.
After reading this manual, keep it handy for easy reference when needed and make sure it
is always available in good condition for the end user.
This manual
Using the robot safely
SR1 controller manual
HPB operation guide
Programming guide
RS-232C communication
command guide
Remote command guide
Describes precautions you must take when handling the
SR1 and optional products such as the HPB. Always
read these precautions carefully before using the SR1
and comply with the instructions.
Explains how to install and operate the SR1. Always
read this manual carefully before using the SR1 and
follow the instructions.
Explains how to use the HPB (option) for editing robot
programs and point data as well as for operating robots.
Describes the YAMAHA robot language for operating
robots and lists typical programming samples.
Read this command guide when editing robot programs
and point data and controlling the robot from a PC
through the RS-232C communication.
Describes remote commands in detail.
Supplementary manuals
Every effort was made to ensure that this manual is accurate and complete. However,
please contact us if any errors, misprints or omissions are noticed.
Refer to the particular product instruction manual for information on the robot unit,
support software and other optional products that will be used with the SR1 controller.
ii
Using The Robot Safely
iii
Safety information
Using The Robot Safely
Safety information
Before using the YAMAHA robot controller, be sure to read this manual and related
manuals, and follow their instructions to use the robot controller safely and correctly.
Warnings and cautions listed in this manual relate to YAMAHA robot controllers. To ensure
safety of the user's final system that includes YAMAHA robots and controllers, please take
appropriate safety measures as required by the user's individual system.
Industrial robots are highly programmable machines that provide a large degree of
freedom in movement. To use YAMAHA robots and controllers safely and correctly, be sure
to comply with the safety instructions and precautions described in this chapter. Failure
to take necessary safety measures or incorrect handling may result not only in trouble or
damage to the robot and controller, but also in serious accidents involving injury or death
to personnel (robot installer, operator, or service personnel).
This manual describes safety precautions and operating points using the following symbols
and signal words.
w
DANGER
"DANGER" indicates an imminently hazardous situation which, if not avoided,
will result in death or serious injury.
w
WARNING
"WARNING" indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury.
c
CAUTION
"CAUTION" indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury or damage to the equipment or loss
of data.
n
NOTE
Explains the key point in the operation in a simple and clear manner.
MEMO
Gives supplementary information related to robot controller operation.
ii
iii
Using The Robot Safely
Particularly important cautions
Use any of the following approaches to this manual when installing, operating and
adjusting the YAMAHA robot and/or controller so that you can quickly refer to this manual
when needed.
1. Keep the printed version of this manual (available for an additional fee) handy for
ready reference.
2. View the CD-ROM version of this manual on your PC screen.
3. Print out the necessary pages of this manual from the CD-ROM and keep them
handy for ready reference.
To use YAMAHA robots and controllers safely and correctly, always comply with the safety
rules and instructions.
Please note, however, this supplementary manual cannot cover all items regarding safety.
So it is extremely important that the operator or user have knowledge of safety and make
correct decisions regarding safety.
Particularly important cautions
Particularly important cautions for handling and operating the robot and controller are
described below. Additional cautions are also described in each chapter. Be sure to
comply with those instructions to ensure safety.
■
System design safety points
w
DANGER
• YAMAHArobotcontrollersandrobotsaredesignedandmanufacturedfor
general-purposeindustrialequipment.Theyshouldnotbeusedinthe
following applications:
• Medicalequipmentorsystemswhichwillaffecthumanlife
• Equipmentdesignedtocarryortransportpersons
• Equipmentorsystemswhichwillseriouslyaffectsocietyorpublic
policy
• Useinenvironmentssubjecttovibration,suchasvehiclesandships
• Eachrobotcontrollerhasanemergencystopinputterminaltotrigger
emergency stop. Using this terminal, configure a safety circuit so that the
systemincludingtherobotcontrollerwillworksafely.
w
WARNING
• Tochecktheoperatingstatusoftherobotcontroller,refertothismanual
andrelateduser'smanual.Buildthesystemincludingtherobotcontroller
sothatitwillalwaysworksafely.
• Installasignallight(signaltower,etc.)ataneasy-to-seepositionsothat
theoperatorwillknowthestopstatusoftherobot(temporarystop,
emergencystop,errorstop,etc.).
c
CAUTION
• Donotbundlecontrollinesorcommunicationcablestogetherorinclose
contact with the main power supply circuit or power lines. As a general
rule,separatethembyatleast100mm.Failuretofollowthisinstruction
may cause malfunctions due to noise.
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