HPB Supplement User`s Manual (English)
Contents
1. 0 000 5352435B31332E36 008 305D 0D 0A50524D30 MHexHascii 1 The first character position of the displayed character string displays in hexadecimal code 2 First character position of the displayed character string in the above example S is the O character position Fig HPB E018 006 NE NOTE An ASCII code display comprises 0x20 to 0x7E and OxA1 to OxDF with all others displaying as asterisks speg Arowaw AS Sulsp A 4 19 MEMO 20 ES Error and Alarm An error No and message display on the HPB screen if an error occurs due to inappropriate opera tion operator error An alarm No and alarm message display in the event of a system problem For details concerning the content of error and alarm messages refer to the user s manual for the controller in question Only error messages display no error No for HPB related errors See section 5 1 HPB error message list Examples of error and alarm messages which display on the HPB screen are given below Error message example Error number Error message EDIT select menu 43 icannot find PGM Hrem APNT BuTL Alarm message example Alarm number Alarm message STEP 32l lorisin incomplete Example of HPB related error message Error message CARD cardi detecta card write protected BSAVEMLOADRL IST Fig HPB E019 001 wejy pue 10413 Fig HPB E019 0022. a ne axis Return to origin Z axis R axis Speed setting Program reset OPRT STEP Program change SPD Execution speed change Power ON Operation Step run Variable monitor RSET Program reseet Initial menu screen CHG Program change VAL Variable monitor S_ON Servo ON en CHGT Task change MIO Memory IO monitor PRM OM Common parameters X axis parameters Y axis parameters Z axis parameters R axis parameters No 0 to 63 No 64 onward C x Y Parameter setting Z a PRM2 ALL All data ALM Alarm history Save ERR Error history SAVE ERR E rogram a ei CARD LOAD Load PNT Point System k Memory card PRM Parameter ALL All data LIST List MKDIR Directory creation E DEL Delete VIEW Content display FROM SAVE Save ALOD Automatic load Flash rom rom F toa Load INIT Initialization INIT PGM Program PNT PRM Be Point Initialization Parameter xY All data XY SAFE Safety setting SPD RSET CHG VAL S_ON Servo ON CHGT Task change MIO Memory IO monitor 4 axes 3 axes 2 axes FLIP Single axis 4 units 3 units 2 units 4 axes 3 axes 2 axes FLIP Single axis 4 units 3 units 2 units Editing EDIT OPRT Operation ACLV Access level SYS System CARD Memory card OPT SVCE SERVICE mode SET Enable Disable setting Option DEV Limitation to ope
3. A WARNING DO NOT USE COMMERCIAL POWER SUPPLY ADAPTERS WITH THE HPB HPB D wiring diagram 15 pin D sub connector female If not using the HPB D then connect the supplied Safety connector 15 pin D sub connector male to this connector External safety circuit provided by customer Fee T Emergency stop switch T A Enable switch deadman switch FUHITP ee ONO THR OON Do not attempt to extend the shorting wire between pins 14 and 15 ma er gt o A 15 Controller 18 18 21 21 HPB D connector HPB D gt EMG IN HPB D cable Fig HPB E022 001 1 3 m 1 About the HPB 15 pin D sub connectors supplied only with HPB D Use these connectors with the emergency stop or enable switch to configure an external safety circuit 2a a lt vo lt pm o Ho lt m 4 AN 15 pin D sub connector female KS9 M532A 000 Attaching this connector directly to the safety connector on the HPB D enables the emergency stop button only 14 15 Fig HPB E023 001 15 pin D sub connector male KS9 M532E 001 If not using the HPB D then attach this connector directly to the 15 pin D sub connector on the external safety circuit so that the emergency stop circuit is shorted Fig HPB E024 001 CAUTION Set so the voltage and current ratings on the circuit connect
4. 6 Step3 Verify that the initial menu screen displays Initial menu screen MENU select menu MEDI TMoPRTMSYS Amon Fig HPB E004 003 E When ERCX controller power is ON The HPB can be connected to the ERCX controller even when the controller power is ON step Y Connect the HPB to the ERCX controller Attach the 9 25pin conversion adapter to the HPB connection cable then plug the cable into the TPB connector at the front panel of the ERCX controller Secure by tightening the two screws on both sides of the adapter A buzzer sounds for approximately 1 second then the initial menu screen displays HPB connection to ERCX HPB TPB connector Fig HPB E005 001 2 Connecting and Disconnecting the HPB AN CAUTION The robot servo status may change from ON to OFF if the HPB is connected to the ERCX controller when the controller power is ON If the HPB is connected to the ERCD controller while a program or I O dedicated command is being executed the command execution is aborted and robot operation is stopped Step Verify that the initial menu screen displays Initial menu screen MENU select menu Meo THoPrRTESsYS BMON Fig HPB E004 003 dH 24 Sun gt 3uuo9s q pue 3uno9uuo 27 m 2 Connecting and Disconnecting the HPB 2 2 2 Disconnecting from the ERCX controller The HPB can be disconnected regardless of whether the ERCX controller power is ON or OFF Robot operation is als
5. YAMAHA MOTOR CO LTD YAMAHA PROGRAMMING BOX HPB Supplement User s Manual TETE E95 Ver 1 04 Introduction Thank you for your purchase of the YAMAHA HPB Programming Box hereafter referred to as HPB Please read this manual supplement carefully before using the HPB in order to ensure correct operation About This Document This document is primarily a guide to functions which have been added to the HPB For informa tion concerning functions not included in this document please refer to the TPB operation expla nations provided in the controller user s manual After reading this document please store it in a secure location where it can be easily referenced by the HPB operator when necessary Although the content of this document has been carefully checked please contact YAMAHA MOTOR CO LTD if an error etc is found For information concerning the robot unit the controller and other optional products please refer to the respective user s manuals for those items Product names which appear in this document are the trademark or registered trademark names used by the respective companies MEMO 1 1 1 2 2 1 2 2 2 3 3 1 3 2 3 3 3 4 4 1 4 2 4 3 4 4 4 5 4 6 5 1 6 1 7 1 7 2 About the HPB 1 1 What the HP Bis cscscssisscocsscisessccscecechicestesseccssetecieiccssencsecstsusensestssecsetecssassossnsecssssvsssceeedsvevsees 1 1 Part names and fUNCUONS boiz scersceseesse
6. CARD SELECT DIR Use the cursor keys DODD to specify 050601 the hierarchy level where the data is to be saved SEL AMKDIREDELHV I EW 1 1 Directory names are enclosed in angle brackets lt gt Fig HPB E014 007 sp Arowaw AS SuN CARD SELECT DIR Zu gt Lv2 sel AmkDIRBDELA VIEW Fig HPB E014 008 Root directory Sub directory level 2 Sub directory level 3 050601 BAK AK gt lt bl 7 In the above example this directory is specified as the save destination D lt Directory name gt File name lt Directory name gt lt gt lt gt D Om lt Directory name gt lt Directory name gt 1 1 s D lt Directory name gt File name File name Directory names are enclosed in angle brackets lt gt File names are enclosed in quotation marks Fig HPB E014 009 ENE 4 Using SD Memory Cards step Assign the file name Enter a file name of up to 8 characters alphanumeric chars underscore marks _ and hyphens are permitted then press amp file extension names are automatically assigned and need not be entered The character input procedure is described below Character input procedure Select the desired alphabetic input characters from the character string displayed on the screen s 3rd CARD SAVE line Key in numerical values and hyphens directly from the number keys ALL ABCDEFGHI JKLMNOPQ
7. Hierarchical menu structure Using SD Memory Cards 4 1 Before using an SD memory card u 2us2002000000n0nnssnnsnnssonsnnssnnsnensnnssnnsnussansnnssnnssnssnnssnnsnnssnnne 4 1 4 1 1 Supported SD memory card type 06 u 4 1 4 1 2 Inserting and ejecting an SD memory card ussessesssnensnssnsnsnnenennonsnsensnsnnnssnnnnonsnnonsnnensnnsonsnnnenenne 4 2 4 1 3 Loading backup data s cccssssscsssscssssossessssvessssessssssesstscssesssacsaessoossasscsossasssesssasesassncssssssesseasbessoscseseses 4 4 Saving controller data to an SD memory card 2u 22u220000020000000000000n0nnsnnsnnnsnnssnnsnnssanssnnsone 4 6 Loading SD memory card data to the controller uu susssussusssnssonssonsnnssonsnnssnnsnnssonsnnnsnnnnen 4 10 Creating directories on the SD memory card oooocncononononnnonncnnnonncnanonacnnnonnonanonanonnonanonnonanona 4 13 Deleting files and directories from the SD memory card uuesusssnssosssessnnssessonssensnnnsnnsnnssane 4 16 Displaying SD memory card file content Error and Alarm 5 1 HPB error message list u suss0sssussonssnssnssnnsnnsnnnsnnnsnnssnnsnnsnnnsnnssnnsnunsnnssnnsnnssnnssnssnnssnnsanssnnsnnns 5 2 Troubleshooting 6 1 Problems and corrective actions cccssssccccccsssssccccccesssscccecesssssceccecesssseccecsesesscceecesessseeeees 6 1 Specifications 7 1 HPB specifications BIO i A E N O E A N E EEA i 4 eeeseee 0000000 80006008 OOo IIIA 0000000880008 A
8. CAUTION A Data loading does not occur if the initializing processing fails at Step 8 Moreover if an error occurs during the data loading operation the loaded data up to the error occurrence point remains in the controller because initializing occurs before the data loading operation Do not eject the SD memory card during a data loading operation HPB performs file management by the FAT format used on Windows personal computers Therefore non contiguous file conditions occur after repeated saves and deletions possibly reducing the file access speed If this occurs back up all files to a Windows personal computer then copy only the required files If incorrect robot data is loaded to the robot controller this may impair robot controller performance and may also cause failures or malfunctions or errors so use caution gt 4 12 4 Using SD Memory Cards 4 4 Creating directories on the SD memory card step Insert an SD memory card in the HPB Step Press SYS on the initial menu screen MENU The SYS system mode screen appears select menu BED THoPrTesYsS Amon Fig HPB E016 001 step Press 2 B UP sys The screen changes to the data backup mode select menu BPRM BB UPRINITHnext Fig HPB E016 002 Step Press r CARD SYS B UP The screen changes to the memory card mode select menu McArRDAFROM E 2 gt ga N ker lt oO o lt
9. E004 003 E When controller power is ON The HPB can be connected even while the controller power is ON step Y Connect the HPB to the SRCX controller Attach the 9 25pin conversion adapter to the HPB connection cable then plug the adapter into the controller s TPB connector while pressing the ESC switch on the controller s front panel Secure by tightening the two screws on both sides of the adapter A buzzer sounds for approximately 1 second then the initial menu screen displays HPB connection to SRCX dH 24 Sun gt 3uuo9s q pue 3uno9uuo PWR ERR G R de ESC 9 25pin O conversion adapter TPB connector 100 200V 200 230V SYANAYA Fig HPB E007 001 211 2 Connecting and Disconnecting the HPB a lt Vv lt o lt O vo S lt o Q A a lt a lo S Q Q S lt o Q 12 N CAUTION Connecting the HPB to a power ON status controller without pressing the ESC switch will result in an emergency stop and the robot servo may switch OFF If the HPB is connected while a program or an I O dedicated command is being executed the operation being executed will be aborted regardless of whether or not the controller s front panel ESC switch is pressed Step Verify that the initial menu screen displays Initial menu screen MENU select menu BED TMOPRTHSYS AMON Fig HPB E004 003 2 Connecting and Disconnecting the HPB 2 3 2 Disconnecti
10. Fig HPB E017 003 Step Press rs LIST SYS B UP CARD select menu BSAVEMLOADRL IST Fig HPB E017 004 Step Select the file or directory to be deleted CARD L 187 Use the cursor keys ADD to a the SRCX 1 ALL file or directory to be deleted then press 050601 1300 DEL EvkDIRADELENV I EW A directory cannot be deleted if it contains sub Fig HPB E017 005 directories and files Therefore deletions should always be performed in ascending order beginning from the lower hierarchy levels Step Press F1 yes to delete the file or ICARD LIST directory delete Press F2 no to abort the deletion operation If the deletion is completed without error the system yes no returns to the Step 6 screen Fig HPB E017 006 16 AN 4 Using SD Memory Cards CAUTION A directory cannot be deleted if it contains sub directories and files Therefore deletions should always be performed in ascending order beginning from the lower hierarchy levels Although system files and hidden files can be displayed they cannot be deleted This applies to read only files as well HPB performs file management by the FAT format used on Windows personal computers Therefore non contiguous file conditions occur after repeated saves and deletions possibly reducing the file access speed If this occurs back up all files to a Windows personal compu
11. HPB connection cable or any relay device other than the accessory 9 25pin conversion adapter to connect the HPB to an ERCX controller as this can result in communication errors and equipment failure An poor connection or an incorrect connector insertion can result in equipment failure and malfunctions Be sure that the cable is properly connected When connecting or disconnecting the HPB connection cable from the ERCX controller always grip the connector body itself When removing the connector from the ERCX controller pull it straight out so as not to bend the connector pins When attaching the HPB connection cable to the ERCX controller make sure that both connectors are aligned with each other E When ERCX controller power is OFF step Y Connect the HPB to the ERCX controller Attach the 9 25pin conversion adapter to the HPB connection cable then plug the cable into the TPB connector at the front panel of the ERCX controller Secure by tightening the two screws on both sides of the adapter HPB connection to ERCX dH 24 Sun gt 3uuo9s q pue 3uno9uuo 77 TPB connector 9 25pin conversion adapter Fig HPB E005 001 Step Turn the ERCX controller power ON A buzzer sounds for approximately 1 second then the initial menu screen displays 25 m 2 Connecting and Disconnecting the HPB a lt v lt a lo lt O Q lt lt o Q A a S a lo lt Q eP S lt o Q
12. O 2 E N Fig HPB E016 003 step Press rs LIST SYS B UP CARD select menu BSAVEMLOADRL 1ST Fig HPB E016 004 Step Specify the location where the directory is to be created Display the hierarchy level where the directory is to be created then press F1 MKDIR The proce dure for displaying the hierarchy level where the directory is to be created is given below e For creation in the root directory CARD LIST A root directory is the highest level directory in SRCX MAMA the hierarchy 050601 1234 An empty message displays if there are no files vkoD rRADELEVI1Ew in the SD memory card 1 Lv denotes the directory hierarchy level Lv1 denotes the root directory Fig HPB E016 005 13 4 Using SD Memory Cards Using SD Memory Cards 14 e For creation in a directory other than the root directory sub directory ERRBSENSEI lt 050601 BAK gt Lvl Use the cursor keys ADD to specify 050601 1234 the hierarchy level where the directory is to be EMKD REDELEV I EW created Root directory lt 050601 BAK gt lt Directory name gt D File name Fig HPB E016 006 CARD LIST Kd EMKD I REDELEV I EwW Fig HPB E016 007 Sub directory level 2 Sub directory level 3 gt In the above example lt Directory name gt a directory is being gt created here lt Directory n
13. PB connector Fig HPB E004 001 Step Turn the ERCD controller power ON A buzzer sounds for approximately 1 second then the initial menu screen displays 21 m 2 Connecting and Disconnecting the HPB a lt Vv lt lo lt Q Q lt lt o Q A a S a lo S Q Q S lt o Q 2 Step3 Verify that the initial menu screen displays Initial menu screen MENU select menu HEDI THOPRTESYS HmonN Fig HPB E004 003 E When ERCD controller power is ON The HPB can be connected to the ERCD controller even when the controller power is ON step Connect the HPB to the ERCD controller Plug the HPB connection cable into the PB connector on the front panel of the ERCD controller then tighten the screws on both sides of the connector A buzzer sounds for approximately 1 second then the initial menu screen displays HPB connection to ERCD PWR G ERR R PB connector YAMAHA Fig HPB E004 001 CAUTION allal A If the HPB is connected to the ERCD controller when the controller power is ON an emergency stop and a robot servo OFF status occur If the HPB is connected to the ERCD controller while a program or I O dedicated command is being executed the command execution is aborted and robot operation is stopped 2 Connecting and Disconnecting t
14. SYS on the initial menu screen The SYS system mode screen appears Step Press F2 B UP The screen changes to the data backup mode Step Press F1 CARD The screen changes to the memory card mode stepD Press Fi SAVE step Specify the data to be saved e Press and p e Press e Press F1 F2 F3 ALL to save all data program point arameter data ALM to save the alarm history ERR to save the error history ME NU select menu HEDI THOPRTESYS AMoN Fig HPB E014 001 SYS select menu BPRM BB UPRINITHnext Fig HPB E014 002 SYS B UP select menu ECARDEFROM Fig HPB E014 003 SYS B UP CARD select menu BSAVEMLOADRL IST Fig HPB E014 004 CARD SAVE select menu BALL BALM BERR Fig HPB E014 005 4 Using SD Memory Cards step Y Specify the save destination Press F1 SEL or 9 to display the data save destination Data save destinations can be displayed by the following 2 methods e Saving in the root directory A root directory is the highest level directory in ike hierarchy CARD SELECT DIR asRER HABE 050601 1234 BSEL BEMKD rR DEL AVIEW 1 Lv indicates the directory level Lv1 denotes the root directory Fig HPB E014 006 e Saving in a directory other than the root directory sub directory ll tr
15. is based on Japanese manual Ver 1 04 Supplement User s Manual YAMAHA HPB Oct 2007 Ver 1 04 This manual is based on Ver 1 04 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
16. 1 NOTE The numbers to the left of each mode correspond to the function key numbers Step Press the function key for the desired Current mode mode OPR mep The screen then changes to that of the selected select menu mode In the example shown at right the initial menu screen s F2 OPRT key was pressed to select the OPRT operation mode The following 3 sub modes can be selected from the OPRT mode Morc MBSTEPRAUTO Fig HPB E010 002 HORG Return to origin STEP Step operation AUTO Automatic operation Step3 Press a function key to select the desired Current mode sub mode STEP 100 0 0 Each time a function key is pressed to select a menu 001 MOVA 254 100 processing moves further down into the hierarchical 0 00 menu system isro ARSETECHG Bnext In the example shown at right the OPRT mode screen s F2 STEP key was pressed to select the The key can then be pressed to display STEP mode the next set of menu items Fig HPB E010 003 6 NOTE The 4 next item displays at the right end of the bottom line when there are 5 or more selectable menu items The F4 key can then be pressed to display the next set of menu items Press to return to the previous set of menu items m 4 3 Basic Operations Step Use the same procedure to select the next Input enabled at cursor position mode In the example shown at right the STEP m
17. ARD select menu BSAVEMLOADRL IST Fig HPB E015 004 ISRBDSSEBBESTSENBEN a ala ein ame m a m ann num pandas 2 1 File names are enclosed in quotation marks 2 Indicates the date and time no secs display 3 Lv denotes the directory hierarchy level Lv1 denotes the root directory 4 Indicates the file size in Kbyte units Fig HPB E015 005 e Specifying a directory sub directory other than the root directory Use the cursor keys OOD to display the file to be loaded then press SEL or 9 Root directory lt 050601 BAK gt A SRCX 1 ALL O Y D lt Directory name gt lt Directory name gt lt Directory name gt File name mm lt Om lt Directory name gt lt Directory name gt i File name Directory names are enclosed in angle brackets lt gt File names are enclosed in quotation marks Sub directory level 2 4 Using SD Memory Cards Lvl SEL AMXDIREDELAV IEW 2 1 Directory names are enclosed in angle brackets lt gt 2 Indicates the date and time no secs display Fig HPB E015 006 CARD SELECT FILE au gt Lv2 BSEL AmMKkDIRBDELAVIEW Fig HPB E015 007 CARD SELECT FILE ASAS ADE Lv2 050601 1300 4K BSEL AMKDIRBDELAVIEW Fig HPB E015 008i spe Arowaw AS SuN A Sub directory level 3 In the above example this file is specified f
18. B 2 1 Connecting to disconnecting from the ERCD controller The HPB can be connected to or disconnected from an ERCD controller regardless of whether the controller s power is ON or OFF 2 1 1 Connecting to the ERCD controller AN CAUTION Do not use a modified HPB connection cable to connect the HPB to an ERCD controller as this can result in communication errors and equipment failure An poor connection or an incorrect connector insertion can result in equipment failure and malfunctions Be sure that the cable is properly connected An RS 232C adapter is provided as an accessory with ERCD controllers However this adapter is used only for connecting a TPB to an ERCD controller and it cannot be used to connect the HPB When connecting or disconnecting the HPB connection cable from the ERCD controller always grip the connector body itself When removing the connector from the ERCD controller pull it straight out so as not to bend the connector pins When attaching the HPB connection cable to the ERCD controller make sure that both connectors are aligned with each other E When ERCD controller power is OFF step Y Connect the HPB to the ERCD controller Plug the HPB connection cable into the PB connector on the front panel of the ERCD controller then tighten the screws on both sides of the connector HPB connection to ERCD dH 24 Sun gt 3uuo9s q pue 3uno9uuo PWR G ERR R
19. Fig HPB E019 003 5 1 5 Error and Alarm 5 1 HPB error message list Only error messages display no error No for HPB related errors The HPB related error messages are listed below together with the corrective actions Message SIO error Corrective Action Message e Eject the SD memory card re insert it then try the operation again e Perform a chkdsk operation from the command prompt of a Windows personal computer Error and Alarm Perform FAT formatting of the SD memory card on a Windows personal computer Formats other than FAT 12 or 16 cannot be used Corrective Action If the SD memory card was ejected during loading LOAD or content display VIEW repeat the operation e If the SD memory card was ejected during a save SAVE directory creation MKDIR or file sub directory deletion DEL operation the file system will be destroyed Therefore perform a chkdsk f operation without delay from the command prompt of a Windows personal computer nn 5 2 Message Corrective Action Message Corrective Action Message Corrective Action 5 Error and Alarm e If the memory card became full during a save SAVE operation the most recently saved file will be incomplete Delete this file and other unnecessary files or insert a new SD memory card then repeat the save operation card write error e If the memory card became full during a directory creation MKDIR operation e
20. Keys Selects modes displayed at the bottom line of the display and executes commands The key numbers correspond to the mode and command F1 F4 numbers 2 Data entry operation keys HPB Keys Description TPB Keys Starts robot operation in accordance with the selected program and parameters Stops the robot operation which is in progress Operation can be resumed by pressing run again Selects the axis when controlling 3 or more axes There is no CHG key on the HPB Instead the following keys are provided Operation Description HB Not available Switches the axis during point data on HPB editing operations DIO monitor switching Displays the DIO monitor 3 Basic Operations Basic Operations nn 32 Numerical input keys Symbol input keys Robot language input keys used the robot language editing screen in the program editing mode Moves the robot in the plus and minus directions within an X Y Z R coordinate system For screen left right scrolling and cursor left right movement For scrolling through displayed parameter and point numbers Returns to the previous mode or screen BackSpace Moves the editing cursor one space back at numerical input operations and erases that entry Registers an en
21. RA 000000000000890000000000000000000000000000000009000000000080000 0o90099009090 00000000000000000000009000000000000000000000000000000000000000000000000000000000000000000000000000000000008 09000900000909000800000009000009000000000000900000000000000800000000000000000900000000000000000000000000000000000000000000000000 0o900900000900000009000900000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 2000000000900200000000009020000000900000000000000000000000000000000000000000000000000009000900009EEHEEEEHEEEHEEESEEEEHEES MEMO About the HPB The HPB is a hand held pendant type programming box which connects to the robot controller in order to edit robot operation data and execute programs The HPB is compatible with all control lers where the TPB was used Featuring an interactive user operation by hierarchical menus the HPB operating procedures are identical to those of the TPB and can be easily mastered even by first time users 1 1 What the HPB does The HPB can be used to perform the following operations and checks Some of the functions shown below however may not be available when using some controller models and versions For details refer to the controller user s manual Feo O espia TB P Parameter setting Sets the parameters for robot operation Creates amp edits the programs used to operate the robot Point data entry Edits the point data used for robot motion dH 94 moq
22. RST Mkeyin Fig HPB E014 010 To select onaraciels from the aaen s 3rd line CARD SAVE character string use the left right O cursor SRCX 1 ALL keys to move the cursor in 1 character units or use FGHIJKLMNOPQRSTUVWXY the up down cursor keys to move the keyin A cursor in 10 character units Fig HPB E014 011i When the cursor is positioned at the desired charac ter press r keyin Using SD Memory Cards Y Step Assign a date to the saved file ICARD SAVE Use the number keys and the left right V PERE EANN cursor keys to enter the date Western calendar year 9995 06 01 00 00 00 month day and the time hour minutes seconds E The date and time are not entered automatically Fe REED After entering the date and time press the amp key step VO Press yes to save the data To abort the data save operation press F2 no CARD SAVE save OK Byes Ano Fig HPB E014 013 A saving message displays during the save operation and save complete displays when the CA R D SAVE operation is completed without error Saving Fig HPB E014 014 CARD SAVE save complete Fig HPB E014 015 0 AN Nuts 4 Using SD Memory Cards CAUTION If an alarm occurs during the save operation the file being written is deleted without being destroyed If connection with the controller is severed during the save ope
23. ame gt lt Directory name gt File name lt Directory name gt lt Directory name gt lt Directory name gt File name e Directory names are enclosed in angle brackets lt gt File names are enclosed in quotation marks Fig HPB E016 008 Step Assign a name to the directory Enter a directory name alphanumeric chars under score marks _ and hyphens and period are permitted then press amp An 8 3 input format is used max 8 character directory name and 3 character extension name The character input procedure is described below Character input procedure Select the desired alphabetic input characters from the character string displayed on the screen s 3rd line Key in numerical values hyphens and period directly from the number keys To select characters from the screen s 3rd line character string use the left right DS cursor keys to move the cursor in I character units or use the up down KD cursor keys to move the cursor in 10 character units When the cursor is positioned at the desired charac ter press r keyin step Assign a date to the directory being step 9 Press F1 created Use the number keys and the left right DS cursor keys to enter the date Western calendar year month day and the time hour minutes seconds The date and time are not entered automatically After entering the date and time
24. ase the button lock locks when pressed by turning the button in the CW direction After releasing the button a servo recovery must be performed from the HPB or by 1 O operation in order to recover from the emergency stop status Liquid crystal display This is a 20 character 4 line LCD screen The operation menu and other information display here Connection cable Connects the HPB to the controller A D Sub 9 pin connector male is provided at one end of the cable To connect to controller types other than the ERCD use the accessory connector adapter Rear view Safety connector HPB D only Use this connector with the emergency stop or enable switch to configure an external safety circuit Attaching the supplied 15 pin D sub connector female directly to this safety connector enables the emergency stop button only WARNING HEBE TEACHING BOX boo th tri This switch is effective for use with an external safety circuit This switch opens cuts off the circuit when pressed or released Pressing it to mid position connects Strap hole Attaching a short strap or necklace strap here prevents dropping the HPB while operating it or installing it onto equipment SD memory card connector An SD memory card can be inserted here SD memory cards are provided by the customer Operation keys These keys are used to operate the robot an
25. d to enter programs and data etc The keys are divided into 2 main groups function keys and data entry operation keys For operation key details see Chapter 3 Basic Operations Fig HPB E001 001 3 Position enable switch HPB D only e circuit Use this switch as the enable switch in Service mode so that the external safety circuit iggers emergency stop on the robot when this switch is pressed or released Fig HPB E021 001 THE FLUID LIQUID CRYSTAL IN THE LCD DISPLAY MODULE IS A HAZARDOUS SUBSTANCE IF THIS FLUID LEAKS FROM THE DISPLAY DUE TO DAMAGE AND ADHERES TO SKIN OR CLOTHES WASH IT OFF WITH SOAP AND WATER DO NOT WIND THE CONNECTION CABLE AROUND THE HPB BODY WHEN STORING OR BEND IT SHARPLY SINCE THIS MIGHT BREAK THE WIRES IN THE CONNECTION CABLE DO NOT USE AN EXTENSION CORD WITH THE CONNECTION CABLE 1 About the HPB 9 25pin conversion adapter Accessory Item This adapter is required when connecting the HPB to controller types other the ERCD 9 25pin conversion adapter 9 25pin conversion adapter gt a HPB connection cable N Q SB A gt ZW gt a ea F 3 Aw E Insertion gt direction a HPB side Controller side HSTCHK HSTCHK RXD RXD TXD TXD 12V 12V GND D G HSESC2 HSESC2 RTS RTS CTS CTS HSESC1 24V HSESC1 24V SHELL F G SHELL ojlo NI D O AVN Fig HPB E002 001
26. ed to pins 1 to 8 on the supplied 15 pin D sub connector are no higher than 30V DC and 1A Pins 1 and 14 and pins 2 and 15 on the supplied 15 pin D sub connector are shorted prior to shipment When connecting the HPB D contacts to the external emergency stop circuit change the wiring as shown in the above diagram to short pins 14 and 15 together Never attempt to extend the shorting wire between pins 14 and 15 Doing so might cause noise in the wiring that interferes with HPB D or controller operation and causes faulty operation This wiring should be kept short 1 About the HPB O SD memory card SD memory cards required format FAT12 16 are not available as accessory or optional items and must be provided by the customer For SD memory card handling information see Chapter 4 Using SD Memory Cards SD memory card ddH 94 1NoqV SD memory card Ez ue E w Insertion direction CARD Fig HPB E003 001 AN CAUTION The recommended SD memory card size is up to 32MB Using a card size of 64MB or more during format on Windows sometimes causes FAT32 to appear as the preset value However the HPB cannot use FAT32 so always select FAT at this time The maximum size of the controller data file backed up on the SD memory card is 328KB The data file size is generally about 64KB so up to 512 files can be stored on a 32MB memory card 1 5 m MEMO Connecting and Disconnecting the HP
27. g sound fails to occur when HPB is connected and nothing displays on the LCD screen Probable Cause 1 The 9 25pin conversion adapter is not being used 2 The HPB connection cable has been extended using a commercially available communication cable 3 The HPB connection cable is defective Corrective Action e Use the 9 25pin conversion adapter e Connect the HPB directly to the controller do not use a commercially available communication cable e Replace the HPB e If there is an open circuit in the cable contact our sales office or representative Robot fails to stop when Emergency Stop button is pressed 1 The 9 25pin conversion adapter is not being used 2 The HPB connection cable has been extended using a commercially available communication cable 3 The HPB connection cable is defective e Use the 9 25pin conversion adapter e Connect the HPB directly to the controller do not use a commercially available communication cable e Replace the HPB If there is an open circuit in the cable contact our sales office or representative SuNooysajqnoA 6 1 m MEMO nn 62 zZ Specifications 7 1 HPB specifications Item Specification Basic specifications Outer dimensions W107 x H230 x D53mm not including strap holder and emergency stop button Weight 6509 Power consumption 5V 200mA or less Power supply DC 12V supplied from c
28. he HPB Step Verify that the initial menu screen displays Initial menu screen MENU select menu MED TMOPRTHSYS MON Fig HPB E004 003 dH 24 Sup uuovs q pue 3uno9uuo 29 2 Connecting and Disconnecting the HPB a lt v lt a lo lt O Q lt lt o Q A a S a lo S Q eP S Q Ze 24 2 1 2 Disconnecting from the ERCD controller The HPB can be disconnected regardless of whether the ERCD controller power is ON or OFF Disconnect the HPB from the ERCD controller HPB disconnection from ERCD PWR G ERR R vo va He u Ae na He Se e ae S i 99 Wa a 3 ES Crm E HF He HE a Es RA e PB connector Fig HPB E004 002 CAUTION i A If the HPB is disconnected from the ERCD controller when the controller power is ON an emergency stop and a robot servo OFF status occurs If the HPB is disconnected from the ERCD controller while a program or I O dedicated command is being executed the command execution is aborted and robot operation is stopped 2 Connecting and Disconnecting the HPB 2 2 Connecting to disconnecting from the ERCX controller The HPB can be connected to or disconnected from an ERCX controller regardless of whether the controller s power is ON or OFF 2 2 1 Connecting to the ERCX controller AN CAUTION Do not use a modified
29. ins when connecting and disconnecting the HPB Connecting the HPB 0 gt HPB connector Fig HPB E006 001 With the 9 25pin conversion adapter attached to the HPB connection cable plug the adapter in at an angle as shown above so that it is plugged into connector s bottom side first ddH 24 Sun gt 3uuo9s q pue 3uno9uuo Disconnecting the HPB lt HPB connector Fig HPB E006 002 With the 9 25pin conversion adapter attached to the HPB connection cable unplug the adapter at an angle as shown above so that it is unplugged from the connector s top side first CAUTION A Connect disconnect the HPB carefully to avoid deforming the connector pins of the 9 25pin conversion adapter 29 m 2 Connecting and Disconnecting the HPB 2 3 Connecting to disconnecting from other controllers The HPB can be connected to or disconnected from a controller SRCX DRCX etc other than an ERCD or ERCX controller regardless of whether the controller s power is ON or OFF An example of the HPB connection disconnection method versus an SRCX controller is explained below 2 3 1 Connecting to the SRCX controller CAUTION A Do not use a modified HPB connection cable or any relay device other than the accessory 9 25pin conversion adapter to connect the HPB to an controller as th
30. is can result in communication errors and equipment failure An poor connection or an incorrect connector insertion can result in equipment failure and malfunctions Be sure that the cable is properly connected When connecting or disconnecting the HPB connection cable from the robot controller always grip the connector body itself When removing the connector from the robot controller pull it straight out so as not to bend the connector pins When attaching the HPB connection cable to the robot controller make sure that both connectors are aligned with each other E When controller power is OFF step Y Connect the HPB to the SRCX controller Attach the 9 25pin conversion adapter to the HPB connection cable then plug the cable into the TPB connector at the front panel of the controller Secure by tightening the two screws on both sides of the adapter a lt Vv lt lo lt Q Q lt lt o Q A a Ss a lo S Q eP S lt o Q 10 HPB connection to SRCX ig SRC a Om esc ey 9 25pin conversion adapter TPB connector SHORT AC100V OPEN AC200V Fig HPB E007 001 Step Turn the controller power ON A buzzer sounds for approximately 1 second then the initial menu screen displays 2 Connecting and Disconnecting the HPB Step3 Verify that the initial menu screen displays Initial menu screen MENU select menu BED I TMOPRTESYS Amon Fig HPB
31. ither delete unnecessary files or insert a new SD memory card then repeat the directory creation operation e If the SD memory card was ejected during a save SAVE directory creation MKDIR or file sub directory deletion DEL operation the file system will be destroyed Therefore perform a chkdsk f operation without delay from the command prompt of a Windows personal computer access denied The following items cannot be deleted the sub directories themselves lt gt directories which contain data system files directories hidden files directories read only files directories e Delete all the files in a sub directory before deleting DEL that sub directory e Use a Windows personal computer to check the memory card for the presence of files and directories then change the system hidden or read only attribute name already exist wejy pue 10413 e Specify another file at the loading LOAD operation e Specify another data type at the loading LOAD operation Change the access level MEMO m 54 Troubleshooting The corrective actions for HPB problems are explained in this chapter 6 1 Problems and corrective actions When an HPB problem occurs take the appropriate corrective action with reference to the table below If the problem persists after the corrective action has been taken contact without delay our sales office or sales representative No 4 Problem A beepin
32. mental Information The controller version is not indicated in newly created data created by using the POPCOM support software which is loaded to a controller by way of an SD memory card and the file types are as shown in the table below Data compatibility table 2 Controller type File s 1st line TRCX 2 axes TRCX 3 axes TRCX 4 axes YN YN o x x o ae pe cc cc EIE sp e Arowaw AS 3u sN A marks indicate that PGM program data and PNT point data can be loaded When attempting to load PRM parameter data and ALL program point and parameter data a warning displays with a message requesting loading confirmation Ex When SRC is indicated at the file s 1st line y PGM program data and PNT point data can be loaded to SRC SRCH SRCX SRCP SRCD ERCD SR1 X and SR1 P controllers When attempting to load PRM parameter data and ALL program point and parameter data a warning displays with a message requesting loading confirmation CAUTION A If incorrect robot data is loaded to the robot controller this may impair robot controller performance and may also cause failures or malfunctions or errors so use caution 4 m 4 Using SD Memory Cards Using SD Memory Cards Y 46 4 2 Saving controller data to an SD memory card step Y Insert an SD memory card in the HPB Step Press F3
33. n 4 6 Dis playing SD memory card file content This controller type and version can also be checked by using the text editor on a personal computer VIEW screen Controller type amp version this example indicates SRC 13 60 BHEXBASCI Fig HPB E013 001 Data compatibility table 1 Controller type TRCX 2axes TRCX 3 axes TRCX 4 axes Using SD Memory Cards TRCH 3 axes TRCH 4 axes SRC 1 nn SRC 2 nn SRC 4 nn SRC 3 nn DRC 5 nn DRC 6 nn DRC 7 nn DRC 8 nn TRC3 9 nn TRCA 9 nn SRC 13 nn DRC 18 nn TRC2 19 nn TRC3 19 nn TRC4 19 nn SRC 24 nn SRC 24 nnB SRC 33 nn SRC 53 nn SRC 54 nn Other marks indicate that PGM program data PNT point data PRM parameter data ALL program point and parameter data can all be loaded A marks indicate that only PGM program data and PNT point data can be loaded PRM parameter data and ALL program point and parameter data cannot be loaded 4 4 Using SD Memory Cards Ex When SRC 24 60 is indicated at the file s 1st line y PGM program data PNT point data PRM parameter data ALL program point and param eter data can all be loaded to the SRCP controller Only PGM program data and PNT point data can be loaded to SRC SRCH SRCX SRCD ERCD SR1 X and SR1 P controllers Supple
34. ng SD Memory Cards 4 1 2 Inserting and ejecting an SD memory card A PUSH PUSH type with breakage prevention mechanism for excessive force ejection is used for SD memory card insertion and ejection E Inserting the card step Insert the SD memory card into the SD memory card slot connector Inserting the SD memory card 1 SD memory card 8 a i Insertion direction MEMORY CARD STOP Er Fe 2 3 4 Fig HPB E012 001 step Push the SD memory card in until a clicking sound is heard then release it Inserting the SD memory card 2 Fig HPB E012 002 Fig HPB E012 003 AN CAUTION Use care to avoid inserting the SD memory card in a reversed posture 4 Using SD Memory Cards E Ejecting the card step Y Push the SD memory card in until a clicking sound is heard then release it SD memory card ejection 1 Fig HPB E012 003 Fig HPB E012 002 step Remove the SD memory card from the SD memory card slot connector SD memory card ejection 2 sp Arowaw AS SuN SD memory card 8 rad Ejection direction MEMORY CARD Fig HPB E012 004 43 m 4 Using SD Memory Cards 4 1 3 Loading backup data Backed up data can be loaded to other compatible controller types Compatibility is indicated by the controller type and version information on the file s first line For details concerning the controller type and version checking procedure see sectio
35. ng from the SRCX controller The HPB can be disconnected regardless of whether the SRCX controller power is ON or OFF After loosening the 9 25pin conversion adapter screws disconnect the 9 25pin conversion adapter and HPB from the SRCX controller To disconnect the HPB while a program or an I O dedicated command is being executed press the ESC switch on the controller s front panel while disconnect ing the 9 25pin conversion adapter and the HPB When leaving the HPB disconnected from the SRCX controller for extended periods the accessory RS 232C dust cover should be attached to the SRCX connector area Disconnecting the HPB from the SRCX PWR ERR 6 R ESC 9 25pin O conversion adapter TPB connector dH 24 Sun gt 3uuo9s q pue 3uno9uuo 100 200V 200 230V 50 60Hz MAX 1000VA SHORT AC100V OPEN AC200V Fig HPB E007 002 CAUTION 220711010100 A If a program or I O dedicated command is in progress disconnecting the HPB without pressing the ESC switch at the controller s front panel will result in an emergency stop and the robot servo may switch OFF 213 MEMO 14 Basic Operations 3 1 HPB control keys The HPB control keys are divided into 2 main groups as shown below HPB control key layout 1 Function keys suone1ado gt seg 2 Data entry operation keys Fig HPB E008 001 The key functions are described below 1 Function keys HPB Keys TPB
36. o unaffected by disconnecting the HPB After loosening the 9 25pin conver sion adapter screws disconnect the 9 25pin conversion adapter and HPB from the ERCX control ler When leaving the HPB disconnected from the ERCX controller for extended periods the accessory RS 232C dust cover should be attached to the ERCX connector area HPB disconnection from ERCX TPB connector a lt v lt pm lo lt O Vv S lt o Q A a lt a lo S Q eP S lt o Q T 28 Fig HPB E005 002 2 Connecting and Disconnecting the HPB 2 2 3 Servo OFF when connecting and disconnecting the HPB The SRCX DRCX etc controllers have an ESC switch used to connect and disconnect the HPB to and from the controller on their front panels The ERCD and ERCX do not have this switch Because of this the robot servo may turn OFF when the HPB is connected to or disconnected from the controller The status LED that is lit in green changes to green red blinking If this happens perform the servo recovery according to the menu that automatically appears in running automatic operation or execute the servo recovery command SERVO through the I O port This allows the robot to restart the normal operation If a problem occurs in the system when the servo is turned off try connecting and disconnecting the HPB as illustrated below This will prevent the robot servo being turned OFF Pay attention not to deform the connector p
37. ode screen s ra CHG key was pressed to select the program changing mode The desired value can then be entered at the cursor _ position ISTEP 100 PGM No program No oF 9119 Indicates the input range Fig HPB E010 004 step Enter the desired program No Use the number keys to enter the desired program No then press the 9 key to select that program an Ll n NOTE g Press the esc key to return to the previous screen or to return to the next higher hierarchy level suone1ado gt seg 3 5 m 3 Basic Operations 3 4 Hierarchical menu structure HPB operations are performed by making selections from a hierarchical menu system The HPB menu hierarchy structure is shown below INFORMATION System information PGM Program edit DEL Step delete MOD Step edit ES INS Step insert CHG Program change CHG Point change Manual data input PLT Pallet No switching CHG Point change SPD Speed change wn en Gabe edit TCH S_SET Speed set e 9 Teaching playback DO General purpose output control TRC Point trace PLT Pallet No switching D DTCH Direct teaching CHG Point change o DEL Delete DO General purpose output control oO BRK Brake S PLT Pallet No switching T UTL COPY Program copy fe Utility DEL Program delete a a y LIST Program list ALL All axes ORG X X axis Y E
38. ontroller Cable length 3 5m External inputs outputs Interface RS 232C 1CH dedicated for communication with controller Display Operation keys Monochrome LCD 20 chars x 4 lines Membrane sheet keys Emergency Stop button Normally closed contact with lock function Auxiliary memory device SD memory card FAT 12 16 format General specifications Ambient operating temperature 0 to 40 C Ambient storage temperature 10 to 65 C Ambient operating humidity Noise immunity 35 to 85 RH no condensation Conforms to IEC61000 4 4 level 2 Others Compatible controllers Compatible with all controllers where TPB use is possible suonesiyioads 7 1 m Units mm HPB TEACHING BOX 2 El IEEE BIHHHH s Je Jfe IL ie e JfedfsA 1 miie Dimensions Dimensional outlines 7 2 7 Specifications a suo eo ads 7 2 MEMO Revision record Manual version Issue date Description Ver 1 00 Jun 2005 English manual Ver 1 00 is based on Japanese manual Ver 1 00 Ver 1 01 Oct 2005 English manual Ver 1 01 is based on Japanese manual Ver 1 01 Ver 1 02 Feb 2006 English manual Ver 1 02 is based on Japanese manual Ver 1 02 Ver 1 03 Jul 2007 English manual Ver 1 03 is based on Japanese manual Ver 1 03 Ver 1 04 Oct 2007 English manual Ver 1 04
39. or loading File name Is File name Fig HPB E015 009 11 4 Using SD Memory Cards step7 Specify the data to be loaded CARD LOAD e To load program data press r PGM select menu e To load point data press PNT e To load parameter data press ra PRM BPGM BAPNT GPRM BALL Fig HPB E015 010 e To load all data program point parameter press Fa ALL 8 Check the onscreen message Stop 5 CARD LOAD e An overwrite confirmation message displays only if program data Ft PGM or Fe PNT was selected at Step over write La yes Hno e Press r yes to retain program and point data Fig HPB E015 011 which is not redundant e Press F2 no to initialize all controller data and then load the new data e If ra ALL was selected at Step 7 the controller s program and point data is initialized and a load confirmation message displays Step Press r yes to load the data Press F2 no to abort the data loading operation CARD LOAD program data Using SD Memory Cards load OK Byes Hno Fig HPB E015 012 A loading message displays while the data is being loaded and a load complete message displays when loading is completed CARD LOAD loading Fig HPB E015 013 CARD LOAD load complete Fig HPB E015 014
40. press the amp key yes to create the directory no If the directory creation is completed without error To abort the data save operation press F2 the system returns to the Step 6 screen AN CAUTION 4 Using SD Memory Cards CARD L IST ABCDEFGHI JKLMNOPQRST Mkeyin Fig HPB E016 009 CARD LIST 050601 1 BAK ABCDEFGHI JKLMNOPQRST Mkeyin Fig HPB E016 010 spe Arowaw AS SuN CARD LIST 050601 1 2005 06 01 BAK 00 00 00 Fig HPB E016 011 CARD LIST create Ano My es Fig HPB E016 012 A directory name which already exists in the same directory cannot be assigned as the name of the directory being created NOTE ne A directory hierarchy level down to level 8 Lv to Lv8 can be selected as the directory creation level 415 4 Using SD Memory Cards 4 5 Deleting files and directories from the SD memory card step Y Insert an SD memory card in the HPB Step Press SYS on the initial menu screen img yy The SYS system mode screen appears select menu MED TMOPRTHSYS Emon Fig HPB E017 001 steps Press r2 B UP SYS The screen changes to the data backup mode select menu BPRM As UP INITHnext Fig HPB E017 002 Step Press F1 CARD SYS B UP The screen changes to the memory card mode select menu McArRDAFROM Using SD Memory Cards Y
41. rating device SPD Speed limitation RUN Step Run Auto run limitation UTL HtoR Hold to Run setting Utility HDPR Hidden parameter display L ALM Alarm REC Record ERR Error MON DIO Monitor DIO monitor RUN Monitor start DUN monitor STOP Monitor stop RSLT Result display Fig HPB E011 001 The menu hierarchy structure varies according to the controller model and version being used Using SD Memory Cards SD memory cards can be used at the HPB to back up controller data 4 1 Before using an SD memory card 4 1 1 Supported SD memory card type Only SD memory cards with a FAT12 16 format can be used These cards are provided by the customer The HPB does not offer the following functions with regard SD memory cards e Volume label display amp setting function Attribute change function Format function A personal computer must be used to format an SD memory card and for changing attributes CAUTION A The recommended SD memory card size is up to 32MB Using a card size of 64MB or more during format on Windows sometimes causes FAT32 to appear as the preset value However the HPB cannot use FAT32 so always select FAT at this time The maximum size of the controller data file backed up on the SD memory card is 328KB The data file size is generally about 64KB so up to 512 files can be stored on a 32MB memory card sp Arowaw AS SuN 4 1 Mn 4 Using SD Memory Cards Usi
42. ration or if the SD memory card is ejected at that time the file will be destroyed HPB performs file management by the FAT format used on Windows personal computers Therefore non contiguous file conditions occur after repeated saves and deletions possibly reducing the file access speed If this occurs back up all files to a Windows personal computer then copy only the required files Xp NOTE Data is saved in an ASCII format and it can therefore be used in the POPCOM support software spe Arowaw AS SuN 49 m 4 Using SD Memory Cards 4 3 Loading SD memory card data to the controller step Insert an SD memory card in the HPB Step Press F3 SYS on the initial menu screen The SYS system mode screen appears Step Press F2 Step Press F1 Using SD Memory Cards Y stepD Press F2 B UP The screen changes to the data backup mode CARD The screen changes to the memory card mode LOAD step Specify the file to be loaded e Specifying a file in the root directory Use the up down AD the file to be loaded then press F1 410 cursor keys to display SEL or 9 ME NU select menu MED TMOPRTBSYS Emon Fig HPB E015 001 SYS select menu BPRM BB UP INIiTHnext Fig HPB E015 002 SYS B UP select menu ECARDEFROM Fig HPB E015 003 SYS B UP C
43. sscesessivcesstacesesaosesessevecceaceesssu essa scevestessceseevevnecsasevecdesessete 1 2 Connecting and Disconnecting the HPB 2 1 Connecting to disconnecting from the ERCD controller ouooonnonionoonononanonncononononononaronos 2 1 2 1 1 Connecting to the ERCD controller cssssssssssessseesscsseseseseeeseseeeeees 2 1 2 Disconnecting from the ERCD controller Connecting to disconnecting from the ERCX controller oooonononnoninonnoninonanonnonacnanonaconaconos 2 2 1 Connecting to the ERCX controller oocoonnmonoomosssmmms 2 2 2 Disconnecting from the ERCX controller sussussussessesnssnssnssnsnnsnnsnnsnssnsnnsnnsnnsnnsnsnnssussussnssnnnnsnnne 2 2 3 Servo OFF when connecting and disconnecting the HPB Connecting to disconnecting from other Controllers oocooononnonioonociononnonanonanonnonanonconanona 2 3 1 Connecting to the SRCX controller cscsscssessessessssssscssssssessssscssssssessssesssssessessessessssesceseasees 2 3 2 Disconnecting from the SRCX controller cscsssssssssscsscsscescesssseessscssssssssessesssssssessesseseeseeees Basic Operations 3 1 HPB control keyS escccsscssoccsssessccesesesssrscsssssssesssscsesssescescsesseusseesscssosssesssessssssessnssosssesseeses 3 1 HPB and TPB key layout differences 20220000000000000000000000000000nnnnnennnnnsnnsnnnnnnsennnsnnenssnnnnsnnne 3 3 Basic key operation ursuesonssonssersonsnnssanenenn
44. ter then copy only the required files speg Arowaw AS SuN 17 4 Using SD Memory Cards 4 6 Displaying SD memory card file content Using SD Memory Cards Y Step f Insert an SD memory card in the HPB Step Press SYS on the initial menu screen The SYS system mode screen appears Step Press r2 B UP The screen changes to the data backup mode Step Press r CARD The screen changes to the memory card mode stepD Press rs LIST step Specify the file with the content to be displayed Use the cursor keys POD to display the file name then press VIEW to display its content 18 MENU select menu BED TMOPRTBSYS Emon Fig HPB E018 001 SYS select menu BPRM BB UP INIiTHnext Fig HPB E018 002 SYS B UP select menu ECARDEFROM Fig HPB E018 003 SYS B UP CARD select menu BSAVEMLOADKL IST Fig HPB E018 004 1 File names are enclosed in quotation marks 2 Indicates the date and time no secs display 3 Indicates the file size in Kbyte units Fig HPB E018 005 4 Using SD Memory Cards step Display the file content 1 2 The file content displays in ASCII code O O AE Y For a hexadecimal display press HEX we an J Al el MINE ra To switch from a hexadecimal display to an ASCII gi i PR 0 display press r2 ASCII BHEX JASC
45. tered value 3 2 HPB and TPB key layout differences The main differences between the HPB and TPB key layout and key functions are shown below HPB and TPB key layout differences No CHG key on HPB Cursor keys suone1ado diseg The HPB has dedicated cursor keys 5 and keys are da UP DOWN keys on the HPB JOG key e The HPB has JOG keys for each axis Fig HPB E009 001 AN CAUTION The JOG key plus minus direction layout on the HPB is the reverse of that on the TPB Use care to avoid specifying the wrong direction 3 3 m 3 Basic Operations 3 3 Basic key operation HPB operations are selected from a hierarchical menu system To display a menu item press the corresponding function key The number keys and the amp key are used to enter numerical values The following steps describe a basic HPB operation showing how to select a robot operation program from the initial menu step Y Verify that the initial menu screen displays The initial menu screen has a MENU title at the top line with the 4 modes displayed for selection on the bottom line MENU select menu MEDI TAOPRTASYs Amon Fig HPB E010 001 E COC E CC S MED T Editing E F2 F3 Fa 5 BOPRT Operation erro qerceesceeceecceeceet SYS System Selectable menus i i modes and corresponding E MON Monitor function keys 17 iy ca EA
46. y Manual data input For direct point data inputs using the HPB number Programming and Manually moves the robot to any desired position and data editing registers that position as the point data setting Basically identical to the teaching playback function e Direct teaching but permits the robot to be moved by hand during an emergency stop status Track Moves the robot in accordance with the registered position data point data Return to origin Returns the robot to its origin position Robot operation Step operation Performs program operation one step at a time Aut ti ti Performs automatic operation in accordance with the utomatic operation program This HPB f Emergency stop button ee button is used to perform robot emergency Safety functions sadi A ENE 7 Ferse sed to enhance safety when working in the robot s Data backup Saves the controller data e Save to IC memory card Saves the controller data to an IC memory card Data backup functions Error ndalanndiepi Displays the content of an error or malfunction or angaia Splay Also displays a history of past errors and alarms Display functions Duty monitor Others DIO monitor System information display 1 1 m 1 About the HPB 1 2 Part names and functions 2a As lt Q lt p lao 2 lt 1 2 AA HPB unit Emergency Stop button Performs a robot emergency stop when pressed during robot operation Rele
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