Yaskawa SRCI cannot run without the right settings and paremeters. They are listed here.
Variable names might vary between the SRCI client libraries of the different vendors. On this page, the variable names are based on the Siemens SRCI client library (SRL).
Library settings
There are a couple of very important settings:
Without these settings, the Yaskawa SRCI app cannot run.
// important settings !
UserData.Config.RC.DelayTime := 0;
UserData.Config.RC.WaitForNrOfCmd := 1;
UserData.Config.RC.WaitAtBlendingZone = FALSE;
Besided that, there are some recommended settings:
UserData.Config.PLC.LifeSignTimeOut := 150;
UserData.Config.RC.LifeSignTimeOut := 150;
UserData.Config.PLC.ActivateTwoSequences := TRUE;
Sync settings
SRCI’s advanced synchronization mechanism can be a bit overwhelming at first. Therefore we recommend to disable all sync topics for your first SRCI trials:
UserData.Config.PLC.EnableSync.Tool := FALSE;
UserData.Config.PLC.EnableSync.Frame := FALSE;
UserData.Config.PLC.EnableSync.Load := FALSE;
UserData.Config.PLC.EnableSync.WorkAreas := FALSE;
UserData.Config.PLC.EnableSync.SwLimits := FALSE;
UserData.Config.PLC.EnableSync.DefaultDynamics := FALSE;
UserData.Config.PLC.EnableSync.ReferenceDynamics := FALSE;
In a later stage (and after studying the library vendor’s documentation on this matter) you can configure and enable the desired sync topics.
Parameter values
Acc/dec
Yaskawa only supports acceleration and deceleration settings in the range from
20% to 100%*.
Motion commands with an acceleration and/or deceleration setting below 20%
cannot run.
* Some manipulators (e.g. SCARA) might allow a range up to 130%.
Check your manipulator documentation for more details.