YASKAWA YRC1000micro Instructions Manual

Also see for YRC1000micro: Instructions Collaborative Operation Instructions Instructions Instructions Instructions

Contents

YASKAWA YRC1000micro Instructions Manual Manual pdf 19 page image

1 Outline1.6 Notes1-9HW1484528HW14845281.6 NotesNOTE• C language memory operationWhen programming in C language, the pointer variablewhich stores the memory address can be used. If thepointer variable is set incorrectly, the system memory areamay be rewritten.If the system memory area is rewritten, critical problemsoccur, e.g., the software hangs up (the hang-up status isdetected by a CPU exception or the watchdog check func-tion, then the servo power turns OFF and the systemshuts down), the robot stops its operation due to an alarm,or the programming pendant becomes inoperable.If the system memory operation is incorrect, the applica-tion itself may not operate as it is designed. Thus, by test-ing adequately, the error location can be found. Check thefunctions of the application software well enough, andmake sure that all functions operate as designed.• Task “mpUsrRoot” which starts when the power is turned ONThe task “mpUsrRoot” has a high priority to start other applica-tion tasks and initialize the entire application quickly. Due to itshigh task priority, if a time-consuming process (100 microsec-onds or longer) is done in this task, the processing time for therobot control becomes insufficient. Then the system alarmmay occur or the programming pendant or the HOLD buttonmay freeze. Thus, as the sample program (refer to“Chap.17.3 Task Control Sample Program” in “YRC1000microOPTIONS INSTRUCTIONS Programmer’s Manual For NewLanguage Environment MotoPlus (HW1484526)”, make sureto complete the task “mpUsrRoot” after starting up anotherapplication or creating a semaphore.• Debugging via Telnet1. After completing debugging, set the Telnet function toINVALID (S2C1119 = 0). This is because the Telnetfunction consumes the system processing time, and analarm may occur due to insufficient processing time forrobot operation.2. With the Telnet function, debug only the tasks withnormal priority. For debugging the tasks with highpriority (the tasks started with the task priority:MP_PRI_IO_CLK_TAKE, MP_PRI_IP_CLK_TAKE, orMP_TIME_CRITICAL, or the task “mpUsrRoot”), use thevariables of the YRC1000micro. This is because, ifprintf() or puts() is done with a high priority task, theprocessing time for the robot operation control isconsumed, and a system alarm may occur due toinsufficient processing time.3. After completing debugging, make sure to clear thedebugging code using printf() or puts() which isdescribed in the source code. This is because theprocessing time of printf() and puts() influences thesystem, and an error may occur such as insufficientprocessing time during robot operation.4. When using the SHELL debugging function of thecontroller OS which becomes available by connectingwith the YRC1000micro via Telnet, a system alarm mayoccur due to insufficient processing time for robotoperation. Do NOT use the SHELL debugging function.19/77