取扱説明書
Contents
1. VT_BSTR VT_BSTR SRVO n nl 0 1 X 2 Y 1 DRCX 2 3 0 1 n 0 1 X 2 Y 1 DRCX 2 2 4 SR1 ORiN2 ORiN DENSO WAVE Inc YAMAHA SR1 15 ORiN22. XINC Dim aaa As Object Set caoCtrl AddRobot AAA Execute XINC 4 JOG 3 2 8 CaoRobot Execute XDEC X PRM201JOG C XDEC Dim aaa As Object ORiN DENSO WAVE Inc YAMAHA SR1 24 Set Execute X JOG 3 2 9 DRCX Y PRM201 JOG
3. NativeSend lt bstrNativeText gt lt bstrNativeText gt VT_BSTR caoCtrl Execute NativeSend 0 2 2ALM 0 2 3 1 8 CaoController Execute NativeReceive Telenet NG cr TP NativeReceive VT_BSTR Dim aaa As String caoCtrl Execute NativeReceive DENSO WAVE Inc ORiN YAMAHA SR1 20 3 2 Robot 3 2 CaoRobot Execute
4. DRVD lt vntDRVParam VT_VARIANT VT_ARRAY gt lt vntDRVParam gt in VT_VARIANTIVT_ARRAY L lt vntAxis gt 1 X 2 Y lt vntPosition gt lt VntSpeed gt 1 100 i Dim aaa As Object Set caoCtrl AddRobot Execute DRVD 1 150 55 100 150 55 1006 3 2 12 CaoRobot Execute DRVA DRCX lt vntDRVParam gt lt VntAxis gt 22 DRVA lt vntDRVParam VT_VARIANTIVT_ARRAY gt LX 2 Y lt vVntPointNo gt 0 999 P lt vntSpeed gt 1 100 Dim aaa As
5. 1 DENSO WAVE Inc ORiN YAMAHA SR1 _11 DRCX 2 DRCX 2 2 2 4 Move 2 MOV 2 lt X mm VT_R8 gt lt VT_14 gt VT I4 gt lt VT_14 gt VT 14 gt lt
6. WRITE lt vntPointData VT_BSTR VT_ARRAY gt Px lt gt VT_R8 lt VntPointData gt Dim aaa As Object Set caoCtrl AddRobot AAA Execute WRITE 0 0 00 1 350 00 254 0 277 3 2 23 CaoRobot Execute P 1 1 1 DENSO WAVE Inc Ni ORiN YAMAHA SR1 31 lt vntPointData VT_I41VT_ARRAY gt lt vntPointData gt in 141 lt IBeginPointNo gt VT_14 lt IEndPoint
7. mm 1 Xx PRM12 100 PRM12 deg sec 68 0 Dim aaa As Object Set caoCtrl AddRobot AAA Execute Y PRM12 100 3 2 6 CaoRobot Execute Y DRCX Y mm 1 PRM12 100 PRM12 deg sec Y0 ORiN DENSO WAVE Inc YAMAHA SR1 23 gt Dim aaa As Object Set caoCtrl AddRobot AAA Execute Y Y PRM12 100 3 2 7 CaoRobot Execute XINC PRM201 JOG
8. lt vntACHParam VT_VARIANTIVT_ARRAY gt lt vntACHParam gt in VT_ VARIANTIVT_ARRAY lt vntAxis gt 1X 2 Y lt vntPosition gt 9999 9999 Dim aaa As Object ORiN DENSO WAVE Inc YAMAHA SR1 7 Set caoCtrl AddRobot AAA Execute Array 2 10 Y 10 00 3 2 15 CaoRobot Execute ACHI DRCX lt vntACHParam VT_VARIANT VT_ARRAY gt lt vntACHParam gt in VT_ VARIANTIVT_ARRAY lt vntAxis gt 1 X 2 Y Dim aaa As Object Set caoCtrl AddRobot AAA Execute Array 2 100 100 00 3 2 16 C
9. lt gt lt gt lt gt ORiN DENSO WAVE Imnc YAMAHA SR1 7 YAMAHA 7ERR lt vntErrParam VT_VARIANT gt lt vntBrrParam gt VT_VARIANT lt INo gt VT_I4 lt lCount gt VT_14 VT_BSTRIVT_ARRAY Dim aaa As Variant caoCtrl Execute Array 0 2 2 3 1 3 CaoController Execute PRM lt gt lt gt 1 1
10. 2 7 E_CAOP_NO_LICENSE Ox80100000 SR1 0 8011 SR1 xxxx SR1 9 ORiN 1 DENSO WAVE Inc YAMAHA SR1 16 3 CaoController Execute CaoRobot Execute YAMAHA 3 1 Controller 3 1 CaoController Execute 16 16 17
11. deg sec YINC 0 Dim aaa As Object Set caoCtrl AddRobot AAA aaa Execute YINC Y JOG 3 2 10 CaoRobot Execute YDEC DRCX Y PRM201 JOG deg sec YDEC 5 Dim aaa As Object Set caoCtrl AddRobot Execute YDEC Y JOG ORiN DENSO WAVE Inc YAMAHA SR1 25 3 2 11 CaoRobot Execute DRVD DRCX j
12. NO VT_BSTR 10 17 No 1 No 10 ORiN DENSO WAVE Inc YAMAHA SR1 14 VT_BSTR VT BsTR VT BSTR 3 P lt gt OFF 0 VT_BSTR
13. SR1 SR1 2 AddVariable lt bstrVariableName VT_BSTR gt lt vntOption VT_BSTR gt lt bstrVariableName gt hm VT_BSTR lt bstrOption gt hn Dim As Object Dim bbb As Double Set caoCtrl AddVariable P0S bbb Value 2 2 4 CaoController Execute Execute BSTR VARIANT 3 DENSO WAVE Inc ORiN YAMAHA SR1 10 lt vntRet VT_VARIANT gt Execute lt bstrCmd VT_BSTR gt lt vntParam VT_VARIANT gt lt VntRet gt VT_VARIANT lt bstrCmd gt in VT_BSTR lt vntParam gt VT_VARIANT Dim vRes As Variant vRes caoCtrl Execute SRVO 1
14. 2 2 CaoWorkspace AddController 5523 Conn lt gt 3 User lt gt YAMAHA admin Password lt Timeout lt gt 300 2 2 1 1 Conn Conn Ethernet Conn eth lt IP Address gt lt PortNo gt lt IP Address gt IP 127 0 0 1 192 168 0 1 lt PortNo gt 127 0 0 1 23 192 168 0 1 5010
15. RS232C Conn com lt ComPort gt lt BaudRate gt lt Parity gt lt DataBits gt lt StopBits gt lt ComPort gt 717 2 COM2 lt BaudRate gt 4800 9600 19200 38400 57600 115200 ORiN DENSO WAVE Inc YAMAHA SR1 9 lt ByteSize gt E EVEN lt DataBits gt 7 7bit 8 8bit lt StopBits gt 1 1bit 27 254 2 2 2 CaoController AddRobot CaoController AddRobot BSTR AddRobot CaoRobot AddRobot lt bstrName BSTR gt lt bstrOption BSTR gt lt bstrName gt VT_BSTR lt bstrOption gt hin 2 2 3 CaoController AddVariable CaoController AddVariable
16. YAMAHA SR1 DRCX 2 SR1 3 1 1 1 2 3 ORiN DENSO WAVE Inc YAMAHA SR1 7 2 2 1 SR1 YAMAHA CAO CAO
17. 1 1006 2 Move Dim aaa As Object Set caoCtrl AddRobot AAA 5 Array 20 100 MOVL 20 1006 6 30 50 0 MOVC 30 31 3 50 2 2 8 CaoRobot Execute Execute BSTR VARIANT 3 lt vntRet VT_VARIANT gt Execute lt bstrCmd VT_BSTR gt lt vntParam VT_VARIANT gt lt vntRet gt VCT_ VARIANT lt bstrCmd gt in VT_BSTR lt vntParam gt VT_VARIANT Dim vRes As Variant vRes caoCtrl Execute SRV0 1 ON 2 2 9 CaoVariable get_value ORiN
18. ORG P 20 SRVO On Off 21 X X JOG 1 100 P 21 Xx X JOG 1 100 22 Y Y JOG 1 100 P 22 Y Y JOG 1 100 22 XINC X JOG P 23 XDEC X JOG P 23 YINC Y JOG P 24 YDEC Y JOG P 24 DRVD P 25 DRVA P 25 DRVI 26 ACHA 26 27 P P 27 P P 1 28 P 1
19. DLL Dynamic Link Library SR1 ORiN2SDK 2 1 SR1 CaoProvSR1 11 CaoProv YAMAHA SR1 regsvr32 CaoProvSR1 d regsvr32 u CaoProvSR1 411 ORiN DENSO WAVE Inc YAMAHA SR1 682 22 2 2 1 CaoWorkspace AddController SR1 AddController Ethemet AddController lt bstrCtrIName BSTR gt lt bstrProvName BSTR gt lt bstrPCName BSTR gt lt bstrOption BSTR gt
20. VT_I4 gt lt VT_14 gt lt VT_I4 gt lt VT_14 gt lt VT_I4 gt lt VT_14 gt lt VT 14 gt lt VT_14 gt 1 65025 255 25 MOVD MOVA MOVI MOVL MOVC ORiN DENSO WAVE Inc YAMAHA SR1 12 Move Dim aaa As Object Set caoCtrl AddRobot AAA Move 1 Array 150 5 100 MOVD 150 5mm 1006 aaa Move 2 Array 10 50 MOVA 10 50 3 11 30 MOVI 11 30 Move 7 1 100 MOVM
21. 28 28 MSEL Move P 29 SHFT 29 WRITE P 30 30 31 3 2 1 CaoRobot Execute ORG 58 ORG lt 1 12 gt lt 1 gt in 1 X 2 Y out VT_I4 ORiN DENSO WAVE Inc YAMAHA SR1 21 Dim As Object Dim bbb As Long Set bbb Execute ORG 3 2 2 CaoRobot Execute SRVO On Off lt 1SrvoState gt SRVO lt 1SrvoState VT_I2 gt l
22. P 1 Dim As Object Set caoCtrl AddRobot AAA 10 P 100 Execute P P 99 lt 1 3 2 19 CaoRobot Execute MAT 1 255 3 0 31 E lt vntMatParam VT_I41VT_ARRAY gt lt vntMatParam gt hin VT_I4 1VT_ARRAY ORiN DENSO WAVE Inc YAMAHA SR1 29 L lt IRowCount gt lt 1CoICount gt 15 255 1 255 lt IPalltNo gt 0 31 Dim aaa As Object Set caoCtrl AddRobot AAA Execute MAT Array 5 2 1 5x2 1 3 2 20 CaoRobot Execute MSEL 10 0 31 MSEL lt 1 14 gt
23. 10 2 OROBOIIMOWB NSR 10 202 80CAOBOBOISEXGGUIGS MNO 12 229 Ca0Varlablesqetvalie 12 2 10 CaoVarlgBle BuN walle Eo 13 13 2 13 ER 13 A Ni 14 9 16 3S Controller 16 3 1 1 CaoController Execute ALM 16 3 1 2 CaoController Execute ERR 16 3 1 3 CaoController Execute PRM KK 17 3 1 4 CaoController Execute STP Re 17 3 1 5 CaoController Execute ALMRST 18 3 1 6 CaoController Execute SendControlCode 252 18 3 1 7 CaoController Execute NativeSend IE EER 19 3 1 8 CaoController Execute NativeReceive 19 S32wRoboi NE 20 3 2 1 CaoRobot Execute ORG 20 ORiN DENSO WAVE YAMAHA SR1 5 3 2 2 CaoRobot Execute SRVO Lt 21 32288 Oa0BGOBOMEX6GUIGC 5 NM 21 3 2 4 CaoRobot Execu
24. YAMAHA 2PRM lt vntParamData VT_VARIANT gt lt vntParamData gt in VT_VARIANT lt IBeginPrmNo gt lt IEndPrmNo gt VT_I41VT_ARRAY Dim aaa As Variant 110 114 110 lt 114 3 1 4 25 2STP lt _I4 gt ORiN DENSO WAVE YAMAHA SR1 18 lt 1ProgramNo gt hin VT Dim aaa As Variant caoCtrl 0 0 3 1 5 CaoController Execute AL
25. 2 25 DENSO WAVE Inc YAMAHA SR1 13 2 5 2 6 2 2 10 CaoVariable put value 2 5 4 2 6 2 3 2 3 1 2 5 VER VT BsTR CLOCK VT BsTR 2 3 VT 12 0 VT 12 1 PC 2 1 O em 8 2 3 2 2 6 VT R8 n 0 1 X 2 Y 1 DRCX 2 E
26. NativeReceive A 2 CaoController SR1 SR1 Timeout Appendix A 2 A 3 CaoRobot Execute SR1 SR1 ORG ORG Y DRCX ORiN 1 DENSO WAVE Inc YAMAHA SR1 33 XDEC YINC DRCX YDEC DRCX 2 9 DRVD DRCX IDRVA DRVA RCX IDRVI DRVIODRCX IACHA AcHA DRCX IACHT AcHI DRCX WRITE WRITE PNT 4 CaoRobot Execute SR1 SR1 MOVD MOVA MOVI MOVE MOVL DRCX MOVC DRCX MOVM ORiN 1 DENSO WAVE Inc YAMAHA SR1 34 SHIFT 7SHIFT SRVO 7SRVO DENSO WAVE Inc ORiN
27. ON 2 2 5 CaoRobot AddVariable CaoRobot AddVariable SR1 SR1 2 6 2 2 6 CaoRobot Halt CaoRobot Move Bxecute 2 2 7 CaoRobot Move 1 Move 2 VARIANT Move NED 24 Move lt 1 14 gt lt gt in 2 3 in VT_VARIANTIVT_ARRAY lt 1 gt lt vntParam gt 2 4 2 3 Move 1 MOV
28. 28 17 ALMRST 18 SendControlCode P 18 NativeSend 19 19 3 1 1 CaoController Execute 2ALM 2 gt lt gt YAMAHA 2 2ALM lt vntAlmParam VT_VARIANT gt lt vntAlmParam gt 22 VT_VARIANT alCount gt VT_ 14 55 VT_ BSTRIVT _ARRAY Dim aaa As Variant 1 Array 0 2 2 3 1 2 CaoController Execute ERR
29. lt 1IPalletNo gt VT_I4 Dim aaa As Object Set caoCtrl AddRobot Execute MAT Array 5 2 1 Execute MSEL 1 Move 7 Array 1 100 5x2 1 1 1 1006 3 2 21 CaoRobot Execute SHFT SHFT SHFT lt IPointNo VT 14 gt lt 1PointNo gt in VT_I4 0 999 ORiN DENSO WAVE Imc YAMAHA SR1 30 Dim aaa As Object Set caoCtrl AddRobot Execute SHFT 1 1 3 2 22 CaoRobot Execute WRITE
30. MRST YAMAHA ALMRST gt 72 caoCtrl Execute ALMRST 3 1 6 CaoController Execute SendControlCode 1 YAMAHA SendControlCode lt bytCode VT_UI1 gt lt bytCode gt VT_UI1 0 03 _C ORGXINC XDEC Ox1A 0x02 B 25 caoCtrl Execute SendControlCode amp HO3 7 76 0x03 ORiN DENSO WAVE Inc YAMAHA SR1 19 3 1 7 CaoController Execute NativeSend Telenet
31. No gt VT_I4 VT_BSTR IVT_ARRAY 55 PBeginPointNo P 1EndPointNo Dim aaa As Object Set caoCtrl AddRobot AAA 15 24 15 24 3 2 24 0 31 2MAT lt IMatNo VT_1I4 gt lt 1MatNo gt in 4 out VT_I41VT_ARRAY VT I4 Dim aaa As Object Set caoCtrl AddRobot 1 1 ORiN DENSO WAVE Imc YAMAHA SR1 32 A SRI1IDRCX Appendix A 1 1 CaoController Execute SR1 SR1 ALMRST SendControlCode
32. Object ORiN DENSO WAVE Inc YAMAHA SR1 26 Set caoCtrl AddRobot Execute DRVA 1 123 100 X 123 100 3 2 13 CaoRobot Execute DRVI DRCX DRVI lt vntDRVParam VT_VARIANTIVT_ARRAY gt lt vntDRVParam gt in VT_VARIANTIVT_ARRAY lt vntPointNo gt 0 999 P lt vntSpeed gt 1 100 Dim aaa As Object Set caoCtrl AddRobot AAA Execute DRVI 2 150 55 100 Y 123 100 3 2 14 DRCX
33. YAMAHA SR1 1 YAMAHA SR1 Version 1 0 0 October 31 2012 ORiN DENSO WAVE Inc YAMAHA SR1 2 2012 10 31 ORiN DENSO WAVE Inc YAMAHA SR1 29 ORiN DENSO WAVE Inc YAMAHA SR1 4 EL 6 RR RR 6 7 OS 7 2 RS 8 2 2 1 CaoWorkspace AddController 8 RE SN 8 2 2 2 EE 9 2 2 3 CaoController AddVariable 9 2 2 4 CaoController Execute 9 2 2 5 10 2226
34. aoRobot Execute P P 0 999 OFF 0 P lt 14 gt lt 1PNo gt in VT_I4 0 999 Dim aaa As Object Set caoCtrl AddRobot Execute P 100 P 100 ORiN DENSO WAVE Inc YAMAHA SR1 28 3 2 17 CaoRobot Execute P P 1 P 0 gt Dim As Object Set caoCtrl AddRobot AAA 10 P 100 Execute P P 101 lt 1 3 2 18
35. t 1AxisNo VT_12 gt VT_I2 0 1 lt 1AxisNo gt RL hn 1 2 Y Dim aaa As Object Set caoCtrl AddRobot AAA Execute SRVO 1 ON 3 2 3 CaoRobot Execute X X mm 1 PRM201 100 X 0 PRM201 JOG mmys Dim aaa As Object Set caoCtrl AddRobot AAA X PRM201 100 Execute 8 ORiN DENSO WAVE Inc YAMAHA SR1 22 3 2 4 CaoRobot Execute X X mm 1 PRM201 100 PRM201 JOG mmys Dim aaa As Object Set caoCtrl AddRobot Execute 4 PRM201 100 3 2 5 CaoRobot Execute Y DRCX Y
36. te X 22 3 2 5 CaoRobot Execute Y 2 22 926 a0RODOHEIEXe6UIGC 22 3 2 7 CaoRobot Execute XINC NN 23 3 2 8 Ca0RODOEEXGGUIe XDEG LET 23 3 2 9 CaoRobot Execute YINC 24 3 2 10 CaoRobot Execute YDEC i 24 3 2 11 CaoRobot Execute DRVD 25 3 2 12 CaoRobot Execute DRVA 25 3 2 13 CaoRobot Execute DRVI i 26 3 2 14 CaoRobot Execute ACHA 26 3 2 15 CaoRobot Execute ACHI 27 3 2 16 CaoRobot Execute P 27 3 2 17 CaoRobot Execute P r 28 3 2 18 CaoRobot Execute P uuu 28 3 2 19 CaoRobot Execute MAT 28 3 2 20 CaoRobot Execute MSEL EK 29 3 2 21 CaoRobot Execute SHFT EE 29 3 2 22 CaoRobot Execute WRITE 30 3 2 23 CaoRobot iExecute 2P El EE 30 3 2 24 CaoRobot Execute MAT 31 A SR1 DRCX kk kk 32 NS i 32 Appendix A 2 32 ORiN DENSO WAVE Inc YAMAHA SR1 1
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