Yamaha SRCX Instruction manual
Contents
1. Failure to follow DANGER instruction will result in severe injury or death to the robot operator a bystander or a person inspecting or repairing the robot WARNING ee Failure to follow WARNING instruction could result in severe injury or death to the robot operator a bystander or a person inspecting or repairing the robot CAUTION ee Failure to follow CAUTION instruction may result in injury to the robot operator bystander or a person inspecting or repairing the robot or damage to the robot and or robot controller CHAPTER1 CE marking 1 2 marking This section provides a basic description of how YAMAHA robot series products are compatible with CE marking EE 1 2 1 Safety standards Safety precaution for EC directive applicability The YAMAHA robot series products robots and controllers do not fall within the robot systems category We define the YAMAHA robot series products as equipment to be incorporated built in equipment2. 16 Countermeasures 20 Typical component layout for EMC countermeasures 21 Precautions for Cable Connections 23 SPECIFICATIONS u sun 24 rn ad 25 MEMO CHAPTER 731 CE marking SALIR IIA PPS CHAPTER1 CE marking 1 1 Safety Information To ensure correct and safe use of YAMAHA industrial robots carefully read this supple ment manual and make yourself well acquainted with the contents FOLLOW THE WARNINGS CAUTIONS AND USER S INCLUDED IN THIS SUPPLEMENT MANUAL It is not possible to detail all safety items within the limited space of this supplement manual So it is essential that the user have a full knowledge of basic safety rules and also that the operator makes correct judgments on safety procedures during operation Industrial robots are highly programmable mechanical devices that provide a large de gree of freedom when performing various manipulative tasks Failure to take necessary safety measures or mishandling due to not following the instruction in this supplement manual may result in trouble or damage to the robot and injury to personnel robot op erator or service personnel including fatal accidents Warning information in this supplement manual is shown classified into the following items DANGER
3. Position detection method Resolver with multi turn data backup function Speed setting 100 step setting possible per program step Acceleration deceleration setting Automatically set according to robot type and transportation weight 100 step setting is also possible with acceleration parameter Servo adjustment Handled with parameters special Servo gain current limit etc No of encoder pulses 16384P R Lead length ROM Lead length is selectable during initialization or by parameter setting 256K bytes with CPU incorporated RAM 128K bytes with 64K lithium battery backup 5 year life No of program steps 3000 steps total or less 255 steps program No of programs 100 No of points 1000 points No of multi tasks 4 Origin detection method Origin search by stroke end detection or absolute reset Teaching method MDI coordinate value input teaching playback direct teaching Auxiliary memory unit I O input IC memory is available as TPB option General use 16 points special use 8 points I O output General use 13 points special use 3 points open collector output 0 1A 24V maximum per output Drive power supply External DC24V 10 more than 50mA Brake output Relay output for 24V 300mA brake one channel Emergency stop input Normal closed contact input origin return not required after emergency stop i
4. Emission ISM equipment 3 92 31 EEC EN61000 6 2 Immunity Industrial environment 93 68 EEC 1 YAMAHA robot series products are built in equipment unnecessary to adapt to the machinery directives However YAMAHA robot series products conform to the above standards regarding the required items for basic health and safety 2 The SRCX and DRCX controllers conform to the above directives and related standards However the ERCX controller operates on DC 24V and is therefore excluded from the above directives and related standards 3 YAMAHA robot series products are tested according to the above directives and related standards EMC countermeasures for a single unit of YAMAHA robots are described in Chapter 3 EMC Countermeasures CHAPTER1 CE marking 1 2 2 Robots subject to CE marking The ERCX SRCX DRCX series controller can be used with the following robot series products which are subject to CE marking Robot Type Single axis robot FLIP X series Cartesian type robot XY X series Pick and place type robot YP X series Except some models For more details on model numbers and combinations with peripheral units consult YAMAHA or YAMAHA dealers PP 1 2 3 Safety measures Operating conditions The following description gives major operating conditions for using YAMAHA ro bot series products EMC Electromagnetic compatibility YAMAHA robot series products are products for use in a
5. No of pulses 16384P R Lead length ROM Lead length can be selected during initial processing or by parameter setting custom order 256K bytes with built in CPU RAM 128K bytes with 64K lithium battery backup 5 year life of program steps 3000 steps total or less 255 steps program of programs 100 of points 1000 points of multi tasks 4 Teaching method MDI coordinate value input teaching playback direct teaching Auxiliary memory unit I O input IC memory is available as TPB option General use 16 points special use 8 points I O output General use 13 points special use 3 points open collector output 0 5A 24V max per output External drive power suppl y DC24V 900mA when not using brake Brake output Relay output for 24 300mA brake two channel built in power supply 24V Origin sensor input Connectable to a DC24V B contact senser Emergency stop input Normal closed contact input origin return not required after emergency stop is released Serial interface One RS 232C channel for communication with TPB or general purpose personal computer Network option Ambient temperature CC Link DeviceNet EtherNet 0 to 40 degrees Storage temperature 10 to 65 degrees Ambient humidity 35 to 85 RH with no condensation CE marking See 1 2 1 Safety standards and Chapter 3 EMC Counte
6. YAMAHA YAMAHA MOTOR CO LTD SRCD SRCP YAMAHA ROBOT CONTROLLER ERCX SRCX DRCX CE ki Supporting Supplement Manual SETTE E72 Ver 3 00 INTRODUCTION Thank you for purchasing the YAMAHA ERCX SRCX DRCX series robot controller This supplement manual describes the CE marking for ERCX SRCX DRCX series ro bot controller When shipping the ERCX SRCX DRCX series robot controller to or use it in Europe please be sure to read this manual and follow the instructions for correct operation This supplement manual describes only the items related to the CE marking For basic operations and programming of the robot controller refer to the instruction manual for the robot controller MEMO Chapter Chapter Chapter Chapter 2 dd ek ES e zmura diee 1 Safety Information 2 2 GE MARIO e ton ccr tec Alanna 3 Safety precautions during robot operation 5 Safety precautions during maintenance 5 Precautions for motor overload 5 Warning labels cc Here 6 Operating environment nnne 8 Configuration and Connection 9 Configuration of CE marking controller 10 Connecting the Power Supply
7. into your system and declare that our prod ucts conform to the EC directives only within the scope of that equipment Therefore although CE marking is affixed to any single unit of YAMAHA robot series products this means that use of any single unit of YAMAHA robot series products is not guar anteed to conform to the EC directives When you ship your finished system to or use it in Europe you are required to verify that your system conforms to EC directives Differences between the YAMAHA robot series products robots and controllers and robot systems YAMAHA robot series products robots and controllers are components used to assemble a robot system and therefore do not constitute a robot system This is because YAMAHA robot series products do not include the end effector equipment devices or sensors required for the robot to perform its tasks which are listed in the Robot System definition in Clause 3 2 20 of the EN775 1992 standard Applicable directives and standards The table below shows directives and related standards applied to make YAMAHA robots compatible with the CE marking EC Directives Related Standards Note Machinery directives 98 37 EC EN292 Safety of machinery basic concepts 1 EN1050 Safety of machinery risk assessment Low voltage directi ENE EN60204 1 Safety of machinery electrical 73 23 EEC 2 equipment of machines 93 68 EEC EMC directives 89 336 EEC 55011
8. is detected by software the controller parameters must be set correctly to match the motor type used in the robot which is connected to the controller Prior to shipping the controller parameters are preset to match the robot model to be used When connecting to the robot to the controller check the robot model again If any abnormality is found during operation stop the controller and contact us for corrective action CHAPTER1 CE marking 1 6 Warning labels The following labels are affixed to the SRCX DRCX controller to emphasize what you must do or must not do to ensure safety These warning labels are not affixed to the ERCX To use the YAMAHA robot and controller safely and correctly be sure to observe the caution and instruction on the labels Label warning of Read instruction manual CAUTION Label warning of high temperature N z A RE CAUTION READ INSTRUCTION MANUAL HIGH TEMPERATURE W Label warning of electrical shock CAUTION ELECTRIC HAZARD Label warning of 200V only A AC200V A 2 CAUTION AC200V ONLY T1 T2 DONT CONNECT PO a a a a e A a a A A a a A a a a 1 6 1 Warning labels locations L J e Sa PEE
9. 13 and also Fig 2 6 Power supply and emergency stop circuit block diagram DRCX page 15 When one end of the power supply is grounded connect the grounded side to the N side of the controller power input terminal Be sure to connect the controller s protective conductor terminal to the protec tive conductor on the user side Be sure to connect the robot s protective conductor terminal to the protective conductor of the user s system High temperature warning label Indicates that the area around this waning label is very hot Do not touch any part of this area during operation to prevent burn Electrical shock warning label Indicates that a high voltage is applied to some parts in the controller Never touch the connectors or terminals during operation E AC 200V warning label Indicates that the power supply connected to the controller must be AC 200V 10 CHAPTER1 CE marking 1 7 Operating environment Installation location Install the robot controller indoors at a height of less than 1000 meters above sea level Operating temperature The ambient temperature should be maintained within a range of 0 to 40 C during operation This is the range in which continuous operation of the robot controller is guaranteed according to the initial specifications If the robot controller is installed in a narrow space heat generated from the controller itself and from peripheral equip ment may driv
10. e D D High temperature x warning label e IL 000000 e e e m SRCX controller U e sa 9 o e yon c o o E High temperature 9 9 warning label e e e e DRCX controller OG U SRX E MOTOR gt 1 Electrical shock warning label Read instruction manual label AC 200V warning label Electrical shock warning label Read instruction manual label AC 200V warning label CHAPTER1 CE marking 1 6 2 Meaning of warning labels Read instruction manual label This label indicates that important items you must know are described in the instruc tion manual The followings are particularly important The power fuses in the controller are located on both sides of L N See Fig 2 4 Power supply and emergency stop circuit block diagram SRCX page
11. result in detecting excessive leakage current or damage to internal circuitry If these tests are required please consult your YAMAHA sales office or representative 19 CHAPTER 2 EMC Countermeasures WEE FE SY To conform to EMC directives implement the appropriate EMC countermeasures for your finished product entire system The following description and circuits are typical EMC countermeasures for a single unit of YAMAHA robot just for your reference CHAPTER3 EMC Countermeasures 3 1 TVpical component layout for EMC countermeasures The following countermeasures are typical methods for testing the robot and controller under YAMAHA installation conditions When the robot and controller are used while installed in your system the actual test results may differ depending on installation con ditions a a eR s A a a s a ee e ae A A A A AA 3 1 1 Typical component layout for EMC countermeasures ERCX Single axis robot I O circuit Ferrite core Fig 3 1 EMC countermeasures for ERCX Ps 3 1 2 Typical component layout for EMC countermeasures SRCX o S Single axis robot Lightning surge absorber I O circuit Ferrite core RGU 2 Regenerator Fig 3 2 EMC countermeasures for SRCX 21 CHAPTER3 EMC Countermeasures 3 1 3 Typical component layout for EMC countermeasures DRCX Fig 3 3 shows a typical component layout for EMC countermeasures when the DRCX controlle
12. d on Avoid using quick blow circuit breakers and fuses For the same reason avoid turning the power off and on again repeatedly within an interval of less than 10 seconds This could eventually damage the main circuit elements in the controller CHAPTER2 Configuration and Connection CAUTION ERCX controller only power consumption listed above is for controller only Additional power should be supplied for the mechanical brake and I O control via the I O connector If the current supplied to the controller is insufficient an alarm stop or abnormal operation may occur So carefully select a 24V power supply to match your application needs A 24V power supply with adequate current capacity may help to upgrade robot perform ance For detailed information contact our sales office or dealer Power supply current required by I O connector of ERCX controller Power supply current required by I O control 50mA for emergency stop circuit current capacity for I O drive depends on user application Power supply current required by brake control 300mA for mechanical brake if used EE PS 2 2 2 Connecting the power supply ERCX Use the power plug supplied to connect the power supply to the POWER connector on the ERCX controller Refer
13. e robot controller DANGER ee Before you start wiring work make sure that the power supply for the entire system is turned off Doing wiring work while power is still on can cause electrical shock CHAPTER2 Configuration and Connection 2 2 4 Protective bonding The robot controller is built in to the equipment so it has a protective structure of Class I against electrical shock To prevent electrical shock be sure to ground the protective conductor terminal of the robot controller by connecting it to the protective conductor of the entire system The protective conductor terminal of the robot controller is marked with the symbol shown below D Protective conductor terminal symbol 417 IEC 5019 Ps 2 2 5 Insulation co ordination Insulation co ordination was designed to meet the following conditions Refer to the description of IEC60664 1 standards Overvoltage category II Pollution degree II If the robot or controller is used in environments worse than these levels take proper countermeasures as needed EP 2 2 6 Isolation Resistance and Voltage BreakdownTests Never attempt isolation resistance tests or voltage breakdown tests on the controller Since capacitive grounding is provided between the controller body and OV these tests may
14. e the temperature above the allowable operating temperature range This may result in thermal runaway or malfunction and may lower component per formance along with shortening their useful service life So be sure to install the con troller in locations with a vent having a natural air flow If this proves insufficient provide forced air cooling Operating humidity The ambient humidity of the robot controller should be kept 35 to 85 RH no con densation in order to guarantee continuous operation within the initial specifications Storage temperature The controller should be stored in a location having an ambient temperature range from 10 to 65 C when not being used If the robot controller is stored in a location at high temperatures for extended periods deterioration of the electronic components may occur and the memory backup time may decrease Storage humidity The controller should be stored in a location having an ambient humidity below 9596 RH when not being used If the robot controller is stored in a location with high hu midity for an extended period of time rust may form on the electronic components Vibration and shock Do not apply excessive shocks or constant vibrations to the robot controller Install the robot controller in a location not subject to vibrations Atmosphere gas etc Do not install the robot controller in locations where conductive dust particles hydro gen sulfide gas or sulfurous acid ga
15. ervice personnel can unplug the power cable DANGER Before you start wiring work make sure that the power for the entire system is turned off Doing wiring work while power is still on can cause electrical shocks PEE P Pg 2 2 3 Connecting the power supply SRCX DRCX Connect the power supply to the terminal block on the controller Make the correct con nections to each terminal while referring to the marks printed on the panel Misconnections may lead to serious accidents such as fire The end of each wire must be crimped so that it will not come off the terminal block On the SRCX and DRCX controllers designed for CE marking the power supply must be AC 200V 10 ACIN lt 2 N AC IN 3 Ground 4 NC No connection 5 Ti and for input voltage setting Leave open OOOOO Fig 2 8 Power Supply connections CAUTION ee The SRCX DRCX controllers does not have a power switch Be sure to provide a power supply breaker isolation of the correct specification that will turn power on and off to the entire system including th
16. ion Speed setting 100 step setting possible per program step Axis Control Acceleration deceleration Automatically set according to robot type and transportation weight setting 100 step setting is also possible with acceleration parameter Servo adjustment Handled with parameters special Servo gain current limit etc No of encoder pulses 16384P R Lead length Lead length is selectable during initialization or by parameter setting special function ROM 256K bytes with CPU incorporated RAM 128K bytes with 64K lithium battery backup 5 year life No of program steps 3000 steps total or less 255 steps program No of programs 100 No of points 1000 points No of multi tasks 4 Teaching method MDI coordinate value input teaching playback direct teaching Auxiliary memory unit IC memory is available as TPB option T O input General use 16 points special use 8 points 1 O output General use 13 points special use 3 points open collector output 0 5A 24V maximum per output External drive power supply 24V 600mA when not using brake Brake output Relay output for 24V 300mA brake one channel built in power supply 24V Origin sensor input Connectable to a DC24V B contact sensor Emergency stop input Normal closed contact input origin return not required after emergency stop is released Serial interface One RS 232C channel for comm
17. mergency stop block diagram ERCX 11 CHAPTER2 Configuration and Connection 2 1 3 Controller basic configuration SRCX Fig 2 3 shows the SRCX controller basic block diagram DRIVE Switch CIRCUIT TPB CONTROL ROBOT External circuit AC200V IN ACIN1 L N T1 T2 OPEN User equipment SRCX Fig 2 3 SRCX controller block diagram CHAPTER2 Configuration and Connection 2 1 4 Power supply and emergency stop configuration SRCX Fig 2 4 shows the power supply and emergency stop block diagram for SRCX 24V B 3 6 x2 CONTROL BOARD ye ASSY POSITION BACKUP CIRCUIT ABS BATTERY ROBOT I O Position Data MOTOR DRIVE CIRCUIT AC200V IN gt ACIN1 L POWER CIRCUIT External emergency stop circuit DC5V DC12V ee ser equipmen POWER BOARD assy P SRCX Note 1 This isolation transformer separate secondary power from primary power 3 2 0V line of DC3 6V DC5V DC12V DC15V and DC24V are not connected to the protective earth 3 The contact of RELAY2 is OPEN when TPB is connecting to the controller 3 4 The contact of RELAY3 is CLOSE when the contoroller is in normal operation but turns OPEN when emergency stop or alarm is issued 5 The contact of HELAY5 is OPEN when abnormal voltage occurred Fig 2 4 Power supply and emergency stop block diagram SRCX 13 CHAPTER2 Configuration a
18. n industrial environment Refer to the definition applicable to the EMC directives Under Scope in the first article of the EN61000 6 2 standard In order to ensure your product conforms to EMC directives you must evaluate your finished product entire system and take necessary countermeasures EMC counter measures for single units of YAMAHA robots are listed in Chapter 3 EMC Counter measures on page 20 Installation conditions Since YAMAHA robot series products are built in equipment they have a Class I protective structure against electrical shock The robot and controller must there fore be grounded properly to prevent possible electrical shock For more details refer to 2 2 4 Protective bonding page 19 in this supplement manual and the Robot User s Manual The robot controller case is not designed as an enclosure that conforms to EN60204 1 standard Therefore you must provide appropriate protection against the danger of electrical shock due to inadvertent contact and external environmental problems dust water etc Insulation co ordination is designed to meet the following conditions Refer to the IEC60664 1 standard Overvoltage category II Pollution degree I Take proper countermeasures as needed if the robot or controller is used in envi ronments worse than these levels Explosion proof YAMAHA standard robots and robot controllers are not designed to meet explosion proof specifications Do
19. nd Connection 2 1 5 Controller basic configuration DRCX Fig 2 5 shows the DRCX controller basic block diagram DRIVER BOARD1 ASSY a ie DRIVER BOARD2 CONTROL BOARD External circuit AC200V IN User equipment PTRIEI A A A lt K kA ACIN1 L N T1 T2 OPEN DRCX Fig 2 5 DRCX controller block diagram CHAPTER2 Configuration and Connection 2 1 6 Power supply and emergency stop configuration DRCX Fig 2 6 shows the power supply and emergency stop block diagram for DRCX 24V CONTROL BOARD 2 ASSY BAT 3 6V 2 POSITION BACKUP CIRCUIT AC200V IN ACIN1 L External emergency stop circuit xd DC5V OPEN T2 DC24V User equipment POWER BOARD ASSY x2 DRCX Note 1 This isolation transformer separate secondary power from primary power 3 2 0V line of DC3 6V DC5V DC12V DC15V and DC24V are not connected to the protective earth 3 The contact of RELAY2 is OPEN when TPB is connecting to the controller 3 4 The contact of RELAY3 is CLOSE when the contoroller is in normal operation but turns OPEN when emergency stop or alarm is issued 5 The contact of RELAY5 is OPEN when abnormal voltage occurred Fig 2 6 Power supply and emergency stop block diagram DRCX 15 CHAPTER2 Configuration and Connection 2 2 Connecting the Power Supply 2 2 1 Power supply ERCX controlle
20. not use the robot and controller in environments containing inflammable gas gasoline or solvent Explosions or fire may otherwise result 4 CHAPTER1 CE marking Safety measures for robot Protective measures against electrical shock except robots for ERCX con troller Use the protective ground terminal to ensure safety Refer to the user s for details EE 1 3 Safety precautions during robot operation The robot must be operated by a person who has received Robot Training from YAMAHA or an authorized YAMAHA dealers E During operation of the robot be sure to stay out of the working area of the manipulator Install a safeguard enclosure to keep anyone away from the work ing area or provide a gate interlock using an area sensor that triggers emer gency stop when anyone enters the working area PPP 1 4 Safety precautions during maintenance Never disassemble the robot or controller In cases where you have to replace or repair parts used in the robot or controller first consult with us and follow the user s we provide Before beginning maintenance for the robot or controller be sure to turn off the power to the controller Even after turning off the controller there are some parts in the controller which are still hot or at a high voltage Always wait for at least 5 minutes after the controller is turned off FEE 1 5 Precautions for motor overload Since abnormal operation of the motor such as overload
21. r DriverType Power supply voltage No of phases Frequency Max power consumption DC24V 10 3A SRCX controller Power supply voltage No of phases Frequency Max power consumption AC200V 10 Single phase 50 60Hz 400 VA AC200V 10 Single phase 50 60Hz 600 VA AC200V 10 Single phase 50 60Hz 1000 VA DRCX controller Power supply voltage No of phases Frequency Max power consumption AC200V 10 Single phase 50 60Hz 500 VA or less AC200V 10 Single phase 50 60Hz 700 VA or less AC200V 10 Single phase 50 60Hz 1100 VA or less AC200V 10 Single phase 50 60Hz 700 VA or less AC200V 10 Single phase 50 60Hz 900 VA or less AC200V 10 Single phase 50 60Hz 1300 VA or less AC200V 10 Single phase 50 60Hz 1100 VA or less AC200V 10 Single phase 50 60Hz 1300 VA or less AC200V 10 Single phase 50 60Hz 1600 VA or less CAUTION On the SRCX and DRCX controllers designed for CE marking the power supply must be AC 200V 10 If the power supply voltage drops below the above listed range during operation an alarm circuit triggers so that the controller operation misht return to the initial conditions or come to an alarm stop To avoid such problems from power supply fluctuations a stable power supply with less than 10 fluctuation should be used The controller has a capacitor input type power supply so a large current surge occurs when the power is turne
22. r is used in combination with a YAMAHA cartesian or pick and place type robot Fig 3 4 shows a typical component layout for EMC countermeasures when the DRCX controller is used in combination with two YAMAHA single axis robots Robot series Cartesian P amp P Lightning surge absorber RGU 2 Regenerator Symbol a Ferrite core EMC countermeasures for DRCX and Cartesian or P amp P robot Fig 3 3 EMC countermeasures 1 for DRCX Lightning surge absorber RGU 2 Regenerator O Ferrite core EMC countermeasures for DRCX and single axis robots Fig 3 4 EMC countermeasures 2 for DRCX 22 CHAPTER3 EMC Countermeasures Precautions for Cable Connections Various cables are used to connect the robot controller to peripheral devices Lay out AC cables as separately from low DC cables as possible AC cables Power cable Motor cable Low DC cables TPB cable communication cable O cable Robot I O cable 23 CHAPTER 7 SPECIFICATIONS 4 1 CHAPTER4 SPECIFICATIONS CE marking Ps 4 1 1 ERCX sereis controller Model Specification item ERCX Basic specifi cations Axis control Memory General specification Applicable motor capacitance DC24V 30W or less External dimensions W30 x H250 x D157mm Weight 0 9kg Used power supply voltage No of controllable axes DC24V 10 3A 1 axis Control method AC full digital servo PTP
23. ring to the figure below make correct connections to each terminal Misconnections may lead to serious accidents such as fire The end of each wire must be fastened with a screw so that it will not come off the plug If the controller becomes unstable due to noise use of a ferrite core on the power supply line is recom mended as shown below ERCX 1 2 3 1 24V 2 N OV 3 Grand Wire thicker than 1 25mm Fig 2 7 Power supply connections CAUTION ee ERCX controller does not have a power switch Be sure to provide a power supply breaker isolation of the correct specifications that will turn power on and off to the entire system including the robot controller 17 CHAPTER2 Configuration and Connection CAUTION When connecting the power supply to the ERCX controller the cable length between the ERCX controller and the AC adapter for supplying DC power to the ERCX controller should be less than 10 meters in order to prevent external surge intrusion into the power cable Also take the necessary measures so that no one except s
24. rmeasures A regenerative unit RGU 2 is required when operating robot models specified by YAMAHA or a robot handling a load with large inertia 2 Only for Cartesian robot Note Specifications and external appearance are subject to change without prior notice 27 Supporting Supplement Manual ERCXSRCX DRCX YAMAHA Robot Controller CE ni ark Ing May 2007 Ver 3 00 This manual is based on Ver 3 00 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
25. s are present Such an atmosphere may cause the components to erode CHAPTER Configuration and Connection This chapter explains the configuration of the CE marking controller and the connections to the power supply CHAPTER2 Configuration and Connection 2 1 Configuration of CE marking controller ar 2 1 1 Controller basic configuration ERCX Fig 2 1 shows the ERCX controller basic block diagram Status LED TPB DRIVE CIRCUIT CONTROL BOARD ASSY External circuit DC24V IN POWER 24V N User equipment CIRCUIT SPE EEE Terr ABS BATTERY ERCX Fig 2 1 ERCX controller block diagram CHAPTER2 Configuration and Connection 2 1 2 Power supply and emergency stop configuration ERCX Fig 2 2 shows the power supply and emergency stop block diagram for ERCX ABS POSITION BATTERY BACKUP CIRCUIT Position Data MOTOR DRIVE CIRCUIT DC5V 12V DC24V 2 2 gt DC24V IN MOTOR POWER 24V FUSE POWER External S emergency stop circuit CIRCUIT User equipment ERCX Note 1 0V line of DC3 6V DC5V DC12V and DC24V are not connected to the protective earth 2 The photocoupler is OFF when TPB is connecting to the controller 3X3 The transistor is ON when the controller is in normal operation but turns OFF when emergency stop or alarm is issued Fig 2 2 Power supply and e
26. s released Serial interface One RS 232C channel for communication with TPB or general purpose personal computer Network option Ambient temperature CC Link DeviceNet EtherNet 0 to 40 degrees Storage temperature 10 to 65 degrees Ambient humidity 35 to 85 RH with no condensation CE marking See 1 2 1 Safety standards and Chapter 3 EMC Countermeasures When controlling a brake and I O operations a separate 24V power supply with a necessary capacity must be connected to the I O connectors The robot performance may be enhanced if a 24V power supply with an adequately large capacity is available Please consult us for more details 2 When no brake and I O control are used An additional power supply will be needed to provide power for the brake and I O control Note Specifications and external appearance are subject to change without prior notice 25 CHAPTER4 SPECIFICATIONS 4 1 2 SRCX sereis controller Specification item mode SRCX 05 SRCX 10 SRCX 20 Applicable motor capacitance 200V 100W or less 200V 200W or less 200V 600W or less Basic Max power consumption 600VA 1000VA specifi External dimensions W78 x H250 x D157mm cations Weight 1 5kg Used power supply voltage Single phase AC200V within 10 50 60Hz No of controllable axes 1 axis Control method AC full digital servo PTP Position detection method Resolver with multi turn data backup funct
27. unication with TPB or general purpose personal computer Network option CC Link DeviceNet EtherNet Ambient temperature 0 to 40 degrees General Storage temperature 10 to 65 degrees specification Ambient humidity 35 to 85 RH with no condensation CE marking See 1 2 1 Safety standards and Chapter 3 EMC Countermeasures 1 The regenerative unit RGU 2 is required to operate a load with large inertia or a robot model specified by YAMAHA Note Specifications and external appearance are subject to change without prior notice 26 4 1 3 CHAPTER4 SPECIFICATIONS DRCX sereis controller DROX Basic specifi cations Axis control General specification Applicable motor capacitance Total power 1200W max Max power consumption 1600VA External dimensions W100 x H250 x D157mm Weight 2 1kg Used power supply voltage No of controllable axes Single phase AC200V within 10 50 60Hz 2 axes Control method AC full digital servo PTP CP ARC Position detection method Resolver with multi turn data backup function Speed setting 100 step setting possible per program step Acceleration deceleration setting Automaticallyset according to robot type and transportation weight 100 step setting is also possible with acceleration parameter Servo adjustment Handled with parameters special Servo gain current limit etc
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