Yamaha ERCX Series User Manual Download Page 3

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General Contents

Chapter 1

OVERVIEW ........................................................................................................... 1-1

1-1

Features of the ERCX Series Controller .................................................................................. 1-2

1-2

Setting Up for Operation ....................................................................................................... 1-3

1-3

External View and Part Names ............................................................................................... 1-4

1-3-1

ERCX controller ............................................................................................................................................. 1-4

1-3-2

TPB ................................................................................................................................................................ 1-6

1-4

System Configuration ............................................................................................................. 1-7

1-4-1

System configuration ..................................................................................................................................... 1-7

1-5

Accessories and Options ........................................................................................................ 1-8

1-5-1

Accessories .................................................................................................................................................... 1-8

1-5-2

Peripheral options ......................................................................................................................................... 1-8

Chapter 2

INSTALLATION AND CONNECTION .................................................................. 2-1

2-1

Installing the ERCX Controller ............................................................................................... 2-2

2-1-1

Installation method ....................................................................................................................................... 2-2

2-1-2

Installation location ....................................................................................................................................... 2-2

2-2

Connecting the Power Supply ................................................................................................ 2-3

2-2-1

Power supply ................................................................................................................................................. 2-3

2-2-2

Connecting the power supply ........................................................................................................................ 2-4

2-2-3

Insulation resistance and voltage breakdown tests ........................................................................................ 2-4

2-3

Grounding .............................................................................................................................. 2-5

2-4

Connecting the ERCX to the Control Unit .............................................................................. 2-5

2-5

Connecting to the Robot ........................................................................................................ 2-6

2-5-1

Robot I/O connector and signal table ........................................................................................................... 2-6

2-6

Connecting to the I/O Connector .......................................................................................... 2-7

2-7

Connecting the Absolute Battery............................................................................................ 2-8

Chapter 3

I/O INTERFACE .................................................................................................... 3-1

3-1

I/O Signals ............................................................................................................................. 3-2

3-2

Input Signal Description ........................................................................................................ 3-3

3-2-1

Dedicated command input ............................................................................................................................ 3-3

3-2-2

General-purpose input (DI0 to DI15) ............................................................................................................ 3-6

3-2-3

SERVICE mode input (SVCE) .......................................................................................................................... 3-7

3-2-4

Interlock (LOCK) ........................................................................................................................................... 3-7

3-2-5

Emergency stop inputs 1, 2 (EMG1, EMG2) ................................................................................................... 3-7

3-3

Output Signal Description ..................................................................................................... 3-8

3-3-1

Dedicated output .......................................................................................................................................... 3-8

3-3-2

General-purpose output (DO0 to DO12) ...................................................................................................... 3-9

3-4

I/O Circuits ............................................................................................................................3-9

3-4-1

I/O circuit specifications ............................................................................................................................... 3-9

3-4-2

I/O circuit and connection example ............................................................................................................ 3-10

3-5

I/O Connection Diagram ..................................................................................................... 3-12

3-5-1

General connections ................................................................................................................................... 3-12

3-5-2

Connection to PLC output unit .................................................................................................................... 3-13

3-5-3

Connection to PLC input unit ...................................................................................................................... 3-14

3-6

I/O Control Timing Charts ...................................................................................................3-15

3-6-1

When turning the power on ........................................................................................................................ 3-15

3-6-2

When executing a dedicated input command .............................................................................................. 3-16

3-6-3

When interlock signal is input ..................................................................................................................... 3-20

3-6-4

When emergency stop is input .................................................................................................................... 3-21

3-6-5

When alarm is issued ................................................................................................................................... 3-21

3-6-6

When executing a point movement command ............................................................................................ 3-22