Yamaha SRCP30, User Manual

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2-
4
2
INST
ALLA
TION AND CONNECTION
2-2 Connecting the Power Supply
c
CAUTION
The SRCP30 controller does not have a power switch. Be sure to provide a power supply breaker (insulation) of
the correct specifications that will turn the power on or off to the entire system including the robot controller.
Supply power to both the main power connector and the control power connector at the same time. The
controller might not operate correctly unless the power is supplied at the same time. Power to EXT. CN must first
be supplied before supplying the power to the power connectors. If this order is reversed, an alarm (06: 24V
POWER OFF) might be issued to prevent operation. (See "2.7 Connecting to the EXT. CN Connector" in this
chapter and Chapter 3, "I/O INTERFACE".)
w
WARNING
Before be g innin g the wirin g work, make sure that the power supply for the entire system is
turned off. Doin g the wirin g work while power is still turned on may cause electrical shocks.
2-2-3 Installing an external leakage breaker
To ensure sa f ety , a lea k age b rea k er m ust b e installed in the power supply c onne c tion se c tion o f the
ro b ot c ontroller . Sin c e the ro b ot c ontroller dri v es the m otors b y P W M c ontrol , lea k age c urrent f lows
at high f re q uen c ies . This m ight c ause the e x ternal lea k age b rea k er to m al f un c tion .
W hen installing an e x ternal lea k age c urrent b rea k er , it is i m portant to c hoose the opti m u m sensiti v ity
c urrent rating (I
Δ
n ). ( Che ck the lea k age b rea k er m anu f a c turer ' s data sheets to sele c t the opti m u m
produ c t c o m pati b le with in v erters .)
SRCP30 3.5mA (Max.)
Leakage current
c
CAUTION
1. Leak current was measured with a leak tester with a low-pass filter turned on (100Hz).
Leak tester: Hioki Electric 3283
2. When using two or more controllers, sum the leakage current of each controller.
3. Make sure that the controller is securely grounded.
4. Stray capacitance between the cable and FG may vary depending on the cable installation condition, causing
the leakage current to fluctuate.
w
WARNING
Electrical shocks, injuries or fires mi g ht occur if the motor breaks down while the robot controller
is used without installin g a leaka g e breaker.
2-2-4 Installing a circuit protector
To ensure sa f ety , a c ir c uit prote c tor m ust b e installed in the power supply c onne c tion se c tion o f the
ro b ot c ontroller . An inrush c urrent , whi c h m ight b e f ro m se v eral to nearly 20 ti m es higher than the
rated c urrent , f lows at the instant that the SRCP30 c ontroller is turned on or the ro b ot m otors start to
operate .
W hen installing an e x ternal c ir c uit prote c tor f or the ro b ot c ontroller , sele c t a c ir c uit prote c tor that
pro v ides opti m u m operating c hara c teristi c s .
To ensure proper operation , we re c o mm end using a m ediu m to slow response c ir c uit prote c tor with
an inertial delay f un c tion . ( Re f er to the c ir c uit prote c tor m anu f a c turer ' s data sheets f or m a k ing the
sele c tion .)
SRCP30 20A
Example
Rated current Operating characteristics
Slow type with inertia delay
300% 2 sec.
1000% 0.01 sec.
( )
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WARNING
Electrical shocks, injuries or fires mi g ht occur if the motor breaks down while the robot controller
is used without installin g a circuit protector.