Yamaha SRCP30, User Manual

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2-
6
2
INST
ALLA
TION AND CONNECTION
2-3 Grounding
2-3 Grounding
The SRCP30 controller must be grounded to prevent danger to personnel from electrical shocks in
case of electrical leakage and prevent equipment malfunctions due to electrical noise.
We strongly recommend that Class D (grounding resistance of 100 ohms or less) or higher grounding
be provided. To ground the terminal, use the protective wiring terminal.
* Class D grounding is the same as Class 3 grounding previously used.
2-4 Connecting the SRCP30 to the Control Unit
The SRCP30 controller can be operated either through the TPB programming box or through a PC
(personal computer) equipped with an RS-232C terminal.
When using the TPB, plug the TPB cable connector into the PB connector of the SRCP30 controller.
(Refer to "4-1-1 Connecting the TPB to the SRCP30 controller".)
When using a PC, plug the RS-232C interface cable connector (25 pins) into the PB connector of the
SRCP30 controller. (Refer to "11-2 Communication Cable Specifications".)
To prevent equipment malfunction due to noise, we strongly recommend that Class D (grounding
resistance of 100 ohms or less) or higher grounding be provided.
2-5 Connecting to the Robot
First make sure that the power to the SRCP30 controller is turned off, and then connect the robot
cable to the robot I/O connector and motor connector on the front panel of the SRCP30 controller.
Fully insert the robot cable until it clicks in position.
* When the robot cable is disconnected from the controller, an alarm (15: FEEDBACK ERROR
2) is issued.
2-5-1 Robot I/O connector and signal table
Mating connector type No. : 0-174047-2 (AMP)
Mating connector contact type No. : 0-175180-2
SRCP30’s connector type No. : 0-174055-2
Signal table
Terminal No. Signal name Description Terminal No. Description
PS+
PS-
PC+
PC-
+5V
GND
Z+
Z-
DG
DG
NC
ORG
+24V
+24V
0V
0V
BK+
BK-
NC
FG
Position SIN input (+)
Position SIN input (-)
Position COS input (+)
Position COS input (-)
+5V
GND
Linear scale Z+
Linear scale Z-
Digital ground
Digital ground
No connection
Origin sensor input
Origin sensor, +24V
Origin sensor, +24V
Origin sensor, 24GND
Origin sensor, 24GND
Brake (+)
Brake (-)
No connection
Frame ground
Signal name
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20