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5-6

Chapter 5 EXTERNAL SAFETY CIRCUIT EXAMPLES

5.1.2.3 Category 2

A safety circuit configuration example of category 2 is shown below.

RPB-E emergency stop

Output 1

Input 2

Input 1

RPB-E emergency st

RPB-E enable

Output 1

Input 2

Input 1

RPB-E enable

External emergency stop

Input 1

Door switch

Input 1

GND

AC IN

AC OUT

L
N

Reset switch

E-STOP24V

SRL1

KM1

SAFETY

OUT

E-STOPRDY

N.COM

MPRDY

SERVICE(DI02)
P.COM

T11

T12

T21

T22

T31
T32
T33

S14
S24
S44
S54

T61

T62

T71

T72

M1
M2

+24V

M2 OUT

B
A

Enable 11

Service 1
Service 2

GND

T42

T41

+24V

T11

T12

T21

T22

S24

S14

T33

+24V

KA2

KA1

SRL2

Maintenance switch

Input 2

Input 1

AUTO SERVICE

Input 3

Service 1
Service 2

+24V

GND

+24V

GND

OFF

L1 A2 T31 T32

*1: Wiring to check whether the controller is normal when using an alarm to shut off the main power

Parts list

Circuit No.

Part name

Type No.

Manufacturer

Reset switch

A22 series

OMRON

Key selector switch

A22 TK series

OMRON

Safety door switch

D4 series

OMRON

Emergency stop switch

A22E series

OMRON

KM1

Contactor (mirror contact)

LC1-D18

Schneider Electric

KA1, 2

Safety relay

G7SA-3A1B

OMRON

Socket for safety relay

P7SA-10F-ND

OMRON

SRL1

Safety relay unit

G9SX-GS226

OMRON

SRL2

Safety relay unit

G9SX-BC202

OMRON

5.1 External safety circuit examples

Содержание CEmarking RCX221

Страница 1: ...nt Manual ENGLISH E YAMAHA ROBOT CONTROLLER CEmarking RCX240 RCX221 RCX222 IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html YAMAHA MOTOR CO LTD E115 Ver 1 01 ...

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Страница 3: ... robot and controller and considered an integral part of them When the robot and controller are moved transferred or sold send this manual to the new user along with the robot and controller Be sure to explain to the new user the need to read through this manual Specifications of the robot and controller models other than standard models may be omitted in this manual In that case refer to the spec...

Страница 4: ...MEMO 2 Introduction ...

Страница 5: ...CARA type robots 1 8 1 3 2 Safety measures for single axis robots Cartesian robots and pick place robots 1 8 1 4 Motor overload precautions 1 8 1 5 Warning labels and marks 1 9 1 5 1 Warning labels 1 9 1 5 2 Warning marks 1 9 1 6 Industrial robot operating and maintenance personnel 1 10 1 7 Make daily and periodic inspections 1 10 Chapter 2 CE MARKING 2 1 CE Marking 2 1 2 2 Safety standards 2 1 2 ...

Страница 6: ... speed during SERVICE mode 3 14 3 4 3 3 Operation device control during SERVICE mode 3 14 Chapter 4 EMC COUNTERMEASURE 4 1 EMC countermeasure examples 4 1 4 1 1 RCX240 4 2 4 1 1 1 Configuration 4 2 4 1 1 2 Countermeasure components 4 3 4 1 2 RCX221 RCX222 4 8 4 1 2 1 Configuration 4 8 4 1 2 2 Countermeasure components 4 9 Chapter 5 EXTERNAL SAFETY CIRCUIT EXAMPLES 5 1 External safety circuit examp...

Страница 7: ... 1 6 1 1 2 RCX221 6 3 6 1 1 3 RCX222 6 5 6 1 2 Basic functions 6 7 6 1 3 External view 6 8 6 1 3 1 RCX240 6 8 6 1 3 2 RCX221 6 11 6 1 3 3 RCX221HP 6 12 6 1 3 4 RCX222 6 13 6 1 3 5 RCX222HP 6 14 6 2 Programming box 6 15 6 2 1 Basic specifications 6 15 6 2 1 1 RPB E 6 15 6 2 2 External view 6 16 6 2 2 1 RPB E 6 16 ...

Страница 8: ...MEMO iv General contents ...

Страница 9: ...fety precautions during robot operation 1 7 1 2 6 Precautions for disposal 1 8 1 3 Safety measures for robots 1 8 1 3 1 Safety measures for SCARA type robots 1 8 1 3 2 Safety measures for single axis robots Cartesian robots and pick place robots 1 8 1 4 Motor overload precautions 1 8 1 5 Warning labels and marks 1 9 1 5 1 Warning labels 1 9 1 5 2 Warning marks 1 9 1 6 Industrial robot operating an...

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Страница 11: ...or death to personnel robot installer operator or service personnel This manual describes safety precautions and operating points using the following symbols and signal words wDANGER DANGER INDICATES AN IMMINENTLY HAZARDOUS SITUATION WHICH IF NOT AVOIDED WILL RESULT IN DEATH OR SERIOUS INJURY wWARNING WARNING INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH IF NOT AVOIDED COULD RESULT IN DEATH OR...

Страница 12: ...AFFECT HUMAN LIFE EQUIPMENT DESIGNED TO CARRY OR TRANSPORT PERSONS EQUIPMENT OR SYSTEMS WHICH WILL SERIOUSLY AFFECT SOCIETY OR PUBLIC POLICY USE IN ENVIRONMENTS SUBJECT TO VIBRATION SUCH AS VEHICLES AND SHIPS EACH ROBOT CONTROLLER HAS AN EMERGENCY STOP INPUT TERMINAL TO TRIGGER EMERGENCY STOP USING THIS TERMINAL CONFIGURE A SAFETY CIRCUIT SO THAT THE SYSTEM INCLUDING THE ROBOT CONTROLLER WILL WORK...

Страница 13: ...CTRICAL SHOCK MALFUNCTIONS PRODUCT DAMAGE OR DETERIORATED PERFORMANCE INSTALL THE ROBOT CONTROLLER AND PROGRAMMING BOX AT A LOCATION OUTSIDE THE ROBOT S WORKING ENVELOPE YET WHERE IT IS EASY TO OPERATE THE ROBOT AND VIEW ITS MOTION INSTALL THE CONTROLLER IN LOCATIONS WITH ENOUGH SPACE TO PERFORM WORK TEACHING INSPECTION ETC SAFELY LIMITED SPACE NOT ONLY MAKES IT DIFFICULT TO PERFORM WORK BUT CAN A...

Страница 14: ...es and poor cable contact may cause equipment malfunctions Do not modify the cables and do not place any heavy object on them Handle them carefully to avoid damage Damaged cables may cause malfunction or electrical shock If there is a possibility that the cables connected to the robot controller may be damaged protect them with a cover etc Do not apply excessive loads or impacts to the connectors ...

Страница 15: ...NEL TRAINED IN SAFETY AND ROBOT OPERATION MAY OPERATE THE ROBOT OPERATION BY ANY PERSON WHO HAS NOT RECEIVED THE PROPER TRAINING IS VERY DANGEROUS AND MUST BE AVOIDED THE ROBOT AND ROBOT CONTROLLER ARE NOT DESIGNED TO BE EXPLOSION PROOF DO NOT USE THEM IN LOCATIONS EXPOSED TO INFLAMMABLE GASES GASOLINE OR SOLVENT THAT COULD CAUSE EXPLOSION OR FIRE FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIO...

Страница 16: ...UIRED KNOWLEDGE AND EXPERTISE IS DANGEROUS AND MUST BE AVOIDED WHEN PERFORMING MAINTENANCE OR INSPECTION OF THE ROBOT CONTROLLER UNDER OUR INSTRUCTIONS WAIT AT LEAST 30 MINUTES AFTER TURNING THE POWER OFF SOME COMPONENTS IN THE ROBOT CONTROLLER MAY BE HOT OR STILL RETAIN A HIGH VOLTAGE SHORTLY AFTER OPERATION SO BURNS OR ELECTRICAL SHOCK MAY OCCUR IF THOSE PARTS ARE TOUCHED DURING STARTUP OR MAINT...

Страница 17: ...t leave the SD memory card inserted into the programming box Doing so may cause malfunction or breakdown Insert the SD memory card into the programming box only when making a data backup or loading the backup data 1 2 5 Safety precautions during robot operation wDANGER NEVER ENTER THE ROBOT S WORKING ENVELOPE WHILE THE ROBOT IS OPERATING OR THE MAIN POWER IS TURNED ON FAILURE TO FOLLOW THIS INSTRU...

Страница 18: ...rical shock Use the protective ground terminal to ensure safety Refer to the robot user s manual for details 1 3 2 Safety measures for single axis robots Cartesian robots and pick place robots 1 Protective measures against electrical shock Use the protective ground terminal to ensure safety Refer to the robot user s manual for details 1 4 Motor overload precautions Since abnormal operation such as...

Страница 19: ...n so insert each connector in the correct direction 1 5 2 Warning marks The following warning marks are shown on the controller To use the YAMAHA robot and controller safely and correctly be sure to observe the instructions and caution of the marks 1 Electric Hazard mark This mark indicates that a high voltage is present This mark warns you of possible electrical shock Do not touch the terminal bl...

Страница 20: ...rrectly and safely They must read the user s manual carefully to understand its contents before attempting the robot operation Tasks related to industrial robots teaching programming movement check inspection adjustment repair etc must be performed by qualified persons who meet requirements established by local regulations and safety standards for industrial robots 1 7 Make daily and periodic insp...

Страница 21: ... 2 2 1 Cautions regarding compliance with EC Directives 2 1 2 2 2 CE marking 2 1 2 2 3 Applicable EC Directives and their related standards 2 2 2 2 4 Robots subject to CE Marking 2 2 2 2 5 Cautions regarding the official language of EU countries 2 2 2 3 Usage conditions 2 3 ...

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Страница 23: ...to the EC Directives only within the scope of built in equipment This does not therefore guarantee that YAMAHA robots conform to EC Directives in cases where the robot is used independently Customers who incorporate a YAMAHA robot into their final system which will be shipped to or used in the EU should therefore verify that the overall system is compliant with EC Directives Differences between YA...

Страница 24: ...sk assessment EN60204 1 Safety of machinery Electrical equipment of machines EMC Directive 2004 108 EC EN 55011 EMC Emission of ISM Equipment EN 61000 6 2 EMC Immunity for Industrial Environments Referred standards EN ISO10218 1 Safety requirements Part1 Robot 2 2 4 Robots subject to CE Marking The following robot series products are subject to CE marking Controller Robot Name RCX221 RCX222 Single...

Страница 25: ... and controller must therefore be grounded properly to prevent possible electrical shock For details refer to the controller user s manual and the robot user s manual Enclosure The robot controller case is not designed as an enclosure that conforms to the EN60204 1 Standard Suitable protection should therefore be provided to prevent the danger of electrical shock due to inadvertent contact and amb...

Страница 26: ...MEMO 2 4 Chapter 2 CE MARKING ...

Страница 27: ...t configuration 3 6 3 3 Programming box RPB E 3 7 3 3 1 Part names and functions 3 7 3 3 2 RPB connector 3 9 3 4 SERVICE mode 3 11 3 4 1 What is SERVICE mode 3 11 3 4 2 Flow for enabling the SERVICE mode functions 3 13 3 4 3 SERVICE mode parameter settings 3 13 3 4 3 1 SERVICE mode level 3 14 3 4 3 2 Limitations on operating speed during SERVICE mode 3 14 3 4 3 3 Operation device control during SE...

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Страница 29: ...nd circular interpolation 3 1 1 Main system configuration 1 RCX240 Example YK500XG only All the axes on the robot controller are used as the main robot axes RPB E RPB MOTOR XM YM ZM RM PW R SRV SAFETY RPB CO M STD DIO RO B I O ZR OP 1 OP 3 OP 2 OP 4 ACIN N P N1 L1 L N SEL BATT ZR XY BATT RO B XY I O EXT E STOP ERR RCX240 PC YAMAHA robot External device PLC etc External emergency stop circuit Emerg...

Страница 30: ...ling one robot XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 EXT E STOP PIN11 12 OP 1 OP 2 External device PLC etc External emergency stop circuit Emergency stop button Safety relay Safety door switch etc RPB E YAMAHA robot PC 3 1 System overview ...

Страница 31: ...PB SAFETY BATT ZR ROB I O ZR BATT XY ROB I O XY RM ZM YM XM MOTOR TB2 TB1 N1 N L1 L ACIN DRIVER POWER RGEN CN5 CN11 CN9 CN9 CN8 CN6 CN1 CN4 CN2 CN7 CN10 CN3 HEATSINK TH1 FG CN3 CN4 CN6 CN7 CN1 CN2 CN12 DRIVER 2 CN5 CN14 DRIVER 1 CN3 CN1 CN8 CN15 CN4 CN5 CN11 CN16 CN3 CN8 CN1 OP 1 OP 3 CPU BOARD CN4 OP 2 OP 4 CN5 AC DC 24V CN1 CN2 CN1 AC DC CN2 5V 12V CN10 CN7 CN10 CN13 CN7 CN13 CN16 CN2 CN26 3 2 C...

Страница 32: ... ASSY DRIVER2 BOARD ASSY OP BOARD OP BOARD MOTOR RGEN XM YM ROB I O XY SD MEMORY COM SAFETY RPB TEMP N1 N L1 L ACIN MOTHER BOARD ASSY CN1 CN12 CN5 CN8 CN3 CN5 CN6 CN4 CN2 TB1 CN3 CN2 CN4 CN2 CN1 CN2 CN3 CN5 CN1 CN1 CN1 CN1 CN4 CN1 CN3 CN1 CN2 CN3 Basic block diagram 3 2 Control system configuration ...

Страница 33: ...R2 BOARD ASSY DRIVER2 BOARD ASSY OP BOARD OP BOARD MOTOR RGEN XM YM ROB I O XY SD MEMORY COM SAFETY RPB TEMP N1 N L1 L ACIN MOTHER BOARD ASSY CN1 CN12 CN5 CN8 BATT A BATT B CN14 CN16 CN3 CN5 CN6 CN4 CN2 TB1 CN3 CN2 CN4 CN2 CN1 CN2 CN3 CN5 CN1 CN1 CN1 CN1 CN4 CN1 CN3 CN1 CN2 CN3 3 2 Control system configuration ...

Страница 34: ...OTOR 280VDC REALY2 GND MOTOR POWER CIRCUIT CONTROL POWER CIRCUIT 5VDC 12VDC 24VDC 2 1 POWER CIRCUIT BLOCK 2 3 User equipment External emergency stop circuit SAFETY 1 The input power and each control power are insulated by the insulated transformer 2 The 0V line for the 3 6VDC 5VDC 12VDC and 24VDC is not connected to the protective earth 3 Refer to the RPB E connector input output signal table for ...

Страница 35: ...E also has a selector switch which can be used according to the customer s specifications and applications Display liquid crystal screen Selector switch Emergency stop button Sheet key B RPB Connector Enable switch rear side RPB E Main Functions q Display liquid crystal screen This is a liquid crystal display LCD with 40 characters 15 lines showing various types of information The screen brightnes...

Страница 36: ...ned in consideration of safety Pressing this switch to the middle position only enables robot operation This switch is disabled when LOCKIN1 to 4 of the SAFETY connector are not wired Configure an external safety circuit so that the state of this switch determines the robot operating state as follows Switch released Emergency stop state Switch in middle position Operable state Switch pressed Emerg...

Страница 37: ...RPB E has an emergency stop button and an enable switch they do not function independently because the controller is designed on the assumption that an external safety circuit is configured 1 RCX240 Each pin of the RPB connector on the RPB E is connected to each pin of the SAFETY connector and RPB SEL connector Pin to pin connections are as follows RPB E RPB connector pin No Connected connector Co...

Страница 38: ...n No Name Emergency stop contact Line 1 13 Connected to SAFETY connector 13 E STOPIN1 14 14 E STOPIN2 Emergency stop contact Line 2 15 15 E STOPIN3 16 16 E STOPIN4 Enable contact Line 1 17 17 LCKIN1 18 18 LCKIN2 Enable contact Line 2 19 19 LCKIN3 20 20 LCKIN4 Selector switch 21 8 KEY1 22 9 KEY2 Emergency stop Enable 17 18 19 20 13 14 15 16 13 RPB E RPB 14 15 16 17 18 19 20 1 to 12 21 22 SAFETY RCX...

Страница 39: ...DI02 contact is closed ON If a serial I O option board is installed SERVICE mode is entered when either one of SI02 or DI02 is open OFF Normal mode is entered only when both SI02 and DI02 contacts are closed When the DI02 contact is open OFF the controller is in SERVICE mode with the operation level operating speed limit and exclusive control of the operating devices specified by the SERVICE mode ...

Страница 40: ...RCX240 Determined by STD DIO setting RCX221 RCX222 Determined by DI COM and DO COM input Current capacity of at least 7mA is required for DI02 input When the RCX240 controller is set to SAFE mode it always enters the SERVICE mode state unless power is supplied to STD DIO from the external 24 V power supply To cancel this state by software set the Watch on STD DIO DC24V parameter to INVALID 3 4 SER...

Страница 41: ... for SERVICE mode 1 SERVICE mode level 2 Operating speed limit during SERVICE mode 3 Operation device control during SERVICE mode These parameter settings determine the operation level operating speed limit and exclusive control of the operation devices during SERVICE mode Even after editing the SERVICE mode parameters the present settings still remain enabled until the controller power is turned ...

Страница 42: ...el 3 Enabled Prohibited Default setting 3 4 3 2 Limitations on operating speed during SERVICE mode The maximum robot operating speed can be specified Setting Description 3 Robot operating speed is limited to below 3 of maximum speed 100 Robot operating speed is not limited Default setting 3 4 3 3 Operation device control during SERVICE mode The operation device can be specified Setting Description...

Страница 43: ...RMEASURE Contents 4 1 EMC countermeasure examples 4 1 4 1 1 RCX240 4 2 4 1 1 1 Configuration 4 2 4 1 1 2 Countermeasure components 4 3 4 1 2 RCX221 RCX222 4 8 4 1 2 1 Configuration 4 8 4 1 2 2 Countermeasure components 4 9 ...

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Страница 45: ...irective In order to ensure the customer s final product entire system complies with EMC Directive the customer should take appropriate EMC countermeasures Typical EMC countermeasures for a single unit of YAMAHA robot are shown for reference cCAUTION The following description and circuits are typical countermeasures used when the robot and controller are tested under YAMAHA installation conditions...

Страница 46: ...D DIO OP DIO NETWORK COM RPB SAFETY RGEN RS 232C RCX240 Noise filter NF2020A UP SOSHIN ELECTRIC CO LTD Ferrite core ZCAT3035 1330 TDK Ferrite core ZCAT2132 1130 TDK Ferrite core ZCAT2032 0930 TDK Ferrite core TFT 274015S Takeuchi Kogyo Co Ltd Ferrite core SFT 72SNB 026K Takeuchi Kogyo Co Ltd Ferrite core 1 turn Ferrite core 2 turns Meaning of symbols Power supply 200 to 230V Ground Robot series Si...

Страница 47: ... install a surge absorber on the AC power line A recommended surge absorber is shown below Recommended surge absorber Manufacturer SOSHIN ELECTRIC CO LTD Type No LT C12G801WS Status indicator F 4 3 0 3 0 1 25 p1 0 4 33 5 p1 0 19p1 0 Wire line Black Wire earth Green Yellow 38p1 0 22 5p1 0 250 25 0 28 p1 0 4 p0 5 Green Normal Red Abnormal Dimensional outline unit mm 4 1 EMC countermeasure examples ...

Страница 48: ...noise filter is shown below Recommended noise filter Manufacturer SOSHIN ELECTRIC CO LTD Type No NF2020A UP 85p1 71 6 70p0 5 F4 5 18 34p0 5 40p0 5 50p1 40p1 28 8 10 No Part name Input terminal Case Name plate Output terminal Earth terminal Note M4 PBT M4 M4 R2 25 Length 6 6 M4 Dimensional outline unit mm 4 1 EMC countermeasure examples ...

Страница 49: ...nded ferrite core 1 Manufacturer TDK Type No ZCAT3035 1330 39 0p1 34 0p1 30 0p1 13 0p1 Dimensional outline unit mm Recommended ferrite core 2 Manufacturer TDK Type No ZCAT2132 1130 20 5p1 11 0p1 36 0p1 32 0p1 Dimensional outline unit mm Recommended ferrite core 3 Manufacturer TDK Type No ZCAT2032 0930 36 0p1 32 0p1 19 5p1 9 0p1 Dimensional outline unit mm 4 1 EMC countermeasure examples ...

Страница 50: ...EMC COUNTERMEASURE Recommended ferrite core 4 Manufacturer Takeuchi Kogyo Co Ltd Type No TFT 274015S 40 0 43 8 90 1 F27 4 F43 8 20 7 Ferrite Plastic case Clamped state Dimensional outline unit mm 4 1 EMC countermeasure examples ...

Страница 51: ...RMEASURE 4 7 Recommended ferrite core 5 Manufacturer Takeuchi Kogyo Co Ltd Type No SFT 72SNB 026K 25 0 29 4 61 3 28 0 35 6 40 4 F12 2 29 4 Ferrite Plastic case Clamped state Dimensional outline unit mm 4 1 EMC countermeasure examples ...

Страница 52: ...d as close to the robot body as possible Power supply 200 to 230V Ground L N L1 N1 ROB I O XY MOTOR XM YM OP DIO NETWORK COM RPB SAFETY RGEN Robot series Single axis Cartesian P P I O circuit network RPB E RS 232C External safety circuit Regenerative unit RCX221 RCX222 Noise filter NF2020A UP TDK Lambda Corporation Ferrite core ZCAT3035 1330 TDK Ferrite core 1 turn Ferrite core 2 turn Meaning of s...

Страница 53: ...ance install a surge absorber on the AC power line A recommended surge absorber is shown below Recommended surge absorber Manufacturer SOSHIN ELECTRIC CO LTD Type No LT C12G801WS Status indicator F 4 3 0 3 0 1 25 p1 0 4 33 5 p1 0 19p1 0 Wire line Black Wire earth Green Yellow 38p1 0 22 5p1 0 250 25 0 28 p1 0 4 p0 5 Green Normal Red Abnormal Dimensional outline unit mm 4 1 EMC countermeasure exampl...

Страница 54: ...line A recommended noise filter is shown below Recommended noise filter Manufacturer TDK Lambda Corporation Type No MBS 1215 22 L C L C F4 8 8 5 M4 Mounting holes C L NAME PLATE 105 0 5 18 0 5 45 0 5 65 1 36 12 27 40 1 22MAX 95 1 22MAX 115 1 2 4 1 3 Case Iron Dimensional outline unit mm 4 1 EMC countermeasure examples ...

Страница 55: ...nded ferrite core 1 Manufacturer TDK Type No ZCAT3035 1330 39 0p1 34 0p1 30 0p1 13 0p1 Dimensional outline unit mm Recommended ferrite core 2 Manufacturer TDK Type No ZCAT2132 1130 20 5p1 11 0p1 36 0p1 32 0p1 Dimensional outline unit mm Recommended ferrite core 3 Manufacturer TDK Type No ZCAT2032 0930 Dimensional outline 36 0p1 32 0p1 19 5p1 9 0p1 unit mm 4 1 EMC countermeasure examples ...

Страница 56: ...4 12 Chapter 4 EMC COUNTERMEASURE MEMO ...

Страница 57: ... 1 5 1 2 Circuit examples for the RCX240 5 2 5 1 2 1 Category 4 5 4 5 1 2 2 Category 3 5 5 5 1 2 3 Category 2 5 6 5 1 2 4 Overview of circuit operation 5 7 5 1 3 Circuit examples for the RCX221 RCX222 5 8 5 1 3 1 Category 4 5 10 5 1 3 2 Category 3 5 11 5 1 3 3 Category 2 5 12 5 1 3 4 Overview of circuit operation 5 13 ...

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Страница 59: ...ecklist score 65 Please obtain the data on each component from the component manufacturer The performance level PL of a safety circuit is determined by the following flow Flow for determining performance levels 1 Determine the performance level PLr required of the safety circuit by means of risk assessment 2 Configure the safety circuit that satisfies the requirements of the category that meets PL...

Страница 60: ...l I O and serial I O such as alarm signals should be monitored by the host device Overall connection diagram with enable switch AC OUT Emergency stop Enable 17 18 19 20 13 14 15 16 3 Controller PNP specifications Internal 24V Safety circuit External emergency stop Door Maintenance AC IN RPB E OUT Safety output RPB SAFETY MPRDY Status Reset N1 L1 N L N1 L1 4 5 6 7 8 9 10 1 2 11 13 14 SERVICE DI02 M...

Страница 61: ... RPB SAFETY MPRDY Status N1 L1 N L 4 2 11 13 14 MPRDY E STOP24V E STOPRDY 5V P COM P COMDI N COMDI 12 N COM E STOP Status GND 24V_GND 47 48 49 50 27 29 STD DIO COMMON CPU_OK contact A normally open P COMDI N COMDI 24V GND To PLC Input output signals External emergency circuit 24V GND 24V GND 1 SERVICE DI02 Maintenance switch AUTO SERVICE Safety circuit 5 1 External safety circuit examples ...

Страница 62: ...M2 ON OFF OFF OUT B A Y1 Enable 11 Enable 12 Enable 21 Enable 22 Enable 11 Enable 12 Enable 21 Enable 22 Service 1 Service 2 Input 3 Service 1 Service 2 33 34 43 44 T23 GND GND T33 24V Y1 S24 S14 T33 S44 S34 24V S54 Y1 A2 T42 T41 L2 L1 L2 Y2 1 KA2 KA3 KA4 KA5 KA1 24V GND 24V GND L1 A2 T31T32 1 Wiring to check whether the controller is normal when using an alarm to shut off the main power ON Parts ...

Страница 63: ... 12 Enable 21 Enable 22 Enable 11 Enable 12 Enable 21 Enable 22 Service 1 Service 2 33 34 43 44 T23 GND GND 24V Y1 T42 T41 L1 L2 Y2 1 KA2 KA3 KA4 KA5 KA1 Maintenance switch Input 2 Input 1 S2 AUTO SERVICE Input 3 Service 1 Service 2 24V 24V GND 24V GND ON OFF L1 A2 T31 T32 T33 1 Wiring to check whether the controller is normal when using an alarm to shut off the main power Parts list Circuit No Pa...

Страница 64: ... GND T42 T41 L1 L2 Y2 1 24V 24V T11 T12 T21 T22 S24 S14 T33 24V Y1 24V 24V KA2 KA1 SRL2 Maintenance switch Input 2 Input 1 S2 AUTO SERVICE Input 3 Service 1 Service 2 24V 24V GND 24V GND ON ON OFF OFF L1 A2 T31 T32 1 Wiring to check whether the controller is normal when using an alarm to shut off the main power Parts list Circuit No Part name Type No Manufacturer S1 Reset switch A22 series OMRON S...

Страница 65: ...op button s NC contact is closed cCAUTION Connect the RPB terminator or RPB E to the RPB connector on the controller front panel If the RPB connector on the controller front panel is open an emergency stop occurs 2 During maintenance The main power is supplied only when the door switch is disabled the controller is in a normal state MPRDY is ON with no internal alarms occurring and also all the fo...

Страница 66: ...of the parallel I O and serial I O such as alarm signals should be monitored by the host device Overall connection diagram with enable switch AC OUT Emergency stop Enable 17 18 19 20 13 14 15 16 13 Controller PNP specifications nternal 24V External emergency stop Door Maintenance AC IN RPB E OUT Safety output RPB SAFETY Reset N1 L1 N L N1 L1 14 15 16 17 18 19 20 3 5 4 11 12 SERVICE DI02 MPRDY E ST...

Страница 67: ...3 Controller PNP specifications Internal 24V RPB RPB SAFETY N1 L1 N L 14 3 5 4 11 12 SERVICE DI02 MPRDY E STOP24V E STOPRDY DO COM 6 SERVO OUT E STOP Status GND 24V_GND 1 2 17 STD DIO CPU OK 24V 24VG 24V GND To PLC Input output signals 2 INTERLOCK 1 DI COM 24V GND Maintenance switch 24V AUTO SERVICE Power connector IO connector Safety circuit 5 1 External safety circuit examples ...

Страница 68: ... 11 Enable 12 Enable 21 Enable 22 Enable 11 Enable 12 Enable 21 Enable 22 Service 1 Input 3 Service 1 33 34 43 44 T23 GND GND T33 24V Y1 S24 S14 T33 S44 S34 24V S54 Y1 A2 T42 T41 L2 L1 L2 Y2 1 KA2 KA3 KA4 KA5 KA1 INTERLOCK DO COM 24V GND GND When INTERLOCK signal is not used 24V GND 24V GND OFF OFF T31 T32 T31 T32 1 Wiring to check whether the controller is normal when using an alarm to shut off t...

Страница 69: ...43 44 T23 GND GND T33 24V Y1 T42 T41 L1 L2 Y2 KA2 KA3 KA4 KA5 KA1 Maintenance switch Input 2 Input 1 S2 AUTO SERVICE Input 3 Service 1 24V E STOP24V E STOPRDY MPRDY SERVICE DI02 DI COM Service 1 INTERLOCK DO COM 24V GND When INTERLOCK signal is not used GND 1 24V GND 24V GND ON OFF OFF ON T31 T32 1 Wiring to check whether the controller is normal when using an alarm to shut off the main power Part...

Страница 70: ...intenance switch Input 2 Input 1 S2 AUTO SERVICE Input 3 Service 1 24V E STOP24V SAFETY E STOPRDY MPRDY SERVICE DI02 DI COM Service 1 1 INTERLOCK DO COM 24V GND When INTERLOCK signal is not used 24V GND 24V GND T31 T32 1 Wiring to check whether the controller is normal when using an alarm to shut off the main power ON OFF OFF ON Parts list Circuit No Part name Type No Manufacturer S1 Reset switch ...

Страница 71: ...top button s NC contact is closed cCAUTION Connect the RPB terminator or RPB E to the RPB connector on the controller front panel If the RPB connector on the controller front panel is open an emergency stop occurs 2 During maintenance The main power is supplied only when the door switch is disabled the controller is in a normal state MPRDY is ON with no internal alarms occurring and also all the f...

Страница 72: ...MEMO 5 14 Chapter 5 EXTERNAL SAFETY CIRCUIT EXAMPLES ...

Страница 73: ... 1 2 RCX221 6 3 6 1 1 3 RCX222 6 5 6 1 2 Basic functions 6 7 6 1 3 External view 6 8 6 1 3 1 RCX240 6 8 6 1 3 2 RCX221 6 11 6 1 3 3 RCX221HP 6 12 6 1 3 4 RCX222 6 13 6 1 3 5 RCX222HP 6 14 6 2 Programming box 6 15 6 2 1 Basic specifications 6 15 6 2 1 1 RPB E 6 15 6 2 2 External view 6 16 6 2 2 1 RPB E 6 16 ...

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Страница 75: ...ates Position display units Pulses mm millimeters deg degrees Speed setting 1 100 1 increments setting possible during program execution Acceleration deceleration setting Automatic acceleration setting by robot model and tip weight parameter Setting by accel coefficient and decel rate parameters 1 steps Can be changed by programming Zone control Optimum speed setting matching SCARA robot arm posit...

Страница 76: ...lot 4 slots Parallel I O board General purpose input 24 points board output 16 points board 4 boards maximum compatible with NPN PNP specifications CC Link board Dedicated input 16 points dedicated output 16 points General purpose input 96 points general purpose output 96 points DeviceNet board Dedicated input 16 points dedicated output 16 points General purpose input 96 points general purpose out...

Страница 77: ...llimeters deg degrees Speed setting 1 to 100 1 increments setting can be changed by program Acceleration deceleration setting Automatic acceleration setting by robot model and tip weight parameter Setting by accel coefficient and decel rate parameters 1 steps Can be changed by programming Programming Program language YAMAHA BASIC conforming to JIS B8439 SLIM language Multitask 8 tasks maximum Sequ...

Страница 78: ... immunity IEC61000 4 4 Level 3 Protective structure IP10 Options Options board Option slot 2 slots including STD DIO Parallel I O board STD DIO Dedicated input 10 points dedicated output 12 points General purpose input 16 points general purpose output 8 points compatible with NPN PNP specifications OP DIO General purpose input 24 points board output 16 points board 2 boards maximum including STD D...

Страница 79: ...tting 1 to 100 1 increments setting can be changed by program Acceleration deceleration setting Automatic acceleration setting by robot model and tip weight parameter Setting by accel coefficient and decel rate parameters 1 steps Can be changed by programming Programming Program language YAMAHA BASIC conforming to JIS B8439 SLIM language Multitask 8 tasks maximum Sequence program 1 program Memory ...

Страница 80: ... structure IP10 Options Options board Option slot 2 slots including STD DIO Parallel I O board STD DIO Dedicated input 10 points dedicated output 12 points General purpose input 16 points general purpose output 8 points compatible with NPN PNP specifications OP DIO General purpose input 24 points board output 16 points board 2 boards maximum including STD DIO compatible with NPN PNP specifications...

Страница 81: ...commands START SUSPEND CUT statements etc etc Functions Arithmetic functions SIN COS TAN functions etc Character string functions STR LEFT MID RIGHT functions etc Point functions WHERE JTOXY XYTOJ functions etc Parameter functions ACCEL OUTPOS TOLE statements etc etc Variables Simple variables integer variables real variables character variables Array variables integer variables real variables cha...

Страница 82: ... DIO OP 2 OP 4 See Note 1 See Note 1 L type bracket attached to front 7 M3 threaded mounting hole for L type bracket top panel thickness 2mm 7 M3 threaded mounting hole for L type bracket top panel thickness 2mm L type bracket attached to side option Bracket can be attached to rear rubber feet Note 1 When installing this controller using the supplied L type brackets remove the rubber feet on the b...

Страница 83: ... O ZR BATT ZR RM SAFETY ＰＩＮ13 14 EXT E STOP STD DIO OP 2 OP 4 7 M3 threaded mounting hole for L type bracket top panel thickness 2mm See Note 1 See Note 1 7 M3 threaded mounting hole for L type bracket top panel thickness 2mm L type bracket attached to front Battery holder rubber feet L type bracket attached to side option Bracket can be attached to rear Top view Front view Side view Rear view RGU...

Страница 84: ...ee Note 1 7 M3 threaded mounting hole for L type bracket top panel thickness 2mm L type bracket attached to side option Bracket can be attached to rear Battery holder RCX240 with RGU 3 option installed RGU 3 RCX240 10 5 15 5 15 5 204 102 25 139 5 15 5 69 75 235 62 180 5 5 t2 265 290 250 10 44 8 100 5 5 235 30 20 25 27 6 180 5 5 15 5 204 15 5 102 25 139 5 15 5 69 75 50 RGU 3 RGU 3 Top view unit mm ...

Страница 85: ... STOP OP 1 OP 2 16 16 50 50 14 126 130 100 250 210 225 22 158 210 6 M3 5 5 Standard RCX221 unit mm Bottom view RG2 TEMP RGEN RCX221 RG2 XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP PIN11 12 EXT E STOP OP 1 OP 2 16 16 50 50 126 130 100 5 5 5 250 210 225 22 158 210 210 30 16 6 M3 14 RCX221 with RG2 option installed unit mm 6 1 Controller ...

Страница 86: ...1 OP 2 16 16 50 50 126 210 158 22 130 158 100 250 210 28 225 6 M3 14 RCX221HP High power version unit mm 5 5 130 158 100 28 5 Bottom view HP RG2 TEMP RGEN 6 M3 RCX221 XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP PIN11 12 EXT E STOP OP 1 OP 2 16 16 50 50 126 210 158 22 250 210 30 210 16 225 RG2 14 RCX221HP with RG2 option installed unit mm 6 1 Controller ...

Страница 87: ... E STOP OP 1 OP 2 16 16 50 50 130 100 250 210 225 22 158 210 6 M3 5 5 14 Standard RCX222 unit mm Bottom view RG2 TEMP RGEN XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 PIN11 12 EXT E STOP OP 1 OP 2 16 16 50 50 126 130 100 250 210 225 22 158 210 210 30 16 6 M3 RG2 14 5 5 5 RCX222 with RG2 option installed unit mm 6 1 Controller ...

Страница 88: ...16 16 50 50 126 210 158 22 130 158 100 250 210 28 225 6 M3 5 5 14 HP RCX222HP High power version unit mm Bottom view RG2 TEMP RGEN XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 PIN11 12 EXT E STOP OP 1 OP 2 16 16 50 50 126 210 158 22 130 158 100 250 210 28 30 210 16 225 6 M3 RG2 5 5 5 14 HP RCX222HP with RG2 option installed unit mm 6 1 Controller...

Страница 89: ...isplay 40 characters 15 lines Effective number of lines for RCX221 RCX222 8 lines Emergency stop button Normally closed contact with lock function Enable switch 3 position type Power DC 12V Operating environment Ambient temperature 0 to 40 C Storage temperature 10 to 60 C Humidity 35 to 80 RH no condensation Dimensions mm W180 H250 D50 excluding projecting parts Cable length 5 m Weight 600g exclud...

Страница 90: ...4 1 2 3 5 6 6 16 Chapter 6 SPECIFICATIONS 6 2 2 External view 6 2 2 1 RPB E 136 180 250 50 2 140 RPB E external view Selector switch Enable switch unit mm 6 2 Programming box ...

Страница 91: ...MEMO ...

Страница 92: ... inaccuracies or omissions If you find any part unclear in this manual please contact YAMAHA or YAMAHA sales representatives Robot Controller Supporting Supplement Manual CEmarking RCX240 RCX221 RCX222 Mar 2010 Ver 1 01 This manual is based on Ver 1 01 of Japanese manual Revision record Manual version Issue date Description Ver 1 00 Dec 2009 English manual Ver 1 00 is based on Japanese manual Ver ...

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