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Robot Controller

Supporting Supplement Manual

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.

May 2007
Ver. 3.00

This manual is based on Ver. 3.00 of Japanese manual.

© YAMAHA MOTOR CO., LTD.
IM Operations

CE marking

SRCD/SRCP

ERCX/SRCX/DRCX

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Содержание DRCX Series

Страница 1: ...Supporting Supplement Manual ENGLISH E YAMAHA ROBOT CONTROLLER E72 Ver 3 00 CEmarking SRCD SRCP ERCX SRCX DRCX ...

Страница 2: ......

Страница 3: ...t 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 ...

Страница 4: ...MEMO ...

Страница 5: ...e 5 1 5 Precautions for motor overload 5 1 6 Warning labels 6 1 7 Operating environment 8 Chapter 2 Configuration and Connection 9 2 1 Configuration of CE marking controller 10 2 2 Connecting the Power Supply 16 Chapter 3 EMC Countermeasures 20 3 1 Typical component layout for EMC countermeasures 21 3 2 Precautions for Cable Connections 23 Chapter 4 SPECIFICATIONS 24 4 1 CE marking 25 ...

Страница 6: ...MEMO ...

Страница 7: ...90 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 12345678901234567...

Страница 8: ...sary 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 D A N G E R D A N G E R Failure to follow DANGER instruction will result in se...

Страница 9: ...t 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 Note Related Standards Machinery directive...

Страница 10: ...ey 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 app...

Страница 11: ... 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 ...

Страница 12: ...e to observe the caution and instruction on the labels 1 6 1 Warning labels locations SRCX controller DRCX controller Label warning of high temperature Label warning of electrical shock Label warning of 200V only Label warning of Read instruction manual High temperature warning label Electrical shock warning label AC 200V warning label Read instruction manual label High temperature warning label E...

Страница 13: ... 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 p...

Страница 14: ...umidity 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 th...

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Страница 16: ...ER2 Configuration and Connection 2 1 Configuration of CE marking controller 2 1 1 Controller basic configuration ERCX Fig 2 1 shows the ERCX controller basic block diagram Fig 2 1 ERCX controller block diagram ...

Страница 17: ...nfiguration 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 Fig 2 2 Power supply and emergency stop block diagram ERCX ...

Страница 18: ...12 CHAPTER2 Configuration and Connection 2 1 3 Controller basic configuration SRCX Fig 2 3 shows the SRCX controller basic block diagram Fig 2 3 SRCX controller block diagram ...

Страница 19: ...nfiguration 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 Fig 2 4 Power supply and emergency stop block diagram SRCX ...

Страница 20: ...14 CHAPTER2 Configuration and Connection 2 1 5 Controller basic configuration DRCX Fig 2 5 shows the DRCX controller basic block diagram Fig 2 5 DRCX controller block diagram ...

Страница 21: ...nfiguration 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 Fig 2 6 Power supply and emergency stop block diagram DRCX ...

Страница 22: ... less 1300 VA or less 1100 VA or less 1300 VA or less 1600 VA or less Power supply voltage AC200V 10 AC200V 10 AC200V 10 AC200V 10 AC200V 10 AC200V 10 AC200V 10 AC200V 10 AC200V 10 C A U T I O N C A U T I O N C A U T I O N 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 a...

Страница 23: ... the POWER connector on the ERCX controller Referring 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 1 2 3 1 24V...

Страница 24: ...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 1 4 3 2 NC No connection L AC IN Ground N AC IN 5 T1 and...

Страница 25: ... 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 2 2 6 Isolation Resistance and Voltage BreakdownTests Never attempt isolation resistance te...

Страница 26: ...01212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 3 3 EMC Countermeasures To conform to EMC directi...

Страница 27: ...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 3 1 1 Typical component layout for EMC countermeasures ERCX Fig 3 1 EMC countermeasures for ERCX 3 1 2 Typical component layout for EMC countermeasures SRCX Fig 3 2 EMC countermeasures for SRCX ...

Страница 28: ...mbination 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 EMC countermeasures for DRCX and Cartesian or P P robot Fig 3 3 EMC countermeasures 1 for DRCX EMC countermeasures for DRCX and single axis robots Fig 3 4 EMC countermeasures 2 for DRCX ...

Страница 29: ...e Connections Various cables are used to connect the robot controller to peripheral devices Lay outAC cables as separately from low DC cables as possible AC cables Power cable Motor cable Low DC cables TPB cable communication cable I O cable Robot I O cable ...

Страница 30: ... 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789012345678901212345678901234567890123456789012123456789012345678901234567890 1234567890123456789...

Страница 31: ...teaching playback direct teaching Auxiliary memory unit IC memory is available as TPB option I O input 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 2 I O Brake output Relay output for 24V 300mA brake one channel Emergency stop input Normal closed...

Страница 32: ...grams 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 I O input 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 maximum per output External drive power supply 24V 600mA when not using...

Страница 33: ...ial processing or by parameter setting custom order ROM 256K bytes with built in CPU RAM 128K bytes with 64K lithium battery backup 5 year life No of program steps 3000 steps total or less 255 steps program Memory 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 ...

Страница 34: ...tion 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 May 2007 Ver 3 00 This manual is based on Ver 3 00 of Japanese manual YAMAHA MOTOR CO LTD IM Operations CEmarking SRCD SRCP ERCX SRCX DRCX ...

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