Yamaha ERCX Especificações descarregar pdf (Página 30)

APPLICATION

Compact

single-axis robots

TRANSERVO

Single-axis robots

FLIP-X

Linear motor

single-axis robots

PHASER

Cartesian

robots

XY-X

SCARA

robots

YK-XG

Pick & place

robots

YP-X CLEAN

CONTROLLER

INFORMATION

368

Robot

positioner

Pulse string

driver

Robot

controller iVY Option

Input / output signal connection diagram

OAP

OAN

PLSP

150Ω

PLSN

OBP

OBN

OZP

OZN

Position sensor

Phase A signal output

Position sensor

Phase B signal output

Position sensor

Phase Z signal output

Phase Z detection

Phase Z detection common

Monitor output 1

Monitor output 2

Analog output common

Servo ready

Alarm

Positioning complete

Brake output and coil (Note 1)

Brake power

Brake release

relay

Logic ground

OZ 48

L49

SRD 35

SRDE

ALM 11

ALME

INP 12

INPE 39

B24

31 6

DC24V

A01

A02

BRK

Origin sensor

Interface power

Contact input common

Servo ON

Alarm reset

Torque limit

Forward overtravel

Reverse ovetravel

Return to origin

Pulse train input enable

Position error counter clear

Interface power common

Robot driver

24V

SIGP

150Ω

4 7kΩ

SIGN

ORL

CM1

DC24V

P24

PLC

SON

4 7kΩ

FOT

4 7kΩ

ROT

4 7kΩ

ORG

4 7kΩ

PEN

4 7kΩ

CER

CM1

Pulse train position

command (pulse)

Pulse train position

command (sign)

List of RDP / RDX terminal functions

Type

Ter minal

symbol

Ter minal name Description

Input signal

P24 Interface power

Supplies 24V DC for contact inputs.

Connecting this signal to the PLC terminal

allows using the internal power supply.

Use this terminal only for contact input. Do

not use for controlling external equipment

connected to the robot driver, such as brakes

CM1

Interface power

common

This is a ground signal for the power supply

connected to P24. If using the internal power

supply then input a contact signal between

this signal and the contact-point signal.

PLC

Intelligent input

common

Connect this signal to the power supply

common contact input. Connect an external

supply or internal power supply (P24).

SON Servo ON

Setting this signal to ON turns the servo on

(supplies power to motor to control it). This

signal is also used for estimating magnetic pole

position when FA-90 is set to oFF or oFF2.

RS Alarm reset

After an alarm has tripped, input ing this

signal cancels the alarm. But before inputting

this reset signal, ﬁ rst set the SON terminal to

OFF and eliminate the cause of the trouble.

TL Torque limit

When this signal is ON, the torque limit is enabled.

FOT

Forward

overtravel

When his signal is OFF, the robot will not run in

forward direc ion. (Forward direction limit signal)

ROT

Reverse

overtravel

When his signal is OFF, the robot will not run in

reverse direction. (Reverse direction limit signal)

ORL Origin sensor

Input an origin limit switch signal showing

the origin area.

ORG Return-to-origin

Inputting this signal starts return-toorigin operation.

PEN

Pulse train

input enable

When this signal is turned on, the pulse

train position command input is enabled.

CER

Position error

counter clear

Inputting this signal clears the position

deviation (position error) counter.

(Position command value is viewed as

current position.)

Analog

common

L Analog common This is the ground for the analog signal.

Output signal

SRD

SRDE

Servo ready

This signal is output when the servo is

ready to turn on (with main power supply

turned on and no alarms tripped.)

ALM

ALME

Alarm

An alarm signal is output when an alarm

has tripped. (This signal is ON in normal

state and OFF when an alarm has tripped )

INP

INPE

Positioning

complete

This signal is output when the deviation

between the command position and current

position is wi hin the preset positioning range.

Relay

output

(B24)

(Note 1)

Brake release

relay output

When the servo is ON, this terminal outputs a signal

to allow releasing the brake. (FLIP-X series only)

Monitor output

AO1 Monitor output 1

Outputs speed detection values, torque commands,

etc. as analog signal voltages for monitoring.

Signals to output are selected by setting parameters.

These signals are only for monitoring.

Do not use for control.

AO2 Monitor output 2

Monitor output

common

This is the ground for the monitor signal.

Position

command

PLSP

Position

command pulse

(pulse signal)

Select one of the following signal forms as

the pulse-train position command input.

(1) Command pulse + direction signal

(2) Forward direction pulse train + reverse

direction pulse train

(3) Phase difference 2-phase pulse

PLSN

SIGP

Position

command pulse

(sign signal)

SIGN

Position sensor

monitor

OAP

Position sensor

Phase A signal

Outputs monitor signal obtained by dividing

“phase A” signal of position sensor.

OAN

OBP

Position sensor

Phase B signal

Outputs monitor signal obtained by dividing

“phase B” signal of position sensor.

OBN

OZP

Position sensor

Phase Z signal

Outputs monitor signal for position sensor

“phase Z” signal.

OZN

Phase Z detection

Outputs monitor signal for position sensor

“phase Z” signal.

Phase Z detection

common

Braking

power input

B24

(Note 1)

Brake power

input

Input 24V DC brake power to this terminal.

(Note 1)

Brake power

common

Common terminal input for brake power.

B24, BO and BK are available only with RDX, and not with RDP.Note 1.

RDX/RDP

Standard accessories

I/O connector (no brake wiring)

Model KBH-M4420-00

I/O connector (with brake wiring)

Model KBH-M4421-00

Control power supply connector

Model KBH-M4422-00

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Yamaha ERCX Especificações Página 30

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