Yamaha SRCP Manual do Utilizador Página 1

User’s ManualENGLISHEE86-Ver. 2.01Pulse Train ModeYAMAHA SINGLE-AXIS ROBOT CONTROLLERSRCD/SRCP

2 -2MEMO

3Setup3 -1Chapter 3 Setup3-1 Installation and connectionFor information on how to install the controller and to connect it to the power supply androbo

3 -23Setup3-2 I/O specifications and wiringNo.Signal nameMeaning Description TypeA9B9A10B10A11B11A12B12A13B13A14B14A15B15A16B16A17B17A18B18A19B19A20B2

3 -33Setup I/O wiring diagramSRCP controller%$%$%$%$%$%$%$%$%$%$%$3&/525*65(6(76(592,1+',',',

3 -43Setup Pulse circuit description[Line driver input]The line receiver used here is the26LS32or equivalent item. Amaximum pulse input of 2Mpps isal

3 -53Setup3-2 I/O specifications and wiring Signal descriptionDeviation clear input(PCLR)Pin No. B2 (I/O.CN) Sequence input[Function]• At ON ignores

3 -63SetupCommand pulse inputCommand direction inputPin No. A15, B15, A16, B16 (I/O.CN) Pulse input[Function]• The input type of these signals is chan

3 -73SetupFeedback pulse output Pin No. A17, B17, A18, B18, A19, B19, A20, B20 (I/O.CN) Pulse output• Outputs current position information as differe

3 -83Setup Signal timing● Power-ON to pulse inputPower input for I/O (24V, 24G)Main power supply (L, N)Alarm output(ALM)Servo ON input(SERVO)Position

4Operation4 -1Chapter 4 Operation4-1 Setup for operationAfter correctly installing and connecting the controller to the robot, turn on the powerand th

4 -24Operation4-2 Defining the CW and CCW directions4-2 Defining the CW and CCW directionsThe following descriptions define the direction the robot mo

4 -34Operation4-3 Magnetic pole detection4-3 Magnetic pole detectionWhen using the SRCP series controller to operate a PHASER series robot, the magnet

4 -44Operation4-4 Electronic gear function4-4 Electronic gear functionThis function allows the robot to move at a rate equal to the number of pulses t

4 -54Operation4-5 Monitor function Monitoring the I/O signalsThe sequence I/O status can be monitored on the TPB.[Display screen][MON-DIO]DI 00000000

4 -6MEMO

5Parameters5-1Chapter 5 Parameters5-1 Parameter settingFor information on how to set parameters with the TPB, refer to "5-1 Setting parameters&qu

5 -25ParametersAlarm number outputOutput accompanying return-to-originSystem mode selectionOrigin shiftOrigin search dataQP band widthSpeed gain compe

5 -35Parameters5-3 Parameter descriptionThis section describes parameters required for operation in pulse train mode.• For other parameters not listed

5 -45Parameters Pulse train mode parametersPRM64 Input type Input range Default value Unit0 to 3 0 –Switches the mode and selects the input type for

5 -55ParametersPRM70 Servo-off sequenceInput range Default value Unit0 to 3 0 –Sets the deviation counter processing when an alarm or servo-OFF occurs

iIntroductionThank you for purchasing the YAMAHA robot controller SRCP/SRCD series.The SRCP/SRCD series controller can be used with a YAMAHA single-ax

5 -6MEMO

6Alarms6 -1Chapter 6 AlarmsThe SRCP/SRCD series controllers turns off the alarm output (ALM) when an error isdetected.To cancel the alarm: Turn the p

6 -26Alarms6-2 Alarm list Alarm messageNo. Message DescriptionPower off and then onOVER LOADOVER CURRENTOVER HEATPOWER DOWNBATT.LOW-VOLTAGE24V POWER

6 -36Alarms6-3 Troubleshooting6-3 Troubleshooting Alarms* For details on alarms, refer to the SRCP controller user's manual. TroubleshootingChe

Ver. 1.10Ver. 1.30 Ver. 2.00Ver. 2.01English manual Ver. 1.10 is based on Japanese manual Ver. 1.10. English manual Ver. 1.30 is based on Japanese man

iiMEMO

iGeneral ContentsChapter 1 Overview... 1-11-1 SRCP/SRCD series functions and features ...

iiMEMO

11 -1OverviewChapter 1 Overview1-1 SRCP/SRCD series functions and features VariationSeries nameSRCP seriesSRCD seriesTypeSRCP-05, 05A, 10, 10A, 20, 2

1 -2MEMO

2Specifications2 -1Chapter 2 Specifications SRCP/SRCD series basic specificationsItemSeries nameSRCP seriesSRCD seriesDescriptionDimensionsWeightPowe