Yamaha SRCX Spezifikationen PDF herunterladen (Seite 7)

Product Lineup

Controllers

SR1-X / SR1-P / ERCD Diverse functions

Position data output function

Zone output

Outputs whether the

robot position is within the

specied range or not.

Point zone output

Outputs the number of

the point near the robot

position in the binary

output.

Binary output

Outputs current robot

position by 16bits binary.

(This function is only

available on the SR1)

Feedback pulse output

Outputs the current

position counter value of

the robot through the A/B

phase line driver.

Torque limiting drive

It is possible to perform such actions as pressing and gripping

the work by restricting the torque during operation.

General idea

Features

TLM

CCW

Electric

current

Torque

limiting

value 1

Torque

limiting

value 2

SR1

•

Control over limit timing at the upper level

by TLM input.

•

Grasp of limit condition by torque limit

condition output (TLON).

•

Selection of torque limit value by input (up

to 4 patterns).

•

Allows torque limiting with the program

command.

•

Limit of the torque by analog input (0 to

+10V/12bit).

ERCD

•

Limits the torque by using the T program

command.

Changing movement data function

Possible to change the moving speed and programmed position

while moving. (This function is SR1 only.)

General idea

Features

Inputs 1Inputs 2Inputs 3

Position

Speed

•

Control over movement change timing at

the upper level by movement command

input.

•

The movement command is either ABS-

PT (absolute movement command) or

ABS-BN (Binary specification movement

command).

•

Selection of speed specification is 1 to

100% (up to 4 patterns).

•

Change in the deceleration range is invalid.

Point instruction

It is possible to execute jog movement of the robot and point

teaching from the upper level device.

General idea

Robot is moved to the position where teaching

is to be done by the JOG+/JOG-command.

Position

JOG

-J

OG+

The current position is registered to the

number of the point specied by PSET input.

Position

PSET

Current position

DO0 = OFF DO0 = OFF

Position

DO0 = ON

P900 P901

It is possible to reverse the output logic.

It is also possible to limit to the

moving point only.

PositionP3 P127

DO (7) (0)

0000 0011

DO (7) (0)

0111 1111

DO (15) (0)

Position

0011 1111 1100 0000

163.20 [mm]

It is possible to adjust the unit of the output

position data by using parameters.

phase

Upper level

device

(Counter)

phase

It is possible to monitor at real time by using the

upper level device. A division function is installed.

SR1-X/SR1-P

P.421

FLIP-X

PHASER

[Single-axis robot controllers]

Diverse command methods

Select an optimal method from the different command methods

including program operation, point trace, remote command, and

on-line command. Program uses the YAMAHA SRC language

resembling BASIC. Use it to execute a variety of operations

ranging from simple tasks to I/O output and conditional

branching, etc.

I/O assignment function

Besides the usual program operation, changing the I/O

assignment allows selecting operations such as point trace,

point teaching, and trace operation by specifying coordinates. In

point teaching mode Jog can be performed via the I/O so a host

device can perform point teaching even without an HPB.

Supports complete absolute specications

The SR1-X supports complete absolute specications. No origin

point return is needed (backup period with no power supplied is

1 year).

Current position output function

These controllers can output the position data as feedback

pulses or binary data. This allows the host device to find the

current robot position in real-time. These are also loaded with

functions such as point zone output that outputs the zone or a

point No. in its vicinity.

Torque limiter

This function limits the maximum torque command value to an

optional timing and so is effective in operations such as grip

and press-t. Besides using parameter data values for torque

limiting, analog input voltages can also be used to limit the

torque.

SR1-PSR1-X

Operation method : Program

Point trace

Remote command

Online command

Points : 1000 points

Input power : AC100V / AC200V

Position detection :

SR1-X Absolute

Incremental

SR1-P Incremental

Semi-absolute

1 2 3 4 5 6 7 8 9 10 11 12 ... 69 70

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