Single axis robot controller ERCD
Introduces the single-axis robot controller ERCD.
ERCD Dedicated for T4L / T5L / C4L / C5L / YMS. Pulse train control -Controllable robots : FLIP-X series T4 / T5 / C4 / C5 / YMS |
Feature
1. 4 command formats
Select from 4 command formats including program operation that allows using diverse commands, or point trace operation that works just by specifying a point No., or online commands, and pulse train input.
2. Compact design
Along with sophisticated functions, the ERCD also has a compact box shape of W44 × H142 × D117. It is compact, only taking up about 62% of the area used by the prior YAMAHA ERCX model. This allows greater freedom for use of installation space.
3. Diverse input/output functions
The ERCD includes a feedback pulse output function that allows easily controlling the current position from a host control device. Moreover, movement point numbers can be easily output in binary during point trace so operation points are easy to check. Teaching functions can also be added by way of I/O, and there is more freedom in building up the system and it is easier to use. This output is also effective for program and point trace operation, and the number of outputs can be changed as needed by a divider setting.
4. Torque restriction control
As the torque restriction can be controlled using the program command, the axis can be stopped with the torque applied. This function is usable for continuous positioning of works of different sizes, press-fitting work and work retaining operation.
5. Zone output function
It is possible to set ON / OFF of the general purpose output between any points by using the parameter setting . Also, the axis posi tion can be judged easily by using an external equipment as positive logic / negative logic settings can be made. Settings are acceptable up to 4 patterns.
Functions
1. Position data output function
Zone output |
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Point zone output |
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Feedback pulse output |
2. Torque limiting drive
It is possible to perform such actions as pressing and gripping the work by restricting the torque during operation.
3. Torque limiting drive
It is possible to perform such actions as pressing and gripping the work by restricting the torque during operation.
4. Multitask function
This function enables to execute up to 4 tasks of peripheral equipment of the robot at the same time. With the multitask function combined with the JMPP command, it is possible to have I/O output when the specified point is passed during movement.
5. Function to make conditional stop during movement
The arm can be decelerated and stopped, using I/O conditions of the MOVF command while it is moving. This function is useful when searching the target position with a sensor.
Specifications
Model | ERCD | |||
Number of controllable axes | Single-axis | |||
Controllable robots | Single-axis robot FLIP-X series T4L / T5L / C4L / C5L / YMS | |||
Basic specifications | ||||
Capacity of the connected motor | DC24V 30W or less | |||
Dimensions | W44 × H166 × D117mm | |||
Weight | 0.45kg | |||
Input power supply | DC24V +/- 10% maximum 3A to 4.5A(Variable depending on robots in use.) | |||
Axis control | ||||
Drive method | AC full-digital software servo | |||
Position detection method | Resolver | |||
Operating method | Normal mode: point trace movement, program operation, operation using RS-232C communication Pulse Train mode: operation by pulse train input |
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Position indication units | mm (millimeters) | |||
Speed setting | 1% to 100% (Setting by 1% unit) | |||
Acceleration setting | 1. Automatic speed setting per robot No. and payload 2. Setting based on acceleration and deceleration parameter 1% to 100% (Setting by 1% unit) |
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Resolution | 16384 P/rev | |||
Origin search method | Incremental | |||
Program | ||||
Program language | YAMAHA SRC | |||
Multitasks | 4 tasks | |||
Point-data input method | Manual data input (coordinates input), Direct teaching, Remote teaching | |||
Memory | ||||
RAM | 32 Kbytes with lithium battery backup (5-year life) Retains programs, point data, parameters and alarm history | |||
Programs | 100 programs (Maximum program number) 255 steps per program 1024 steps / total or less |
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Points | 1000 points (256 when point tracing) | |||
External input/output | ||||
I/O interface | Normal mode* | Sequence input | Dedicated input 8 points, General input 6 points | |
Sequence output | Dedicated input 3 points, General input 6 points, Open collector output | |||
Pulse train mode* | Sequence input | Dedicated input 5 points, General input 6 points | ||
Sequence output | Dedicated input 3 points, General input 6 points, Open collector output | |||
Command pulse input | Type | 1.Phase A / phase B, 2.Pulse / code, 3.CW / CCW |
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Mode | Line driver (+5V) | |||
Frequency | Maximum 2 Mpps | |||
Feedback pulse output | Terminal name | PA+, PA-, PB+, PB-, PZ+, PZ | ||
Type | Phase A / phase B / phase Z | |||
Mode | Line driver (+5V) | |||
Number of pulse | 16 to 4096 P/rev | |||
Power supply for sequence I/O | External DC +24V input | |||
Emergency stop input | Normal close contact point input | |||
Brake output | Relay output (for 24V/300mA brake) 1CH | |||
External communications | RS-232C 1CH (For communication with HPB or PC) | |||
Options | ||||
Programming box | HPB, HPB-D (with enable switch) | |||
Support software for PC | POPCOM | |||
General specifications | ||||
Operating temperature | 0°C to 40°C | |||
Storage temperature | -10°C to 65°C | |||
Operating humidity | 35% to 85%RH (non-condensing) | |||
Noise resistance capacity | IEC61000-4-4 Level 2 | |||
Protective functions | Overload, overvoltage, voltage drop, resolver wire breakage, runaway detection, etc. |
Catalog
-ERCD Catalog Spec (440 KB)
-Basic specifications (170 KB)
-Part names / dimensions (236 KB)
-Connector I / O signals (109 KB)
-Input / output wiring diagram (95 KB)
-Pulse train input form (95 KB)
-Robot Language Table (109 KB)
-Standard accessories (205 KB)
-Ordering method (236 KB)