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Single axis robot controller SR1-X/SR1-P

      Introduces the single-axis robot controllers SR1-X and SR1-P.

For single-axis robot

SR1-X・SR1-P
Although with one axis,functions of upper class controllers.

-Controllable robots : SR1-X : FLIP-X, SR1-P : PHASER
-Operating 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

Feature

        1. 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.

        2. 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.

        3. Supports complete absolute specifications
                The SR1-X supports complete absolute specifications. No origin point return is needed (backup period with no power supplied is 1 year).

        4. 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.

        5. 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-fit. Besides using parameter data values for torque limiting, analog input voltages can also be used to limit the torque.

 

Functions

        1. Position data output function

Zone output
Outputs whether the robot position is within the specified 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.

        2. Torque limiting drive
                It is possible to perform such actions as pressing and gripping the work by restricting the torque during operation.

        3. Changing movement data function
                Possible to change the moving speed and programmed position while moving.

        4. Point instruction
                It is possible to execute jog movement of the robot and point teaching from the upper level device.

        5. Handy YAMAHA SRC language functions(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.

        6. Handy YAMAHA SRC language functions (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 SR1-X SR1-P
Basic specifications
Driver model SR1-X-05 SR1-X-10 SR1-X-20 SR1-P-05 SR1-P-10 SR1-P-20
Applicable motor output 200V 100W or less 200V 200W or less 200V 600W or less 200V 100W or less 200V 200W or less 200V 600W or less
Number of controllable axes Single-axis
Controllable robots Single-axis robot FLIP-X (exclude T4L, T5L) Linear motor single-axis robot PHASER
Maximum power consumption 400VA 600VA 1400VA 400VA 600VA 1400VA
Capacity of the connected motor 100W 200W 600W 100W 200W 600W
Dimensions W74 × H210 × D146mm W99 × H210 × D146mm W74 × H210 × D146mm W99 × H210 × D146mm
Weight 1.54kg 1.92kg 1.54kg 1.92kg
Input power supply Control power supply Single phase AC100 to 115 / 200V +/-10% maximum 50/60Hz
Motor power supply Single phase AC100 to 115 /
200 to 230V +/-10% maximum 50/60Hz		 Single phase AC200 to 230V +/-10% maximum 50/60Hz Single phase AC100 to 115 /
200 to 230V +/-10% maximum 50/60Hz		 Single phase AC200 to 230V +/-10% maximum 50/60Hz
Axis control
Drive method AC full-digital software servo
Position detection method Multi-turn resolver with data backup function Magnetic linear scale
Operating method Programming, I/O point tracing, Remote command, Operation using RS-232C communication
Position indication units mm (millimeters), deg (degrees)
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 (Setting by 1% unit)
Resolution 16384 P/rev 1µm
Origin search method Absolute, Incremental Incremental, Semi-absolute
Program
Program language YAMAHA SRC
Multitasks 4 tasks maximum
Point-data input method Manual data input (coordinate value input), Direct teaching, Teaching playback
Memory
Programs 100 programs 255steps /
1 programs 3000 steps /
total
Points 1000 points
External input/output
STD.DIO I/O input Dedicated input 8 points, General input16 points
I/O output Dedicated Output 4 points, General output16 points
SAFETY Emergency stop input (Normal close contact point input), service mode input
Brake output Relay contact -
Origin sensor input Connectable to DC 24V normally-closed contact sensor
External communications RS-232C: 1CH (For communication with HPB / HPB-D or PC)
Analog input/output Input 1ch (0 to +10V) Output 2ch (0 to +10V)
Options Slots 1
Type NPN/PNP : Dedicated input 8 points, Dedicated Output 4 points, General input 16 points, General output 16 points
CC-Link : Dedicated input 16 points, Dedicated Output 16 points, General input 32 points, General output 32 points
DeviceNet : Dedicated input 16 points, Dedicated Output 16 points, General input 32 points, General output 32 points
PROFIBUS : Dedicated input 16 points, Dedicated Output 16 points, General input 32 points, General output 32 points
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)
Absolute backup battery Lithium metallic battery -
Absolute data backup period 1 year (in state with no power applied) -
Noise immunity IEC61000-4-4 Level 3

Catalog
-SR1-X/SR1-P Catalog (633 KB)
-Basic specifications (179 KB)
-Part names / Dimensions (341 KB)
-[NPN, PNP type]Input/Output list (190 KB)
-input/output circuit (180 KB)
-Robot Language Table (104 KB)
-Driver / regenerative unit selection table (223 KB)
-Accessories and part options (264 KB)
-Field Network (247 KB)
-Ordering Method (220 KB)