Table of Contents
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General Contents
OVERVIEW ........................................................................................................... 1-1
1-1
Features of the SRCP Series Controller ................................................................................... 1-2
1-2
Setting Up for Operation ....................................................................................................... 1-3
1-3
External View and Part Names ............................................................................................... 1-4
1-3-1
1-3-2
1-4
System Configuration ............................................................................................................. 1-8
1-4-1
1-5
Accessories and Options ........................................................................................................ 1-9
1-5-1
1-5-2
INSTALLATION AND CONNECTION .................................................................. 2-1
2-1
Installing the SRCP Controller................................................................................................ 2-2
2-1-1
2-1-2
2-2
Connecting the Power Supply ................................................................................................ 2-3
2-2-1
2-2-2
2-2-3
2-2-4
2-2-5
2-2-6
2-3
Grounding .............................................................................................................................. 2-5
2-4
Connecting the SRCP to the Control Unit .............................................................................. 2-5
2-5
Connecting to the Robot ........................................................................................................ 2-6
2-5-1
2-5-2
2-6
Connecting to the I/O. CN Connector ................................................................................... 2-7
2-7
Connecting to the EXT. CN Connector ................................................................................... 2-8
2-8
Connecting to the Regenerative Unit ..................................................................................... 2-9
I/O INTERFACE .................................................................................................... 3-1
3-1
I/O Signals ............................................................................................................................. 3-2
3-1-1
3-1-2
3-2
Input Signal Description ........................................................................................................ 3-3
3-2-1
3-2-2
3-2-3
3-2-4
3-2-5
3-3
Output Signal Description ..................................................................................................... 3-8
3-3-1
3-3-2
3-3-3
3-4
I/O Circuits ..........................................................................................................................3-10
3-4-1
3-4-2
3-5
I/O Connection Diagram ..................................................................................................... 3-12
3-5-1
3-5-2
3-6
I/O Control Timing Charts ................................................................................................... 3-14
3-6-1
3-6-2
3-6-3
3-6-4
3-6-5
3-6-6
SRCP controller ............................................................................................................................................. 1-4
TPB ................................................................................................................................................................ 1-7
System configuration ..................................................................................................................................... 1-8
Accessories .................................................................................................................................................... 1-9
Peripheral options ......................................................................................................................................... 1-9
Installation method ....................................................................................................................................... 2-2
Installation location ....................................................................................................................................... 2-2
Power supply ................................................................................................................................................. 2-3
Connecting the power supply ........................................................................................................................ 2-3
Installing an external leakage breaker ........................................................................................................... 2-4
Installing a circuit protector .......................................................................................................................... 2-4
Installing current control switches ................................................................................................................ 2-5
Insulation resistance and voltage breakdown tests ........................................................................................ 2-5
Robot I/O connector and signal table ........................................................................................................... 2-6
Motor connector and signal table .................................................................................................................. 2-6
I/O. CN connector signals ............................................................................................................................. 3-2
EXT. CN connector signals ............................................................................................................................. 3-2
Dedicated command input ............................................................................................................................ 3-3
General-purpose input (DI0 to DI7) .............................................................................................................. 3-6
SERVICE mode input (SVCE) .......................................................................................................................... 3-7
Interlock (LOCK) ........................................................................................................................................... 3-7
Emergency stop inputs 1, 2 (EMG1, EMG2) ................................................................................................... 3-7
Dedicated output .......................................................................................................................................... 3-8
General-purpose output (DO0 to DO4) ........................................................................................................ 3-9
±
±
, PB
I/O circuit specifications ............................................................................................................................. 3-10
I/O circuit and connection example ............................................................................................................ 3-11
Connection to PLC output unit .................................................................................................................... 3-12
Connection to PLC input unit ...................................................................................................................... 3-13
When turning the power on ........................................................................................................................ 3-14
When executing a dedicated input command .............................................................................................. 3-15
When interlock signal is input ..................................................................................................................... 3-18
When emergency stop is input .................................................................................................................... 3-19
When alarm is issued ................................................................................................................................... 3-19
When executing a point movement command ............................................................................................ 3-20
±
±
, PZ
, PZM
) ............................................................................................. 3-9
i
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Troubleshooting
