Yamaha SRCD Series Supporting Supplement Manual

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YAMAHA ROBOT CONTROLLER
CE
 marking
Supporting Supplement Manual
SRCD/SRCP
ERCX/SRCX/DRCX
E
ENGLISH
E72-Ver. 3.00

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  Summary of Contents for Yamaha SRCD Series

  • Page 1 SRCD/SRCP ERCX/SRCX/DRCX YAMAHA ROBOT CONTROLLER  marking Supporting Supplement Manual ENGLISH E72-Ver. 3.00...
  • Page 3 INTRODUCTION Thank you for purchasing the YAMAHA ERCX/SRCX/DRCX series robot controller. This supplement manual describes the CE marking for ERCX/SRCX/DRCX series ro- bot controller. When shipping the ERCX/SRCX/DRCX series robot controller to or use it in Europe, please be sure to read this manual and follow the instructions for correct operation.
  • Page 4 MEMO...
  • Page 5: Table Of Contents

    C o n t e n t s C o n t e n t s Chapter CE marking ............1 1-1 Safety Information ................2 1-2 CE marking ..................3 1-3 Safety precautions during robot operation ......... 5 1-4 Safety precautions during maintenance ..........5 1-5 Precautions for motor overload ............
  • Page 6 MEMO...
  • Page 7: Chapter 1 Ce Marking

    1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 CHAPTER 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0...
  • Page 8: Safety Information

    CHAPTER1 CE marking Safety Information To ensure correct and safe use of YAMAHA industrial robots, carefully read this supple- ment manual and make yourself well acquainted with the contents. FOLLOW THE WARNINGS, CAUTIONS AND USER’S INCLUDED IN THIS SUPPLEMENT MANUAL.
  • Page 9: Ce Marking

    CE marking is affixed to any single unit of YAMAHA robot series products, this means that use of any single unit of YAMAHA robot series products is not guar- anteed to conform to the EC directives. When you ship your finished system to or use it in Europe, you are required to verify that your system conforms to EC directives.
  • Page 10 In order to ensure your product conforms to EMC directives, you must evaluate your finished product (entire system) and take necessary countermeasures. EMC counter- measures for single units of YAMAHA robots are listed in “Chapter 3 EMC Counter- measures” on page 20.
  • Page 11: Safety Precautions During Robot Operation

    Safety precautions during robot operation ■ The robot must be operated by a person who has received Robot Training from YAMAHA or an authorized YAMAHA dealers. ■ During operation of the robot, be sure to stay out of the working area of the manipulator.
  • Page 12: Warning Labels

    (These warning labels are not affixed to the ERCX.) To use the YAMAHA robot and controller safely and correctly, be sure to observe the caution and instruction on the labels. I Label warning of...
  • Page 13 CHAPTER1 CE marking 1-6-2 Meaning of warning labels I “Read instruction manual” label This label indicates that important items you must know are described in the instruc- tion manual. The followings are particularly important. • The power fuses in the controller are located on both sides of L/N. (See Fig. 2-4, “Power supply and emergency stop circuit block diagram (SRCX)”(page 13), and also Fig.
  • Page 14: Operating Environment

    CHAPTER1 CE marking Operating environment I Installation location Install the robot controller indoors, at a height of less than 1000 meters above sea level. I Operating temperature The ambient temperature should be maintained within a range of 0 to 40°C during operation.
  • Page 15: Chapter 2 Configuration And Connection

    1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 CHAPTER 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0...
  • Page 16: Configuration Of Ce Marking Controller

    CHAPTER2 Configuration and Connection Configuration of CE marking controller 2-1-1 Controller basic configuration (ERCX) Fig.2-1 shows the ERCX controller basic block diagram. Fig.2-1 ERCX controller block diagram...
  • Page 17 CHAPTER2 Configuration and Connection 2-1-2 Power supply and emergency stop configuration (ERCX) Fig.2-2 shows the power supply and emergency stop block diagram for ERCX. Fig.2-2 Power supply and emergency stop block diagram (ERCX)
  • Page 18 CHAPTER2 Configuration and Connection 2-1-3 Controller basic configuration (SRCX) Fig.2-3 shows the SRCX controller basic block diagram. Fig.2-3 SRCX controller block diagram...
  • Page 19 CHAPTER2 Configuration and Connection 2-1-4 Power supply and emergency stop configuration (SRCX) Fig.2-4 shows the power supply and emergency stop block diagram for SRCX. Fig.2-4 Power supply and emergency stop block diagram (SRCX)
  • Page 20 CHAPTER2 Configuration and Connection 2-1-5 Controller basic configuration (DRCX) Fig.2-5 shows the DRCX controller basic block diagram. Fig.2-5 DRCX controller block diagram...
  • Page 21 CHAPTER2 Configuration and Connection 2-1-6 Power supply and emergency stop configuration (DRCX) Fig.2-6 shows the power supply and emergency stop block diagram for DRCX. Fig.2-6 Power supply and emergency stop block diagram (DRCX)
  • Page 22: Connecting The Power Supply

    CHAPTER2 Configuration and Connection Connecting the Power Supply 2-2-1 Power supply I ERCX controller DriverType Power supply voltage No. of phases Frequency Max. power consumption DC24V ±10% I SRCX controller DriverType Power supply voltage No. of phases Frequency Max. power consumption AC200V ±10% Single phase 50/60Hz...
  • Page 23 CHAPTER2 Configuration and Connection C A U T I O N C A U T I O N (ERCX controller only) C A U T I O N The power consumption listed above is for ERCX controller only. Additional power should be supplied for the mechanical brake and I/O control via the I/O connector.
  • Page 24 CHAPTER2 Configuration and Connection C A U T I O N C A U T I O N C A U T I O N When connecting the power supply to the ERCX controller, the cable length between the ERCX controller and the AC adapter for supplying DC power to the ERCX controller should be less than 10 meters, in order to prevent external surge intrusion into the power cable.
  • Page 25 Never attempt isolation resistance tests or voltage breakdown tests on the controller. Since capacitive grounding is provided between the controller body and 0V, these tests may result in detecting excessive leakage current or damage to internal circuitry. If these tests are required, please consult your YAMAHA sales office or representative.
  • Page 26: Chapter 3 Emc Countermeasures

    1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 EMC Countermeasures To conform to EMC directives, implement the appropriate EMC countermeasures for your finished product (entire system). The following description and circuits are typical EMC countermeasures for a single unit of YAMAHA robot, just for your reference.
  • Page 27: Typical Component Layout For Emc Countermeasures

    Typical component layout for EMC countermeasures The following countermeasures are typical methods for testing the robot and controller under YAMAHA installation conditions. When the robot and controller are used while installed in your system, the actual test results may differ depending on installation con- ditions.
  • Page 28 Typical component layout for EMC countermeasures (DRCX) Fig.3-3 shows a typical component layout for EMC countermeasures when the DRCX controller is used in combination with a YAMAHA cartesian or pick-and-place type robot. Fig.3-4 shows a typical component layout for EMC countermeasures when the DRCX controller is used in combination with two YAMAHA single-axis robots.
  • Page 29: Precautions For Cable Connections

    CHAPTER3 EMC Countermeasures Precautions for Cable Connections Various cables are used to connect the robot controller to peripheral devices. Lay out AC cables as separately from low DC cables as possible. I AC cables • Power cable • Motor cable I Low DC cables •...
  • Page 30: Chapter 4 Specifications

    1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 CHAPTER 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0...
  • Page 31: Ce Marking

    CHAPTER4 SPECIFICATIONS CE marking 4-1-1 ERCX sereis controller Model ERCX Specification item Applicable motor capacitance DC24V, 30W or less Basic W30 × H250 × D157mm External dimensions specifi- Weight 0.9kg cations Used power supply voltage DC24V±10%, 3A No. of controllable axes 1 axis Control method AC full digital servo PTP...
  • Page 32 See 1-2-1, “Safety standards”, and Chapter 3, “EMC Countermeasures”. The regenerative unit (RGU-2) is required to operate a load with large inertia or a robot model specified by YAMAHA. Note) Specifications and external appearance are subject to change without prior notice.
  • Page 33 CE marking See 1-2-1, “Safety standards”, and Chapter 3, “EMC Countermeasures”. 1) A regenerative unit (RGU-2) is required when operating robot models specified by YAMAHA or a robot handling a load with large inertia. 2) Only for Cartesian robot. Note) Specifications and external appearance are subject to change without prior notice.
  • Page 34 All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.