Table Of Contents - Yamaha DRCX User Manual

General Contents
Chapter 1 OVERVIEW ........................................................................................................... 1-1
1-1 Features of the DRCX 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 ............................................................................................................. 1-7
1-4-1
1-5 Accessories and Options ........................................................................................................ 1-8
1-5-1
1-5-2
Chapter 2 INSTALLATION AND CONNECTION .................................................................. 2-1
2-1 Installing the DRCX 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 .............................................................................................................................. 2-6
2-4 Connecting the DRCX to the Control Unit ............................................................................. 2-6
2-5 Connecting to the Robot ........................................................................................................ 2-7
2-5-1
2-5-2
2-6 Connecting to the I/O Connector .......................................................................................... 2-8
2-7 Connecting to the Regenerative Unit ..................................................................................... 2-9
2-8 Connecting the Absolute Battery .......................................................................................... 2-10
Chapter 3 I/O INTERFACE .................................................................................................... 3-1
3-1 I/O Signals ............................................................................................................................. 3-2
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
3-4 I/O Circuits ............................................................................................................................ 3-9
3-4-1
3-4-2
3-5 I/O Connection Diagram ..................................................................................................... 3-12
3-5-1
3-5-2
3-5-3
3-6 I/O Control Timing Charts ................................................................................................... 3-15
3-6-1
3-6-2
3-6-3
3-6-4
3-6-5
3-6-6
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DRCX controller ............................................................................................................................................ 1-4
TPB ................................................................................................................................................................ 1-6
System configuration ..................................................................................................................................... 1-7
Accessories .................................................................................................................................................... 1-8
Peripheral options ......................................................................................................................................... 1-8
Installation method ....................................................................................................................................... 2-2
Installation location ....................................................................................................................................... 2-2
Power supply ................................................................................................................................................. 2-3
Connecting the power supply ........................................................................................................................ 2-4
Installing an external leakage breaker ........................................................................................................... 2-4
Installing a circuit protector .......................................................................................................................... 2-5
Installing current control switches ................................................................................................................ 2-5
Insulation resistance and voltage breakdown tests ........................................................................................ 2-5
Robot I/O connector and signal table ........................................................................................................... 2-7
Motor connector and signal table .................................................................................................................. 2-7
Dedicated command input ............................................................................................................................ 3-3
General-purpose input (DI0 to DI15) ............................................................................................................ 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 DO12) ...................................................................................................... 3-9
I/O circuit specifications ............................................................................................................................... 3-9
I/O circuit and connection example ............................................................................................................ 3-10
General connections for internal 24V power supply ................................................................................... 3-12
Connection to PLC output unit using external 24V power supply ............................................................... 3-13
Connection to PLC input unit using external 24V power supply .................................................................. 3-14
When turning the power on ........................................................................................................................ 3-15
When executing a dedicated input command .............................................................................................. 3-16
When interlock signal is input ..................................................................................................................... 3-20
When emergency stop is input .................................................................................................................... 3-21
When alarm is issued ................................................................................................................................... 3-21
When executing a point movement command ............................................................................................ 3-22
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