2-5 Connecting to the Robot

2

INSTALLATION AND CONNECTION

2-5 Connecting to the Robot

First make sure that the power to the SRCP controller is turned off, and then connect the robot cable to the robot I/O connector and motor connector on the front panel of the SRCP controller. Fully insert the robot cable until it clicks in position.

*When the robot cable is disconnected from the controller, an alarm (15: FEEDBACK ERROR

2)is issued.

2-5-1 Robot I/O connector and signal table

 

 

Mating connector type No.

 

: 0-174047-2 (AMP)

 

 

 

Mating connector contact type No.

 

: 0-175180-2

 

 

 

 

 

SRCP’s connector type No.

 

: 0-174055-2

 

 

 

 

 

Signal table

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Terminal No.

Signal name

Description

 

 

Terminal No.

Signal name

Description

 

 

1

PS+

Position SIN input (+)

 

 

11

 

NC

No connection

 

 

2

PS-

Position SIN input (-)

 

 

12

 

ORG

Origin sensor input

 

 

3

PC+

Position COS input

(+)

 

 

13

 

+24V

Origin sensor, +24V

 

 

4

PC-

Position COS input

(-)

 

 

14

 

+24V

Origin sensor, +24V

 

 

5

+5V

+5V

 

 

 

15

 

0V

Origin sensor, 24GND

 

 

6

GND

GND

 

 

 

16

 

0V

Origin sensor, 24GND

 

 

7

Z+

Linear scale Z+

 

 

 

17

 

BK+

Brake (+)

 

 

8

Z-

Linear scale Z-

 

 

 

18

 

BK-

Brake (-)

 

 

9

DG

Digital ground

 

 

 

19

 

NC

No connection

 

 

10

DG

Digital ground

 

 

 

20

 

FG

Frame ground

2-5-2 Motor connector and signal table

 

 

 

 

Mating connector type No.

 

: 1-178128-4 (AMP)

 

 

 

Mating connector contact type No.

 

: 1-175218-5

 

 

 

 

 

SRCP's connector type No.

 

: 1-179277-5

 

 

 

 

 

Signal table

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Terminal No.

Signal name

Description

 

 

Terminal No.

Signal name

Description

 

 

1

FG

Frame ground

 

 

 

3

 

MV

Motor V-phase output

 

 

2

MU

Motor U-phase output

 

 

4

 

MW

Motor W-phase output

2-6

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Image 24
Yamaha SRCP manual Connecting to the Robot, Robot I/O connector and signal table