General Contents

...........................................................................................................Chapter 1 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

SRCP controller

1-4

 

1-3-2

TPB

1-7

1-4

System Configuration

1-8

 

1-4-1

System configuration

1-8

1-5

Accessories and Options

1-9

 

1-5-1

Accessories

1-9

 

1-5-2

Peripheral options

1-9

..................................................................Chapter 2 INSTALLATION AND CONNECTION

2-1

 

 

2-1 Installing the SRCP Controller

2-2

 

2-1-1

Installation method

2-2

 

2-1-2

Installation location

2-2

2-2 Connecting the Power Supply

2-3

 

2-2-1

Power supply

2-3

 

2-2-2 Connecting the power supply

2-3

 

2-2-3 Installing an external leakage breaker

2-4

 

2-2-4 Installing a circuit protector

2-4

 

2-2-5 Installing current control switches

2-5

 

2-2-6 Insulation resistance and voltage breakdown tests

2-5

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 Robot I/O connector and signal table

2-6

 

2-5-2

Motor connector and signal table

2-6

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

Chapter 3 I/O INTERFACE

3-1

 

 

 

3-1

I/O Signals

3-2

 

3-1-1 I/O. CN connector signals

3-2

 

3-1-2 EXT. CN connector signals

3-2

3-2

Input Signal Description

3-3

 

3-2-1

Dedicated command input

3-3

 

3-2-2 General-purpose input (DI0 to DI7)

3-6

 

3-2-3 SERVICE mode input (SVCE)

3-7

 

3-2-4

Interlock (LOCK)

3-7

 

3-2-5 Emergency stop inputs 1, 2 (EMG1, EMG2)

3-7

3-3

Output Signal Description

3-8

 

3-3-1

Dedicated output

3-8

 

3-3-2 General-purpose output (DO0 to DO4)

3-9

 

3-3-3 Feedback pulse output (PA±, PB±, PZ±, PZM±)

3-9

3-4

I/O Circuits

3-10

 

3-4-1

I/O circuit specifications

3-10

 

3-4-2 I/O circuit and connection example

3-11

3-5

I/O Connection Diagram

3-12

 

3-5-1 Connection to PLC output unit

3-12

 

3-5-2 Connection to PLC input unit

3-13

3-6

I/O Control Timing Charts

3-14

 

3-6-1 When turning the power on

3-14

 

3-6-2 When executing a dedicated input command

3-15

 

3-6-3 When interlock signal is input

3-18

 

3-6-4 When emergency stop is input

3-19

 

3-6-5 When alarm is issued

3-19

 

3-6-6 When executing a point movement command

3-20

i

Page 3
Image 3
Yamaha SRCP manual General Contents