Yamaha ERCX Specifications Page 35
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APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robots
FLIP-X
Linear motor
single-axis robots
PHASER
Cartesian
robots
XY-X
SCARA
robots
YK-XG
Pick & place
robots
YP-X CLEAN
CONTROLLER
INFORMATION
373
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
ERCD
Input / output wiring diagram
ROB
PB
RS232C
communication
control
I/O CN
Sequence input
I/O CN
Sequence output
EXT CN
DC24V
I/O CN
pulse output
SG
Power terminal base
DC24V
3A to 4 5A
(Variable depending
on robots)
+
ABS PT
INC PT
AUTO R
STEP R
ORG S
RESET
SERVO
LOCK
DI0
DI1
DI2
DI3
DI4
DI5
(SVCE)
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
DO0
DO1
DO2
DO3
DO4
DO5
END
BUSY
READY
FG
A9
B9
A10
B10
A11
B8
B11
A12
B12
A13
EMG1
EMG2
24V
24G
1
2
3
4
A17
B17
A18
B18
A19
B19
B14
B13
PA+
PA
PB+
PB
PZ+
PZ
GND
FG
24P
24N
FG
Pulse train input / output wiring diagram
ROB
PB
I/O CN
pulse input
I/O CN
Sequence input
I/O CN
Sequence output
EXT CN
DC24V
I/O CN
pulse output
SG
SG
Power terminal base
DC24V
3A to 4 5A
(Variable depending
on robots)
+
A15
B15
A16
B16
A14
PCLR
ORG S
RESET
SERVO
INH
DI0
DI1
DI2
DI3
DI4
DI5
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
DO0
DO1
DO2
DO3
DO4
DO5
IN POS
SRDY
ALM
FG
A9
B9
A10
B10
A11
B8
B11
A12
B12
A13
EMG1
EMG2
24V
24G
1
2
3
4
PULS+
PULS
DIR+
DIR
GND
A17
B17
A18
B18
A19
B19
B14
B13
PA+
PA
PB+
PB
PZ+
PZ
GND
FG
24P
24N
FG
Robot Language Table
Command Description
MOVA Moves to a point data position.
MOVI Moves from current position by amount of point data.
MOVF Moves until a specifi ed DI input is received.
JMP Jumps to a specifi ed label in the specifi ed program.
JMPF
Jumps to a specifi ed label in a specifi ed program
according to the input condition.
JMPB
Jumps to a specifi ed label when general-purpose
input or memory input is in the specifi ed state.
L
Defi nes the jump destination for a JMP or JMPF
statement, etc.
CALL Runs another program.
DO
Turns general-purpose output or memory output on
or off.
WAIT
Waits until general-purpose input or memory input is
in the specifi ed state.
TIMR
Waits the specifi ed amount of time before advancing
to the next step.
PDefi nes point variable.
P+ Adds 1 to point variable.
P- Subtracts 1 from point variable.
SRVO Turns servo on or off.
STOP Temporarily stops program execution.
ORGN Performs return-to-origin.
TON Runs a specifi ed task.
TOFF Stops a specifi ed task.
JMPP
Jumps to a specifi ed label when the axis position
condition meets the specifi ed conditions.
MAT Defi nes a matrix.
MSEL Specifi es a matrix to move.
MOVM Moves to a specifi ed pallet work position on matrix.
JMPC
Jumps to a specifi ed label when the counter array
variable C equals the specifi ed value.
JMPD
Jumps to a specifi ed label when the counter variable
D equals the specifi ed value.
CSEL Specifi es an array element for counter array variable C.
CDefi nes counter array variable C.
C+ Adds a specifi ed value to counter array variable C.
C-
Subtracts a specifi ed value from counter array
variable C.
DD
efi
nes counter variable D.
D+ Adds a specifi ed value to counter variable D.
D- Subtracts a specifi ed value from counter variable D.
SHFT
Shifts the coordinate position by amount of specifi ed
point data.
IN
Stores bit information on specifi ed general-purpose
input or memory input into counter variable D.
OUT
Outputs the value of counter variable D to specifi ed
generalpurpose output or memory output.
LET
Assigns the value of a specifi ed variable to another
variable.
TORQ Defi nes the maximum torque command value.
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/
- CONTROLLERS 1
- Diverse command methods 2
- YC-LINK couples single-axis 3
- TS-X / TS-P 4
- RDX / RDP 4
- SR1-X / SR1-P 5
- Setting range 6
- Supply source 7
- SCARA robot 8
- RCX series 9
- Task scheduling 10
- CONTROLLERCONTROLLER 11
- SR1-X / SR1-P DRCX 12
- Single-axis 1 to 2 axis 12
- RDX / RDPTS-S TS-X / TS-P 12
- Single-axis 12
- 1 to 4 axis 13
- ERCD ERCX SRCP30 13
- TS-S/TS-X/TS-P 16
- Model Overview 17
- Ordering method 17
- Regenerative unit RGT 17
- TS-S part names 18
- TS-S dimensions 18
- TS-S basic specifi cations 18
- TS-X / TS-P part names 19
- TS-X / TS-P dimensions 19
- Data overview 20
- Point data 20
- I/O Specifi cations 22
- I/O signals (NPN / PNP) 22
- NPN type I/O circuit details 22
- PNP type I/O circuit details 22
- Accessories and part options 23
- TS-Manager 24
- Point data list 24
- Result display list 24
- Operation setting list 24
- HT1/HT1-D 25
- Applicable controllers 26
- TS-S TS-X TS-P 26
- Part names 28
- Dimensions 28
- Basic specifi cations 29
- (Note 1) 30
- Software for setup 31
- Part names / dimensions 32
- Standard accessories 32
- Connector I/O signals 34
- Pulse train input form 34
- Input / output wiring diagram 35
- Robot Language Table 35
- Compact and easy to use 36
- Absolute battery B1 / B2 38
- SR1-X/SR1-P 39
- SR1-X / SR1-P part names 40
- Regenerative unit RG1 40
- SR1-X / SR1-P 20 dimensions 40
- Input circuit 42
- Output circuit 42
- Pulse train input section 47
- Regenerative unit RGU-2 51
- CONTROLLER 54
- HPB/HPB-D 55
- RCX221/RCX222 57
- Regenerative unit RG2 58
- Specifi cation selection table 58
- Power capacity 59
- SAFETY connector signals 60
- Front Side 65
- Regenerative unit 68
- VIP PLUS function 73
- RPB/RPB-E 75
- RCX221 RCX222 RCX240 76
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