Yamaha ERCX Specifications Page 43
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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
381
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
SR1-X/SR1-P
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 in a specifi ed program
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.
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.
DDefi 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
general-purpose output or memory output.
LET
Shifts the coordinate position by amount of specifi ed
point data.
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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