Home > Yamaha > Controller > Yamaha Sr1x Manual

Yamaha Sr1x Manual

Download as PDF Print this page Share this page

Have a look at the manual Yamaha Sr1x Manual online for free. It’s possible to download the document as PDF or print. UserManuals.tech offer 255 Yamaha manuals and user’s guides for free. Share the user manual or guide on Facebook, Twitter or Google+.

View all the pages

Add page 1 to Favourites

image text

Enable zoom

464
Single axis
SR1-X / SR1- P
Compact design with high performance.
Although with one axis,
functions of upper class controllers.
Features
Model Overview
NameSR1-X SR1- P
Power
05 / 10 driver
Single phase 100 to 115V/200 to 230V
+/-10% maximum (50/60Hz)20 driver
Single phase 200 to 230V
+/-10% maximum (50/60Hz)
Operating method Programming / I/O point tracing / Remote command /
Operation using RS-232C communication
Maximum number of controllable axes Single-axis
Position detection method Absolute / IncrementalIncremental / Semi-absolute
Controllable robot Single-axis robot FLIP-XLinear motor single-axis robot PHASER
Programming box
HPB / HPB-D (with enable switch) P.472
Support software for PC
POPCOM P.470
Ordering method
SR1-X
SR1-X
ControllerDriverUsable for CERegenerative
unit Note1Input/Output SelectionBattery05: 100W or less No entr y: Standard No entr y: NoneN: NPN
No entr y: None(Incremental specification)10: 200WE: CE marking R: RG1P: PNP20: 400 to 600WCC: CC- Link
B: Batter y(Absolute specification)DN: DeviceNetTMPB: PROFIBUS
YC: YC - Link Note2
SR1- P
SR1- P
ControllerDriverUsable for CERegenerative
unit Note1Input/Output Selection
05: 100W or less No entr y: Standard No entr y: NoneN: NPN
10: 200W E: CE marking R: RG1P: PNP
20: 400 to 600WCC: CC- Link
DN: DeviceNetTMPB: PROFIBUS
YC: YC - Link Note2
1 Support most operating method
Supports diverse operating methods including program
operation, point trace, and movement to specified
coordinates, etc.
2 Position data hold time: 1 year
The absolute position data hold time which was only 2
weeks, has now been drastically increased to about 1 year.
3 I/O assignment Change
Changing the I/O assignment allows selecting operations
such as program operation, point trace, point teaching, and
trace operation by specifying coordinates. Jog operation
can also be performed from the upstream device.
4 Use of two power supplies
Isolating into main power supply and control power
supply yields an even higher degree of safety. It also
makes servicing easier when an alarm occurs.
5 Current position output function
These controllers can output the current position as
feedback pulse or binary data. This allows the upstream
device to know the robot position in real-time.
6 Torque limiting
This function limits the maximum torque value to an
optional timing. These controllers offer 2 types of torque
limiting: limiting the torque by using parameter data, and
limiting torque by using analog input voltages.
7 Various monitor functions
Offers monitor functions of different types including
input/output status monitoring, duty monitoring, and
analog monitoring, etc.
8 Support safety circuit category 4
Installing an external safety circuit will satisfy safety
category class 4 standards. See P.530 for more
information.
Main functions P.50
Note 1. Driver selection and regenerative unit selection depends
on the robot type. See the selection table on the next
page for selecting the driver/regenerative circuit.
Note 2. Available only for the slave.
Note 1. Driver selection and regenerative unit selection depends on the robot type. See the selection table on the next
page for selecting the driver/regenerative circuit.
Note 2. Available only for the slave.
SR1-X / SR1-P part names
(Bot tom)
Grou nd ter minalMonito r I/O
co nnec tor No te
Mo tor co nnec tor (M OTOR )
R obo t I/O co nnec tor (R OB I/O)
Inpu t power select terminal
Powe r inpu t connec tor (AC IN)
SA FETY co nnec tor (S AFET Y)
Regenerati ve uni t co nnec tor (R GE N)
Status LED lam p (PWR,E RR)HPB co nnec tor (H PB)
I/O co nnec tor (I /O)
No te.C able for monito r I/O (o ption ) is require d when using this connec tor.
Robot controller with advanced functions
SR1-X
SR1-P
APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robotsFLIP-X
Linear motor
single-axis robotsPHASER
Cartesian robots X Y-X
SCARA
robotsYK-X
Pick & place
robots

YP-X CLEAN
CONTROLLER
INFORMATION
Robot
positioner
Pulse string driver
Robot
controller i V Y/
Electric gripper
Option

Add page 2 to Favourites

image text

Enable zoom

							465
SR1-X / SR1- P
 Driver / regenerative unit selection table 
 SR1-X
FLIP-XT4LH/
C4LH T5LH/
C5LHT6L/ C6L T9
T9HF8/C8 F8L/
C8LF8LH/C8LHF10
C10 F14 /
C14 F14H/
C14HGF14XLF17/C17 F17L /
C17LG F17 X LF20/C20 F20N N15/
N15D N18/
N18D B10
B14B14H R5R10 R20
Driver 
selectionSR1-X 051020
Regenera
-
tive unitNo entr y 
(None)(1) (2)(1) (1)(2)(3) (6)(3)(4)(5)
R (RG1) (1)(2) (1)(1)(2) (3)(6)(3)(4)(5)(1) Regenerative unit is needed if using in a perpendicular position and movement stroke is 700mm or more.
(2)  Regenerative unit is needed if using in a perpendicular position.
(3)  Regenerative unit is needed if using in a perpendicular position, using at maximum speeds exceeding 1000mm per second, or if using high leads (40).
(4)  Regenerative unit is needed if using at maximum speeds exceeding 1000mm per second.
(5)  Regenerative unit is needed if using at maximum speeds exceeding 1250mm per second.
(6)  Regenerative unit is needed if using at maximum speeds exceeding 750mm per second.
 SR1- P
PHASER
MR12 /
MR12D MR16/
MR16DMR16H/
MR16HDMR20/
MR20D MR25/
MR25D MF7/
MF7D MF15/
MF15D MF20/
MF20D MF30/
MF30D MF75/
MF75D
Driver 
selectionSR1- P 051020
Regenera
-
tive unitNo entr y 
(None)
R (RG1)R (RGU-2)
 Regenerative unit RG1 / RGU-2
Regenerative unit RG1
1461216
5.5Dimensions
210225 250
40
 SR1-X / SR1-P 05 · 10 dimensions
9
25(100)146
250
225
210
445.51574
 SR1-X / SR1-P 20 dimensions
:9
(100)146(7)
250
225
180 210
445.5157425
  Basic specifications
ItemRG1Model KBG -M4107- 0A (Including accessory)
Dimensions W40 × H210 × D146mm
Weight 0.8kg
Regenerative voltage Approx. 380V or more
Regenerative stop voltageApprox. 360V or less
Accessory Cable for connection with controller (300mm)
Note.  Always leave an empty space (gap of about 20mm) between this unit and the adjacent controller. 
Also, always use the dedicated cable when connecting the controller.
15740165.5
250290265
Regenerative unit RGU-2
Dimensions
  Basic specifications
ItemRGU-2Model KS5 -M4107- 0A (Including accessory)
Dimensions W40 × H250 × D157mm
Weight 0.9kg
Regenerative voltage Approx. 380V or more
Regenerative stop voltageApprox. 360V or less
Accessory Cable for connection with controller (300mm)
Note.  Always leave an empty space (gap of about 20mm) between this unit and the adjacent controller. 
Also, always use the dedicated cable when connecting the controller.
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://global.yamaha-motor.com/business/robot/
APPLICATION
Compact 
single-axis robots
TRANSERVO
Single-axis robotsFLIP-X
Linear motor
single-axis robotsPHASER
Cartesian robots  X Y-X
SCARA
robotsYK-X
Pick & place
robots
 
YP-X CLEAN
CONTROLLER
INFORMATION 
Robot 
positioner
Pulse string  driver
Robot
controller i V Y/
Electric  gripper
Option

Add page 3 to Favourites

image text

Enable zoom

							466
 Basic specifications
ItemModelSR1-X SR1-P
Basic specifications
Driver modelSR1-X-05SR1-X-10SR1-X-20SR1-P-05SR1-P-10SR1-P-20
Applicable motor output 200V 100W  
or less200V 200W  
or less200V 600W  
or less200V 100W  
or less200V 200W  
or less200V 600W  
or less
Number of controllable axes Single-axis
Controllable robots Single-axis robot FLIP-X (exclude T4L, T5L) Linear motor single-axis robot PHASER 
Maximum power consumption 400VA600VA1400VA400VA600VA1400VA
Capacity of the connected motor 100W200W600W100W200W600W
Dimensions W74 × H210 × D146mmW99 × H210 × 
D146mmW74 × H210 × D146mm W99 × H210 × 
D146mm
Weight 1.54kg1.92kg1.54kg 1.92kg
Input power 
supply Control power supply
Single phase AC100 to 115/200V +/-10% maximum   50/60Hz
Motor power supply Single phase AC100 to 115/200 
to 230V  
+/-10% maximum 50/60Hz
Single phase 
AC200 to 230V
+/-10% 
maximum 
50/60HzSingle phase AC100 to 115/200 
to 230V  
+/-10% maximum 50/60HzSingle phase 
AC200 to 230V
+/-10% 
maximum 
50/60Hz
Axis control
Drive method
AC full-digital software servo
Position detection method Multi-turn resolver with data backup function Magnetic linear scale
Operating method Programming, I/O point tracing, Remote command, Operation using RS-232C communication
Position indication units mm (millimeters), deg (degrees)
Speed setting 1% to 100% (Setting by 1% unit)
Acceleration setting 1. 
Automatic speed setting per robot No. and payload
2.  Setting based on acceleration and deceleration parameter (Setting by 1% unit)
Resolution 16384 P/rev 1μm
Origin search method Absolute, Incremental Incremental, Semi-absolute
Program
Program languageYAMAHA SRC
Multitasks 4 tasks maximum
Point-data input method Manual data input (coordinate value input), Direct teaching, Teaching playback
Memory
Programs100 programs
 
255 steps / 1 programs   3000 steps / total
Points 1000 points
External input/output
STD.DIOI/O input
Dedicated input 8 points, General input16 points
I/O output Dedicated Output4 points, General output16 points
SAFETY Emergency stop input (Normal close contact point input), service mode input
Brake output Relay contact –
Origin sensor input Connectable to DC 24V normally-closed contact sensor
External communications RS-232C: 1CH  (For communication with HPB / HPB-D or PC)
Analog input/output Input 1ch (0 to +10V)  Output 2ch (0 to +10V)
Options Slots
1
Type NPN/PNP: 
Dedicated input 8 points, Dedicated Output 4 points, General input 16 points,   
General output 16 points
CC-Link:  Dedicated input 16 points, Dedicated Output 16 points, General input 32 points, 
General output 32 points
DeviceNet
TM:  Dedicated input 16 points, Dedicated Output 16 points, General input 32 points, 
General output 32 points
PROFIBUS:  Dedicated input 16 points, Dedicated Output 16 points, General input 32 points, 
General output 32 points
Options
Programming box HPB, HPB-D (with enable switch)
Support software for PC POPCOM
General specifications
Operating temperature0°C to 40°C
Storage temperature -10°C to 65°C
Operating humidity 35% to 85%RH (non-condensing)
Absolute backup battery Lithium metallic battery –
Absolute data backup period 1 year (in state with no power applied) –
Noise immunity IEC61000-4-4 Level 3
SR1-X / SR1- P
 Installation conditions
• Install the SR1-X /SR1-P inside the control panel.
•  Install the SR1-X /SR1-P on a vertical wall.
•  Install the SR1-X /SR1-P in a well ventilated location, with  
space on all sides of the SR1-X /SR1-P (See fig. at right.).
•  Ambient temperature  : 0 to 40˚C
•  Ambient humidity  : 35 to 85% RH (no condensation)SR1-X/SR1-P20mm or more
20mm or more
20mm or more20mm or more
APPLICATION
Compact 
single-axis robots
TRANSERVO
Single-axis robotsFLIP-X
Linear motor
single-axis robotsPHASER
Cartesian robots  X Y-X
SCARA
robotsYK-X
Pick & place
robots
 
YP-X CLEAN
CONTROLLER
INFORMATION 
Robot 
positioner
Pulse string  driver
Robot
controller i V Y/
Electric  gripper
Option

Add page 4 to Favourites

image text

Enable zoom

							467
 [NPN, PNP type ]
 Input/Output list 
Terminal 
number Signal name
Function
1 DI.+COM Input supply+common
2 SERVO Return to servo on
3 INC-PT Relative point transfer
4 ABS-PT Absolute point transfer
5 STEP-R Step run
6 DI 0 General input 0
7 DI 1 General input 1
8 DI 2 General input 2
9 DI 3 General input 3
10 DI 4 General input 4
11 DI 5 General input 5
12 DI 6 General input 6
13 DI 7 General input 7
14 D O.+CO M Output supply+common
15 D O.+CO M Output supply+common
16 END Execution result (Execution complete)
17 BUSY Executing the command
18 DO 0 General output 0
19 DO 1 General output 1
20 DO 2 General output 2
21 DO 3 General output 3
22 DO 4 General output 4
23 DO 5 General output 5
24 DO 6 General output 6
25 DO 7 General output 7
26 DI.-COM Input supply-common
27 AUTO - R Auto run
28 RESET Reset
29 ORG-S Return to the origin
30 ALMRST Alarm reset
31 DI 8 General input 8
32 DI 9 General input 9
33 DI 10 General input 10
34 DI 11 General input 11
35 DI 12 General input 12
36 DI 13 General input 13
37 DI 14 General input 14
38 DI 15 General input 15
39 DO.- COM Output supply-common
40 DO.- COM Output supply-common
41 RE ADY
Available to operate (Ready for operation)42UTL Utility output
43 DO 8 General output 8
44 DO 9 General output 9
45 DO 10 General output 10
46 DO 11 General output 11
47 DO 12 General output 12
48 DO 13 General output 13
49 DO 14 General output 14
50 DO 15 General output 15
 SAFETY connector signals
Terminal 
number Signal name
Meaning
1 DI.COM Input supply common
2 LOCK Interlock
3 SVCE SERVICE mode
4 DO.COM Output supply common
5 MPRDY Main power ready 
6 NC NC
7 NC NC
8 NC NC
9 NC NC
10 NC NC
11 EMG1 Emergency stop 1
12 EMG2 Emergency stop 2
13 NC NC
14 NC NC
 NPN type input/output circuit
DC24V
DO.-COM
DO.+COM
DC24V
DI.-COM
DI.+COM
Form :
Input power supply 
:
Answering time  :
Form :
Load :
Answering time  :
DC input (positive common type)
Photo coupler insulation type
5mA/point
30ms or less
NPN open collector output (negative common type)
Photo coupler insulation type
50mA/point 1ms or less
Input circuit
Output circuit
 PNP type input/output circuit
DC24V
DO.-COM
DO.+COM
DC24V
DI.-COM
DI.+COM
Input circuit
Form :
Input power supply 
:
Answering time  :
Output circuit
Form :
Load :
Answering time  :
DC input (negative common type)
Photo coupler insulation type
5mA/point
30ms or less
PNP open collector output (positive common type)
Photo coupler insulation type
50mA/point 1ms or less
SR1-X / SR1- PInstruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://global.yamaha-motor.com/business/robot/
APPLICATION
Compact 
single-axis robots
TRANSERVO
Single-axis robotsFLIP-X
Linear motor
single-axis robotsPHASER
Cartesian robots  X Y-X
SCARA
robotsYK-X
Pick & place
robots
 
YP-X CLEAN
CONTROLLER
INFORMATION 
Robot 
positioner
Pulse string  driver
Robot
controller i V Y/
Electric  gripper
Option

Add page 5 to Favourites

image text

Enable zoom

							468
SR1-X / SR1- P
 Robot Language Table
CommandDescription
M OVA Moves to a point data position.
MOVI Moves from current position by amount of point data.
MOVF Moves until a specified DI input is received.
JMP Jumps to a specified label in the specified program.
JMPF Jumps to a specified label in a specified program 
according to the input condition.
JMPB Jumps to a specified label in a specified program 
when general-purpose input or memory input is in the 
specified state.
L Defines 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 specified state.
TIMR Waits the specified amount of time before advancing 
to the next step.
P Defines 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 specified task.
TOFF Stops a specified task.
JMPP Jumps to a specified label when the axis position 
condition meets the specified conditions.
M AT Defines a matrix.
MSEL Specifies a matrix to move.
MOVM Moves to a specified pallet work position on matrix.
JMPC Jumps to a specified label when the counter array 
variable C equals the specified value.
JMPD Jumps to a specified label when the counter variable 
D equals the specified value.
CSEL Specifies an array element for counter array variable C.
C Defines counter array variable C.
C+ Adds a specified value to counter array variable C.
C-
Subtracts a specified value from counter array variable C.
D Defines counter variable D.
D+ Adds a specified value to counter variable D.
D- Subtracts a specified value from counter variable D.
SHFT Shifts the coordinate position by amount of specified 
point data.
IN Stores bit information on specified general-purpose 
input or memory input into counter variable D.
OUT Outputs the value of counter variable D to specified 
general-purpose output or memory output.
LET Shifts the coordinate position by amount of specified 
point data.
APPLICATION
Compact 
single-axis robots
TRANSERVO
Single-axis robotsFLIP-X
Linear motor
single-axis robotsPHASER
Cartesian robots  X Y-X
SCARA
robotsYK-X
Pick & place
robots
 
YP-X CLEAN
CONTROLLER
INFORMATION 
Robot 
positioner
Pulse string  driver
Robot
controller i V Y/
Electric  gripper
Option

Add page 6 to Favourites

image text

Enable zoom

469
SR1-X / SR1- P
Accessories and part options
Standard accessories
Options
Power connector + wiring connection lever
ModelKAS-M5382-00
Note. Jointly used by RCX 221 / 222, RCX 240.
Safety connector
Connector plug modelKBG - M4424 - 00
Connector cover modelKBG - M4425 - 00
HPB dummy connector
Attach this to the HPB connector during operation
with the programming box HPB removed.
Model K D K- M 516 3 - 0 0
Cable for monitor I/O
Cable to connect I/O connector of SR1 monitor. The
cable is 1.5m long with its end cut and left as it is.
Required when using analog input / output and
feedback pulse output.
ModelKBG - M4421- 00
Programming box HPB / HPB-D
This device can per form all operations such as
manual robot operation, program entry and edit,
teaching and parameter settings.
HPBH PB-D
HPBHPB-D
ModelKBB-M5110-01 KBB-M5110-21Enable
switch –
3-position
CE marking Not supported Applicable
P.472
NPN / PNP connector
Connector plug model KBH- M4424 - 00
Connector cover modelKBH- M4425 - 00
Note. Jointly used by RCX 221 / 222.
L type stay
Use to install the controller.
Model KBG-M410H-00Note. Model No. is for a single bracket (L type stay).
Battery case
This is the absolute battery holder.
Model KBG-M5395-00
Battery for absolute data back-up. Absolute battery basic specifications
Item Absolute battery
Model KAS-M53G0-11
Battery type Lithium metallic battery
Battery capacity 3.6V/2,750mAh
Data holding time About 1 year
(in state with no power applied)
Dimensions
ϕ17 × L53mm
Weight Note122g

Note1. Weight of batter y itself.
Note. Jointly used by RCX 222, RCX 240.
Note. The absolute batter y is subject to wear and requires replacement.
If trouble occurs with the memor y then remaining batter y life is
low so replace the absolute batter y. The batter y replacement
period depends on usage conditions. But generally you should
replace the battery after about 1 year counting the total time
after connecting to the controller and left without turning on the
p o we r.
Absolute batter y (only for SR1-X)
PC support software POPCOM +
POPCOM is a simple to use application software
that makes tasks such as robot operation, writing-
editing programs, and point teaching easy to visu
-
ally understand.
POPCOM +
software modelKBG-M4966-00
POPCOM +
environment
OS Microsoft Windows XP / Vista (32bit / 64Bit) / 7 (32bit / 64Bit)
CPU Processor that meets or exceeds the suggested requirements for
the OS being used.
Memory Suggested amount of memory or more for the OS being used.
Hard disk 50MB of available space required on installation drive.
Disk operation RS-232C
Applicable controllers SRCX /ERCX /DRCX /TRCX /SRCP/SRCD/ERCD/SR1
Note. Windows is the registered trademark of US Microsoft Corporation in U.S. A. and other countries.
P.470
Note. Use the conver ter cable if changing to the SR1-X, SR1-P from a system using SRCX, SRCP. (See P.519).
Data cables
Communication cable for POPCOM +
.
Select from USB cable or D -sub cable.
USB D-Sub
ModelUSB type (5m)
KBG-M538F-00
D-Sub type
9pin-9pin (5m) KAS-M538F-10
Note.
This USB cable suppor ts Windows 2000/ XP or later.
Note. Data cable jointly used for POPCOM, POPCOM +
, VIP, VIP +
.
Note. USB driver for communication cable can also be downloaded
from our website (driver suppor ts VIP+, POPCOM +
, POPCOM,
and TS-Manager).
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://global.yamaha-motor.com/business/robot/
APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robotsFLIP-X
Linear motor
single-axis robotsPHASER
Cartesian robots X Y-X
SCARA
robotsYK-X
Pick & place
robots

YP-X CLEAN
CONTROLLER
INFORMATION
Robot
positioner
Pulse string driver
Robot
controller i V Y/
Electric gripper
Option

Add page 7 to Favourites

image text

Enable zoom

473
Field network system with minimal wiring
NETWORK
CC-Link
Option unit with networking functions that can
be incorporated in YAMAHA robot controllers,
ERCX / SR1-P / SR1-X / DRCX.
As connection of the robot system and
the sequencer requires only one (4-wire)
dedicated cable, it is possible to save wiring
of the entire system, which contributes to
ef ficient wiring work, reduction of installation
and maintenance costs, etc.
Available I/Os are 32 general inputs / outputs
and 16 dedicated inputs / outputs (2 nodes
occupied).
It is possible to per form position specification
movement and data reading / writing directly
by using the remote commands.
Option unit with networking functions that can
be incorporated in YAMAHA robot controllers,
ERCX / SR1-P / SR1-X / DRCX.
As connection of the robot system and
the sequencer requires only one (5 -wire)
dedicated cable, it is possible to reduce wiring
of the entire system, which contributes to
ef ficient wiring work, reduction of installation
and maintenance costs, etc.
Available I/Os are 16 general inputs / outputs
and 16 dedicated inputs / outputs.
It is possible to per form position specification
movement and data reading / writing directly
by using the remote commands.(SR1-X only)
Option unit used to connect a YAMAHA robot
controllers ERCX / SR1-P / SR1-X / DRCX to
PROFIBUS.
Optimum for high speed data communication
and complicated communication processing.
Communication is made available among
devices of multiple number of manufacturers.
It is possible to per form position specification
movement and data reading / writing directly
by using the remote commands.
Option unit used to connect a YAMAHA robot controller
to Ethernet, which can be incorporated in YAMAHA robot
controllers, ERCX / DRCX. Connection of this unit to the
network operation by the TCP/IP protocol with a 10BASE-T
cable makes data exchange with a robots easy.
Capable of making an easy access from the TELNET
terminal to the robot controller. As the command system is
the same as that by the RS-232C communication, even first-
time users can use it easily. (Windows PCs have a built-
in TELNET terminal called TELNET.EXE as a standard
equipment.)

With a number of controllers connected in the network,
it is possible to per form integrated information control
over robots even at a distance from the work site.
Basic specifications for network modules CC-Link
Item Network modules CC- Link
Applicable controllers ERCX / SR1-P / SR1-X / SRCP30 / DRCX
Version suppor ting CC- Link Ver. 1.10
Remote node type Remote device node
Number of occupied nodes Two nodes fixed
Node number setting 1 to 63
Communication speed setting 10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps
No. of CC- Link I/O
Note1General input 32 points, General output 32 points,
Dedicated input 16 points, Dedicated Output 16 points
Parallel external I/O
(ERCX, SRCP30, DRCX only) All points usable as parallel external I/O for controller.
Each point controllable from master station sequencer (PLC) by
emulated serialization, regardless of robot program.
Shor test distance between
nodes
Note20.2m or more
Overall length
Note2100m/10Mbps, 160m/5Mbps, 400m/2.5Mbps, 900m/625Kbps,
1200m/156Kbps
Monitor LED RUN, ERR, SD, RD
Note 1. Controller I/Os are updated ever y 10ms.
Note 2. These values apply when a cable that suppor ts CC- Link Ver 1.10 is used.
Basic specifications for network modules DeviceNetTM
Item Network modules DeviceNetTM
Applicable controllersERCX / SR1-P / SR1-X / SRCP30 / DRCX
Applicable DeviceNetTM
specifications Volume 1 Release2.0/ Volume 2 Release2.0
Device type Generic Device (device number 0)
Number of occupied CH Input 2ch
Note1, Output 2ch Note1
MAC ID setting0 to 63
Communication speed setting 500Kbps, 250Kbps, 125Kbps
DeviceNet
TM I/O Note2General input 16 points Note3, General output 16 points Note3,
Dedicated input 16 points, Dedicated Output 16 points
Parallel external I/O
(ERCX, SRCP30, DRCX only) All points usable as parallel external I/O for controller.
Each point controllable from master station sequencer (PLC) by
emulated serialization, regardless of robot program.
Network
length Overall length
Note4100m/500Kbps, 250m/250Kbps, 500m/125Kbps
Branch length/Overall
branch length 6m or less/39m or less, 6m or less/78m or less, 6m or less/156m or
less
Monitor LED Module, Network
Note 1. Inputs / Outputs are 12ch each when using SR1- P / SR1-X with extension model.
Note 2. Controller I/Os are updated ever y 10ms.
Note 3. General Inputs / Outputs are 32 each when using SR1- P / SR1-X with extension model.
Note 4. These values apply when a thick cable is used. The distance is less when a fine cable is used or when thick and fine cables are
mixed in use.
Basic specifications for network modules PROFIBUS
Item Network modules PROFIBUS
Applicable controllers ERCX / SR1-P / S R1-X / SRCP30 / DRCX
Communication profile PROFIBUS -DP slave
Number of occupied nodes 1 node
Setting of station address 0 to 126
Communication speed setting 9.6Kbps, 19.2Kbps, 93.75Kbps, 187.5Kbps, 500Kbps, 1.5Mbps,
3Mbps, 6Mbps, 12Mbps (automatic recognition)
PROFIBUS I/O
NoteGeneral input 32 points, General output 32 points,
Dedicated input 16 points, Dedicated Output 16 points
Parallel external I/O
(ERCX / DRCX only) All points usable as parallel external I/O for controller.
Each point controllable from master station sequencer (PLC) by
emulated serialization, regardless of robot program.
Overall length 100m/12Mbps, 200m/1.5Mbps, 400m/500Kbps, 1000m/187.5Kbps,
1200m/9.6K · 19.2K · 93.75Kbps
Note.
The shor test I/O update inter val of the controller is 10ms but the actual I/O update time varies depending on the update time with
the master station.
Basic specifications for network modules Ethernet
Item Network modules Ethernet
Applicable controllers ERCX / SRCP30 / DRCX
Network specification As specified for Ethernet (IEEE802.3)
Connector specification RJ- 45 connector (8 -pole modular connector) 1 por t
Baud rate 10Mbps (10BASE-T)
Communication mode Half Duplex (Half-duplex)
Network protocol Application layer: TELNET / Transpor t layer: TCP / Network
layer: IP, ICMP, ARP /
Data link layer: CSMA /CD / Physical layer: 10BASE-T
Number of simultaneous log
inputs 1
Setting of IP address, etc. Set from HPB / HPB-D
Monitor LED Run, Collision, Link, Transmit, Receive
DeviceNetTM
PROFIBUS
Ethernet
Applicable controllers SR1-X SR1- P
APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robotsFLIP-X
Linear motor
single-axis robotsPHASER
Cartesian robots X Y-X
SCARA
robotsYK-X
Pick & place
robots

YP-X CLEAN
CONTROLLER
INFORMATION
Robot
positioner
Pulse string driver
Robot
controller i V Y/
Electric gripper
Option

Add page 8 to Favourites

image text

Enable zoom

							472
Programming box
HPB/HPB-D
 Applicable controllers   ERCD   SR1-X    SR1- P 
All operations can be per formed from this device including manual robot operation, programming entry and editing, teaching and setting 
parameters. The display works interactively with the operator so even an absolute beginner can easily learn how to use programming box.
 HPB / HPB-D basic specifications
Name HPBHPB-D
External view
Model Using with ERCD, SR1-X, SR1-P
KBB-M5110 - 01 (without a conversion adaptor) KBB-M5110 -21 (without a conversion adaptor)
Using with ERCX, SRCP30, DRCX KBB-M5110 - 0A (with a conversion adaptor) KBB-M5110 -2A (with a conversion adaptor)
Display LCD (20characters × 4 lines)
Emergency stop button Normally closed contact point (with lock function)
Enable switch – 3-position
CE marking Not supported Applicable
Memory back-up device SD Memory card
Operating temperature 0°C to 40°C
Operating humidity 35% to 85%RH (non-condensing)
Dimensions W107 × H230 × D53mm (Strap holder, emergency stop button not included.)
Weight 650g
Cable length 3.5m
 Part names and function
Emergency stop button
This  is a 20 -characte r, 
4- line  LCD screen . The 
operatio n menu and 
other  informatio n are 
displa yed here .
Liquid  cr ys tal displa y
Connec ts th e HP B to 
th e co ntroller . A D-Su b 
9- pin co nnec tor (m ale)  
is  pr ovided  at on e en d 
of  th e ca ble.
Connec tor cabl e
Attachin g a shor t stra p 
or  necklace  stra p here  
pr ev ents  dropping  th e 
HP B whil e operating  it  or  
installin g it on to 
equipment.
St rap hole
An  SD  memo ry ca rd ca n 
be  inse rted  here . SD  
memo ry ca rds are  
pr ov ided  by the cu stomer .
SD memo ry card  
connecto r
These keys are used  to
operat e the robo t and 
to  ente r programs  and 
da ta, etc.
Th e ke ys are divide d 
into  2 main  groups : 
function  keys an d da ta 
entr y/operation  keys. 
(F or operatio n key 
details,  see Chapte r 3,
“B asic  operations ”.)
Operatio n keys
Perfor ms  a robo t emergenc y 
stop  when  presse d duri ng 
robo t operation . Re leas e th e 
bu tton  lock  (loc ks when  
presse d) by turn ing  th e 
bu tton  in  th e CW  dire ction.
Aft er releasing  th e bu tton , a 
se rvo re co very mus t be  
pe rfor me d from  th e HP B (or 
by  I/O  operation ) in  orde r to  
re co ver from  th e emergenc y
stop  st atus .
 HPB-D rear side
Use this  co nnec tor with  th e
emergenc y stop  or  enable  
swit ch to  co nfigur e an  
ex tern al safe ty circ uit.
A ttac hin g th e supplie d 
15 -pin D- sub co nnec tor 
(f emal e) dire ctly to  this  
safe ty co nnec tor e nable s th e 
emergenc y stop  bu tton  only .
This  swit ch is  ef fectiv e fo r 
us e with  an  ex tern al safe ty 
circ uit.
This  swit ch opens  (c ut s of f) 
th e circ uit w hen  presse d or  
released .
Pres sing it  to  mi d-position  
co nnec ts th e circ uit. Us e this  
swit ch as  th e e nable  swit ch 
in  Ser vice mode , so  that  th e 
ex tern al safe ty circ uit 
triggers  emergenc y stop  on  
th e robo t when  this  swit ch is  
presse d or  released .
3-position  enable 
sw itch  (HPB -D only )
Safety connecto r 
(H PB -D only )
 A conversion adapter for HPB
The adapter conver ts from 25 pins to 9 pins. If the HPB was ordered along 
with a conver ter adapter then this adapter comes packed along with the unit.
Model KBB-M657E-01
Note. It is unnecessar y when using ERCD or SR1-X, SR1- P.
APPLICATION
Compact 
single-axis robots
TRANSERVO
Single-axis robotsFLIP-X
Linear motor
single-axis robotsPHASER
Cartesian robots  X Y-X
SCARA
robotsYK-X
Pick & place
robots
 
YP-X CLEAN
CONTROLLER
INFORMATION 
Robot 
positioner
Pulse string  driver
Robot
controller i V Y/
Electric  gripper
Option

Add page 9 to Favourites

image text

Enable zoom

YP-X CLEAN
CONTROLLER
INFORMATION
Robot
positioner
Pulse string driver
Robot
controller i V Y/
Electric gripper
Option

All Yamaha manuals Comments (0)