SRCD/SRCP YAMAHA ROBOT CONTROLLER ERCX/SRCX/DRCX CE marking Supporting Supplement Manual ENGLISH E E72-Ver. 3.
INTRODUCTION Thank you for purchasing the YAMAHA ERCX/SRCX/DRCX series robot controller. This supplement manual describes the CE marking for ERCX/SRCX/DRCX series robot controller. When shipping the ERCX/SRCX/DRCX series robot controller to or use it in Europe, please be sure to read this manual and follow the instructions for correct operation. This supplement manual describes only the items related to the CE marking.
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Contents Chapter Chapter 1 CE marking ............................................................1 1-1 1-2 1-3 1-4 1-5 1-6 1-7 Safety Information .............................................................................. 2 CE marking ........................................................................................ 3 Safety precautions during robot operation ......................................... 5 Safety precautions during maintenance .............................................
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CHAPTER1 CE marking 1-1 Safety Information To ensure correct and safe use of YAMAHA industrial robots, carefully read this supplement manual and make yourself well acquainted with the contents. FOLLOW THE WARNINGS, CAUTIONS AND USER’S INCLUDED IN THIS SUPPLEMENT MANUAL. It is not possible to detail all safety items within the limited space of this supplement manual.
CHAPTER1 CE marking 1-2 CE marking This section provides a basic description of how YAMAHA robot series products are compatible with CE marking. 1-2-1 Safety standards ■ Safety precaution for EC directive applicability The YAMAHA robot series products (robots and controllers) do not fall within the robot systems category.
CHAPTER1 CE marking 1-2-2 Robots subject to CE marking The ERCX/SRCX/DRCX series controller can be used with the following robot series products which are subject to CE marking. Robot Type ERCX SRCX DRCX Single-axis robot FLIP-X series Cartesian type robot XY-X series Pick-and-place type robot YP-X series (Except some models) For more details on model numbers and combinations with peripheral units, consult YAMAHA or YAMAHA dealers.
CHAPTER1 CE marking ■ Safety measures for robot ● Protective measures against electrical shock (except robots for ERCX controller) Use the protective ground terminal to ensure safety. Refer to the user’s for details. 1-3 Safety precautions during robot operation ■ The robot must be operated by a person who has received Robot Training from YAMAHA or an authorized YAMAHA dealers. ■ During operation of the robot, be sure to stay out of the working area of the manipulator.
CHAPTER1 CE marking 1-6 Warning labels The following labels are affixed to the SRCX/DRCX controller to emphasize what you must do or must not do to ensure safety. (These warning labels are not affixed to the ERCX.) To use the YAMAHA robot and controller safely and correctly, be sure to observe the caution and instruction on the labels.
CHAPTER1 CE marking 1-6-2 Meaning of warning labels ■ “Read instruction manual” label This label indicates that important items you must know are described in the instruction manual. The followings are particularly important. • The power fuses in the controller are located on both sides of L/N. (See Fig. 2-4, “Power supply and emergency stop circuit block diagram (SRCX)”(page 13), and also Fig. 2-6, “Power supply and emergency stop circuit block diagram (DRCX)”(page 15).
CHAPTER1 CE marking 1-7 Operating environment ■ Installation location Install the robot controller indoors, at a height of less than 1000 meters above sea level. ■ Operating temperature The ambient temperature should be maintained within a range of 0 to 40°C during operation. This is the range in which continuous operation of the robot controller is guaranteed according to the initial specifications.
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CHAPTER2 Configuration and Connection 2-1 Configuration of CE marking controller 2-1-1 Controller basic configuration (ERCX) Fig.2-1 shows the ERCX controller basic block diagram. Fig.
CHAPTER2 Configuration and Connection 2-1-2 Power supply and emergency stop configuration (ERCX) Fig.2-2 shows the power supply and emergency stop block diagram for ERCX. Fig.
CHAPTER2 Configuration and Connection 2-1-3 Controller basic configuration (SRCX) Fig.2-3 shows the SRCX controller basic block diagram. Fig.
CHAPTER2 Configuration and Connection 2-1-4 Power supply and emergency stop configuration (SRCX) Fig.2-4 shows the power supply and emergency stop block diagram for SRCX. Fig.
CHAPTER2 Configuration and Connection 2-1-5 Controller basic configuration (DRCX) Fig.2-5 shows the DRCX controller basic block diagram. Fig.
CHAPTER2 Configuration and Connection 2-1-6 Power supply and emergency stop configuration (DRCX) Fig.2-6 shows the power supply and emergency stop block diagram for DRCX. Fig.
CHAPTER2 Configuration and Connection 2-2 Connecting the Power Supply 2-2-1 Power supply ■ ERCX controller DriverType Power supply voltage No. of phases Frequency Max. power consumption - DC24V ±10% - - 3A ■ SRCX controller DriverType Power supply voltage No. of phases Frequency Max. power consumption 05 AC200V ±10% Single phase 50/60Hz 400 VA 10 AC200V ±10% Single phase 50/60Hz 600 VA 20 AC200V ±10% Single phase 50/60Hz 1000 VA Max.
CHAPTER2 Configuration and Connection C A U T I O N (ERCX controller only) The power consumption listed above is for ERCX controller only. Additional power should be supplied for the mechanical brake and I/O control via the I/O connector. If the current supplied to the controller is insufficient, an alarm stop or abnormal operation may occur. So, carefully select a 24V power supply to match your application needs. A 24V power supply with adequate current capacity may help to upgrade robot performance.
CHAPTER2 Configuration and Connection CAUTION When connecting the power supply to the ERCX controller, the cable length between the ERCX controller and the AC adapter for supplying DC power to the ERCX controller should be less than 10 meters, in order to prevent external surge intrusion into the power cable. Also take the necessary measures so that no one except service personnel can unplug the power cable. DANGER Before you start wiring work, make sure that the power for the entire system is turned off.
CHAPTER2 Configuration and Connection 2-2-4 Protective bonding The robot controller is built in to the equipment, so it has a protective structure of Class I against electrical shock. To prevent electrical shock, be sure to ground the protective conductor terminal of the robot controller by connecting it to the protective conductor of the entire system. The protective conductor terminal of the robot controller is marked with the symbol shown below.
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CHAPTER3 EMC Countermeasures 3-1 Typical component layout for EMC countermeasures The following countermeasures are typical methods for testing the robot and controller under YAMAHA installation conditions. When the robot and controller are used while installed in your system, the actual test results may differ depending on installation conditions. 3-1-1 Typical component layout for EMC countermeasures (ERCX) Fig.
CHAPTER3 EMC Countermeasures 3-1-3 Typical component layout for EMC countermeasures (DRCX) Fig.3-3 shows a typical component layout for EMC countermeasures when the DRCX controller is used in combination with a YAMAHA cartesian or pick-and-place type robot. Fig.3-4 shows a typical component layout for EMC countermeasures when the DRCX controller is used in combination with two YAMAHA single-axis robots. EMC countermeasures for DRCX and Cartesian or P&P robot Fig.
CHAPTER3 EMC Countermeasures 3-2 Precautions for Cable Connections Various cables are used to connect the robot controller to peripheral devices. Lay out AC cables as separately from low DC cables as possible.
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CHAPTER4 SPECIFICATIONS 4-1 CE marking 4-1-1 ERCX sereis controller Model Specification item Applicable motor capacitance Basic External dimensions specifiWeight cations Used power supply voltage No. of controllable axes Control method Position detection method Speed setting Axis Acceleration/deceleration control setting Servo adjustment No. of encoder pulses Lead length Memory I/O ROM RAM No. of program steps No. of programs No. of points No.
CHAPTER4 SPECIFICATIONS 4-1-2 SRCX sereis controller Model Specification item Applicable motor capacitance*1) Basic Max. power consumption specifiExternal dimensions cations Weight Used power supply voltage No. of controllable axes Control method Position detection method Speed setting Axis Acceleration/deceleration control setting Servo adjustment No.
CHAPTER4 SPECIFICATIONS 4-1-3 DRCX sereis controller Model Specification item Applicable motor capacitance Basic Max. power consumption specifiExternal dimensions cations Weight Used power supply voltage No. of contr ollable axes Control method Position detection method Speed setting Axis Acceleration/deceleration control setting Servo adjustment No. of pulses Lead length Memory I/O ROM RAM No. of program steps No. of programs No. of points No.
Supporting Supplement Manual SRCD/SRCP ERCX/SRCX/DRCX Robot Controller May 2007 Ver. 3.00 CE marking This manual is based on Ver. 3.00 of Japanese manual. © YAMAHA MOTOR CO., LTD. IM Operations All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.
