Instruction manual

27
CHAPTER4 SPECIFICATIONS
4-1-3 DRCX sereis controller
*
1) A regenerative unit (RGU-2) is required when operating robot models specified by YAMAHA or a robot handling a load with large inertia.
*
2) Only for Cartesian robot.
Note) Specifications and external appearance are subject to change without prior notice.
Total power 1200W max.
*
1)
1600VA
W100 × H250 × D157mm
Single-phase AC200V within ±10% 50/60Hz
2 axes
DRCX
Applicable motor capacitance
Basic
Max. power consumption
specifi-
External dimensions
cations
Weight 2.1kg
Used power supply voltage
No. of contr ollable axes
Control method AC full digital servo PTP, CP*
2)
, ARC*
2)
Position detection method Resolver with multi-turn data backup function
Axis
Speed setting 100-step setting possible per program step
control
Acceleration/deceleration Automatically set according to robot type and transportation weight.
setting 100-ste p setting is also possible with acceler ation parameter.
Servo adjustment Handled with parameters (special). Servo gain, current limit, etc.
No. of pulses 16384P/R
Lead length Lead length can be selected during initial processing or by
parameter setting (custom order)
ROM 256K bytes (with built-in CPU)
RAM 128K bytes with 64K lithium battery backup (5-year life)
No. of program steps 3000 steps/total or less, 255 steps/program
Memory
No. of programs 100
No. of points 1000 points
No. of multi tasks 4
Teaching method MDI (coordinate value input), teaching playback, direct teaching
Auxiliary memory unit IC memor y is available as TPB option
I/O input General-use 16 points, special-use 8 points
I/O output General-use 13 points, special-use 3 points, open collector
output (0.5A/24V max. per output)
External drive power supply DC24V/900mA (when not using brake)
Brake output
Relay output (for 24/300mA brake), two channel, built-in power supply (24V)
I/O
Origin sensor input Connectable to a DC24V B-contact senser
Emergency stop input Normal closed contact input (origin return not required after
emergency stop is released)
Serial interface One RS-232C channel (for communication with TPB or general
purpose personal computer)
Network (option) CC-Link, DeviceNet, EtherNet
Ambient temperature 0 to 40 degrees
General
specification
Storage temperature -10 to 65 degrees
Ambient humidity 35 to 85%RH (with no condensation)
CE marking
See 1-2-1, “Safety standards”, and Chapter 3, “EMC Countermeasures”.
Model
Specification item