Introduces the single-axis robot controllers SR1-X and SR1-P. Although with one axis,functions of upper class controllers.
01 Diverse command methods
Select an optimal method from the different command methods including program operation, point trace, remote command, and on-line command. Program uses the YAMAHA SRC language resembling BASIC. Use it to execute a variety of operations ranging from simple tasks to I/O output and conditional branching, etc.
02 I/O assignment function
Besides the usual program operation, changing the I/O assignment allows selecting operations such as point trace, point teaching, and trace operation by specifying coordinates. In point teaching mode Jog can be performed via the I/O so a host device can perform point teaching even without an HPB.
03 Supports complete absolute specifications
The SR1-X supports complete absolute specifications. No origin point return is needed (backup period with no power supplied is 1 year).
04 Current position output function
These controllers can output the position data as feedback pulses or binary data. This allows the host device to find the current robot position in real-time. These are also loaded with functions such as point zone output that outputs the zone or a point No. in its vicinity.
05 Torque limiter
This function limits the maximum torque command value to an optional timing and so is effective in operations such as grip and press-fit. Besides using parameter data values for torque limiting, analog input voltages can also be used to limit the torque.
01 Position data output function
Outputs whether the robot position is within the specified range or not.
Point zone output
Outputs the number of the point near the robot position in the binary output.
Outputs current robot position by 16bits binary. (This function is only available on the SR1)
Feedback pulse output
Outputs the current position counter value of the robot through the A/B phase line driver.
02 Torque limiting drive
It is possible to perform such actions as pressing and gripping the work by restricting the torque during operation.
03 Changing movement data function
Possible to change the moving speed and programmed position while moving.
04 Point instruction
It is possible to execute jog movement of the robot and point teaching from the upper level device.
05 Handy YAMAHA SRC language functions(Multitask function)
This function enables to execute up to 4 tasks of peripheral equipment of the robot at the same time. With the multitask function combined with the JMPP command, it is possible to have I/O output when the specified point is passed during movement.
06 Handy YAMAHA SRC language functions (Function to make conditional stop during movement)
The arm can be decelerated and stopped, using I/O conditions of the MOVF command while it is moving. This function is useful when searching the target position with a sensor.
|Applicable motor output||200V 100W or less||200V 200W or less||200V 600W or less||200V 100W or less||200V 200W or less||200V 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||400VA||600VA||1400VA||400VA||600VA||1400VA|
|Capacity of the connected motor||100W||200W||600W||100W||200W||600W|
|Dimensions||W74 × H210 × D146mm||W99 × H210 × D146mm||W74 × H210 × D146mm||W99 × H210 × D146mm|
|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 50/60Hz||Single phase AC100 to 115 /
200 to 230V +/-10% maximum 50/60Hz
|Single phase AC200 to 230V +/-10% maximum 50/60Hz|
|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)
|Origin search method||Absolute, Incremental||Incremental, Semi-absolute|
|Program language||YAMAHA SRC|
|Multitasks||4 tasks maximum|
|Point-data input method||Manual data input (coordinate value input), Direct teaching, Teaching playback|
|Programs||100 programs 255steps /
1 programs 3000 steps /
|STD.DIO||I/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)|
|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 : 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|
|Programming box||HPB, HPB-D (with enable switch)|
|Support software for PC||POPCOM|
|Operating temperature||0°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|