Single-axis robot controller Compact design with high performance. Although with one axis, functions of upper class controllers. High performance type single-axis controller Although with one axis, functions of upper class controllers, such as simple robot language, multi-task, communication, use of the field bus etc. can be handled. Furthermore, as the current position information and various information at occurrence of an alarm are retained, various checks can be made using the programming unit or the like as necessary. Also, it is possible to make fine controls of the torque and pressing force. Compact design The unit is designed as compactly as W7mm, H0mm and D6mm. It is about 6% less in volume than the conventional model SRCX controller. Also, its height is made the same as the new type -asis controller RCX/ so that they can be used conveniently when they are installed in parallel. SR-P Lead free mounting PCB is used As lead free mounting PCB is used taking influence to the environment and safety considered. Applicable to various peripheral equipments It is possible to operate and teach the robot by using the programming unit easily, to select the I/O board for various serial communication and perform the high level application work. In addition, a special PC software POPCOM to support the robot programming as a whole is available. Use of GUI makes the monitor display easy to see and understand for easy operation of the unit. 5 The back-up period has been increased greatly The absolute position data retention period while no electricity is supplied is made much longer. It is as long as years while it was weeks at maximum with the conventional type unit. The current position information is monitored even during a long vacation, while the unit is kept unused and while it is transported so that the return to the origin process is not required when the unit is activated again, assuring quick start of production. 6 Capable of using additional function of YC-Link option for additional axis By installing the YC-Link option, it is possible to link the SR controller with the RCX type multi-axis controller easily. Thus, by connecting a multiple number of SR s as necessary, it is possible to control up to 8 axes (up to 6 axes when using the simultaneous control function). RPB YC-Link option
Functions data output function Zone output Outputs whether the robot position is within the specified range or not. Torque limiting drive It is possible to perform such actions as pressing and gripping the work by restricting the torque during operation. CW DO0 = OFF DO0 = ON DO0 = OFF Torque limiting value TLM Electric current Torque limiting value P900 P90 It is possible to reverse the output logic. Point zone output Outputs the number of the point near the robot position in the binary output. CCW Control over limit timing at the upper level by TLM input Grasp of limit condition by torque limit condition output (TLON) Selection of torque limit value by input (up to patterns) Limit of the torque by analog input (0 to +0V/bit) DO (7) (0) 0000 00 DO (7) (0) 0 Changing movement data function Possible to change the moving speed and programmed position while moving. P P7 It is also possible to limit to the moving point only. Speed Inputs Inputs Inputs Binary output Outputs Current robot position by 6bits binary. DO (5) (0) 00 00 0000 6.0 [mm] Control over movement change timing at the upper level by movement command input The movement command is either ABS-PT (absolute movement command) or ABS-BN (Binary specification movement command) Selection of speed specification is to 00% (up to patterns) Change in the deceleration range is invalid. It is possible to adjust the unit of the output position data by using parameters. Feedback pulse output Outputs the current position counter value of the robot through the A/B phase line driver. A phase B phase Upper level device (Counter) It is possible to monitor at real time by using the upper level device. A division function is installed. Point instruction It is possible to execute jog movement of the robot and point teaching from the upper level device. Robot is moved to the position where teaching is to be done by the JOG+/JOG-command. JOG- JOG+ The current position is registered to the number of the point specified by PSET input. PSET 0 0 Current position
SR-P ordering method MR6 Model RH Cable carrier take out direction RH : Horizontal, right LH : Horizontal, left RW : Wall hanging, right LW : Wall hanging, left S Note Optional cable carrier for users No entry : None S : Small size M : Large size 550 Stroke 50 to 550 (00mm pitch) L Cable length L :.5m (Standard) 5L : 5m 0L : 0m SR-P Applicable controller Note Note : For details of the mechanical section, refer to Yamaha PHASER catalog. Note : The regenerative unit RG (option) is required when operating a model designated by Yamaha or a load with a large inertia. Note : Available only for the slave. Note : It will be a customer s choice. 05 Driver R Regenerative unit No entry: None R: RG Note 05 : 00W or less 0 : 00W 0 : 00 to 600W CC Input / Output Selection N : NPN P : PNP CC : CC-Link DN : DeviceNet PB : Profibus YC : YC-Link Note ordering method F7 Model 0 Lead designation BK Brake Note 50 Stroke L Cable length Applicable controller Note : For details of the mechanical section, refer to Yamaha FLIP-X or XY-X catalog. Note : The regenerative unit RG (option) is required when operating a model designated by Yamaha or a load with a large inertia. Note : Available only for the slave. Note : It will be a customer s choice. 05 Driver Note E Usable for CE R Regenerative unit No entry: Standard No entry : None E : CE specification R : RG Note 05 : 00W or less 0 : 00W 0 : 00 to 600W CC Input / Output Selection Note B Battery N : NPN No entry : None P : PNP (Incremental specification) CC : CC-Link B : Battery DN : DeviceNet (Absolute specification) PB : Profibus YC : YC-Link Note SR-P / driver basic specifications Basic specifications Axis control Programs External input/output Options General specifications Item Model SR-P05 0 0 05 0 0 Applicable robot Linear motor single-axis robots PHASER series Single-axis robots FLIP-X series Connected motor capacity Maximum power consumption Dimensions Weight Power supply voltage 05 : 00V 00W, 0 : 00V 00W, 0 : 00V 600W 05 : 00VA, 0 : 600VA, 0 : 00VA 05 0 : W7x H0 x D6mm, 0 : W99x H0 x D6mm 05 0 :.5Kg, 0 :.0Kg 05 0 : Single phase AC00 to 5 / 00 to 0V+/-0% percent maximum(50/60hz) 0 : Single phase 00 to 0V+/-0% percent maximum(50/60hz) Number of controllable axes axis Drive method Operation mode AC full-digital software servo Program operation, Point trace operation, Operation by RSC communication detection method / Resolution Speed setting Magnetic type linear scale / m to 00 % (Setting by % unit) Resolver with multi-rotation absolute function / 68 pulses for rotation Acceleration setting Automatic acceleration setting based on robot model type and end mass parameter, Setting based on acceleration and deceleration parameter Programs 000 steps / total or less, 55 steps / program, Max.00 Multitasks : tasks maximum Points 000 Points maximum MDI, remote teaching, direct teaching External memory backup SD Memory card (FA /6 format) Note SAFETY Input Emergency stop (EMG) service mode (SVCE) inter lock (LOCK) Output Brake output Origin sensor input External communications Analog input/output Main power input ready (MPRDY) - B contact sensor for connected RSC : CH Input ch (0 to + 0V) Output ch (0 to + 0V) Relay contact Selection input /output board Parallel I/O (NPN or PNP), CC-Link, DeviceNet, Profibus (Expected to be usable) Operating temperature / Storage temperature 0 to 0 / 5% to 85% RH Operating humidity -0 to 65 Noise resistance capacity Programming unit Regenerative unit / Soft were IEC6000-- Level / (UL70) HPB, HPB-D RG / POPCOM Note : Available with HPB. Note : CC-Link is a registered trademark of CC-Link Association. / DeviceNet is a registered trademark of Open Device/Net Vendor Association, Inc. (ODVA) / Profibus is a registered trademark of SIEMENS Corp. Germany.
SR-P / part names / dimensions Status indicator (PWR,ERR) Motor connector (MOTOR) HPB connector (PB) system diagram I/O connector (I/O) HPB Power connector (AC IN) Connector for absolute battery (BAT) SD memory card Regenerative unit connector (RGEN) Input power supply changeover pin Ground terminal Robot I/O connector (ROB I/O) SAFETY connector (SAFETY) Supporting software POPCOM (CD-ROM) RSC communication control 6 (00) (7) 5 7 5.5 Personal computer Controller.5m cable 50 5 0 Chuck, limit switch etc. External control (PLC) Robot 9 Note : The photo, illustration shows but the same applies to SR-P as well. SR-P / robot language quick-reference list Command MOVA MOVI MOVF JMP JMPF JMPB L CALL DO WAIT TIMR P P+ P- SRVO STOP ORGN TON TOFF JMPP MAT MSEL MOVM JMPC JMPD CSEL C C+ C- D D+ D- SHFT IN OUT LET Meaning Format Move to a specified point (absolute position movement) MOVA <point number>,<maximum speed> Move to a specified point (relative position movement) MOVI <point number>,< maximum speed> Move until the specified DI number is entered MOVF <point number>,<di number>,<di status> Jump to a specified label of the program JMP <label number>,<program number> Jump to a specified label of the program when conditional jump input matches the set value JMPF <label number>,<program number>,<input condition> Jump to a specified label of the program when a DI number input matches the condition JMPB <label number>,<di or MI number>,<input status> Defines the jump destination for a JMP or JMPF statement, etc. L <label number> Call another program CALL <program number>,<number of times> Turns general-purpose output or memory output on or off DO <DO or MO number>,<output status> Waits until general-purpose input or memory input is in the specified state WAIT <DI or MI number>,<input status> Waits the specified amount of time before advancing to the next step TIMR <time> Defines point variable P <point number> Adds to point variable P+ Subtracts from point variable P- Turns servo on or off SRVO <servo status> Temporarily stops program execution STOP Performs return-to-origin ORGN Runs a specified task TON <task number>,<program number>,<start type> Stops a specified task TOFF <task number> Jumps to a specified label when the axis position condition meets the specified conditions JMPP <label number>,<axis position condition> Defines a matrix MAT <number of rows>,<number of columns>,<pallet number> Specifies a matrix to move MSEL <pallet number> Moves to a specified pallet work position on matrix MOVM <pallet work position>,<maximum speed> Jumps to a specified label when the counter array variable C equals the specified value JMPC <label number>,<counter value> Jumps to a specified label when the counter variable D equals the specified value JMPD <label number>,<counter value> Specifies an array element for counter array variable C CSEL <array element number> Defines counter array variable C C <counter value> Adds a specified value to counter array variable C C+ [<addition value>] Subtracts a specified value from counter array variable C C- [<subtraction value>] Defines counter variable D D <counter value> Adds a specified value to counter variable D D+ [<addition value>] Subtracts a specified value from counter variable D D- [<subtraction value>] Shifts the coordinate position by amount of specified point data SHFT <point number> Stores bit information on specified general-purpose input or memory input into counter variable D IN <DI or MI number>,<number of bits> Outputs the value of counter variable D to specified general- purpose output or memory output OUT <DO or MO number>,<number of bits> Assigns the value of a specified variable to another variable LET <variable >,<variable >
SR-P / [NPN, PNP type] list Terminal number Signal name Function Terminal number Signal name Function 5 6 7 8 9 0 5 6 7 8 9 0 5 SERVO INC-PT ABS-PT STEP-R DI 0 DI DI DI DI DI 5 DI 6 DI 7 END BUSY DO 0 DO DO DO DO DO 5 DO 6 DO 7 Input supply+common Return to servo on Relative point transfer Absolute point transfer Step run General input 0 General input General input General input General input General input 5 General input 6 General input 7 Output supply+common Output supply+common Execution result (Execution complete) Executing the command General output 0 General output General output General output General output General output 5 General output 6 General output 7 6 7 8 9 0 5 6 7 8 9 0 5 6 7 8 9 50 AUTO-R RESET ORG-S ALMRST DI 8 DI 9 DI 0 DI DI DI DI DI 5 READY UTL DO 8 DO 9 DO 0 DO DO DO DO DO 5 Input supply-common Auto run Reset Return to the origin Alarm reset General input 8 General input 9 General input 0 General input General input General input General input General input 5 Output supply-common Output supply-common Available to operate (Ready for operation) Utility output General output 8 General output 9 General output 0 General output General output General output General output General output 5 Note : Use SERVO, INC-PT, ABS-PT, STEP-R, AUTO-R, RESET, ORG-S,,ALMRST as dedicated inputs, and END, BUSY, READY as dedicated outputs. Note : Signals when selecting NPN and PNP. Details of NPN type input/output circuit Input circuit Form : DC input (positive common type) Input power supply : 5mA/point Details of PNP type input/output circuit Input circuit Form : DC input (negative common type) Input power supply : 5mA/point Output circuit Form : NPN open collector output (negative common type) Load : 5mA/point Output circuit Form : NPN open collector output (positive common type) Load : 5mA/point