Specifications

APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robots
FLIP-X
Linear motor
single-axis robots
PHASER
Cartesian
robots
XY-X
SCARA
robots
YK-XG
Pick & place
robots
YP-X CLEAN
CONTROLLER
INFORMATION
371
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
Basic specifi cations
Item Model ERCD
Number of controllable axes Single-axis
Controllable robots Single-axis robot FLIP-X series T4 / T5 / C4 / C5 / YMS
Basic specifi ca ions
Capacity of the connected motor DC24V 30W or less
Dimensions W44 × H166 × D117mm
Weight 0.45kg
Input power supply
DC24V+/-10% maximum 3A to 4.5A
(Variable depending on robots in use.)
Axis control
Drive method AC full-digital software servo
Position detection method Resolver
Operating method
Normal mode: point trace movement, program operation, operation using RS-232C communication
Pulse Train mode: operation by pulse train input
Position indication units mm (millimeters)
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 1% to 100% (Setting by 1% unit)
Resolution 16384 P/rev
Origin search method Incremental
Program
Program language YAMAHA SRC
Multitasks 4 tasks
Point-data input method Manual data input (coordinates input), Direct teaching, Remote teaching
Memory
RAM
32 Kbytes with lithium battery backup (5-year life) Retains programs, point data,
parameters and alarm history
Programs
100 programs (Maximum program number)
255 steps per program 1024 steps / total or less
Points 1000 points (256 when point tracing)
External input/output
I/O interface
Normal
mode
Note1
Sequence input Dedicated input 8 points, General input 6 points
Sequence output Dedicated input 3 points, General input 6 points, Open collector output
Pulse train
mode
Note1
Sequence input Dedicated input 5 points, General input 6 points
Sequence output Dedicated input 3 points, General input 6 points, Open collector output
Command
pulse input
Type 1.Phase A / phase B, 2.Pulse / code, 3.CW / CCW
Mode Line driver (+5V)
Frequency Maximum 2 Mpps
Feedback
pulse output
Terminal
name
PA+, PA-, PB+, PB-, PZ+, PZ-
Type Phase A / phase B / phase Z
Mode Line driver (+5V)
Number of
pulse
16 to 4096 P/rev
Power supply for sequence I/O External DC +24V input
Emergency stop input Normal close contact point input
Brake output Relay output (for 24V/300mA brake) 1CH
External communications RS-232C 1CH (For communication with HPB or PC)
Op ions
Programming box HPB, HPB-D (with enable switch)
Support software for PC POPCOM
General specifi cations
Operating temperature 0°C to 40°C
Storage temperature -10°C to 65°C
Operating humidity 35% to 85%RH (non-condensing)
Noise resistance capacity IEC61000-4-4 Level 2
Protective functions Overload, overvoltage, voltage drop, resolver wire breakage, runaway detection, etc.
Switching between the normal mode and pulse train mode is done by use of the parameter.Note 1.
ERCD
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/