Specifications

035
1.
Position data output function
Zone output
Outputs whether the robot
position is within the specifi ed
range or not.
Point zone output
Outputs the number of the
point near the robot position in
the binary output.
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.
2.
Torque limiting drive
It is possible to perform such actions as pressing and gripping the work
by restricting the torque during operation.
General idea Features
TLM
CW
CCW
Elect
curr
e
Torque
limiting
value 1
Torque
limiting
value 2
SR1
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 4 patterns).
Allows torque limiting with the
program command.
Limit of the torque by analog
input (0 to +10V/12bit).
ERCD
Limits the torque by using the T
program command.
3.
Changing movement data function
Possible to change the moving speed and programmed position while
moving. (This function is SR1 only )
General idea Features
Inputs 1 Inputs 2 Inputs 3
Position
S
p
eed
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
specifi cation movement command).
Selection of speed specification
is 1 to 100% (up to 4 patterns).
Change in the deceleration range
is invalid.
4.
Point instruction
It is possible to execute jog movement of the robot and point teaching
from the upper level device.
General idea
Robot is moved to the position
where teaching is to be done by
the JOG+/JOG-command.
Position
JOG- JOG+
0
The current position is registered
to the number of the point specifi ed
by PSET input.
Position
Current position
PSET
0
SR1-X / SR1-P / ERCD Diverse functions
Handy YAMAHA SRC language functions
1.
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.
2.
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.
I/O condition
Stop
P1
P1
P2
P3
P0
P2
Setting range
DO0 = OFF DO0 = OFF
Position
DO0 = ON
P900 P901
It is possible to reverse the output logic.
It is also possible to limit to the moving point only.
Position
P3 P127
DO (7) (0)
0000 0011
DO (7) (0)
0111 1111
DO (15) (0)
Position
0011 1111 1100 0000
163.20 [mm]
It is possible to adjust the unit of the output position data
by using parameters.
It is possible to monitor at real time by using the upper level device.
A division function is installed.
A
phase
Upper level device
(Counter)
B
phase