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  • YAMAHA – CONTROLLER

    CONTROLLER

    This command tower for operating YAMAHA robots is a compact, high cost performance controller that focuses on safety and the environment.
    A variety of control methods, including I/O point trace, remote commands, pulse train, and online commands can be selected to match your applications.

    1. Optimal setup

    • Setting the parameters is simple
    • Setting acceleration/deceleration is easy

    2. Diverse command methods

    YAMAHA controllers allow the user to select from an ample array of control methods including programming, point trace and pulse train to match the customer窶冱 application.

    Program entry

    YAMAHA SRC language
    MOVA 1 , 100Move to point No. 1 at 100% of speed.
    DO 1 , 1Turn general-purpose output No. 1 to ON.
    WAIT 2 , 1Wait until general purpose input No. 2 turns ON.
    YAMAHA BASIC language
    IF DO(10)=1 THEN ・界NDJump to *END if general-purpose input No. 10 is ON. If not ON, then proceed to next line.
    MOVE P, P2, STOPON DI(1) =1Move to point No. 2. Stop if general-purpose input No. 1 is ON during movement.
    WAIT ARMWait until robot arm operation ends.
    P3=WHEREWrite the current position in point No. 3.
    ・界ND:Define the label with the 窶廢ND窶・name.
    HOLDPause the program.

    Single-axis robot controllers use the YAMAHA SRC language Note which is simple yet contains all required functions such as I/O outputs and conditional branching, etc. The multi-axis controller RCX series uses the YAMAHA BASIC language capable of more sophisticated programs and includes all types of arithmetic computations, flexible setting of variables and various conditional branching, etc. Both are easy to use robot language conforming to BASIC. These match all manner of needs from simple beginning operations to sophisticated expert user tasks.

    Note.The 2-axis controller DRCX also uses YAMAHA SRC language.

    • I/O point trace

    The host device specified a point No. in binary and the robot moves to that point No. when a start signal is input. The controller can operate just by teaching the point data and does not need a program.

    I/O point trace
    • Remote command

    This uses CC-Link or DeviceNet word functions to issue various data or commands to the robot. It makes full use of word function expandability ranging from simple operation instructions to writing of point data and other sophisticated instructions and allows fully and flexibly using robot controller functions from a host device.

    Note. These functions are operable when selecting the option network board.

    Remote command
    • Pulse train

    A pulse train sent from the positioning unit controls the robot. The controller does not have to handle programs or point data. This control method is convenient when one wants to concentrate control in a host or upstream device.

    Pulse train
    • Online instructions

    A PC connected via RS232C or Ethernet Note can be used to issue various commands and data directly to the robot controller or receive data and status. All operations performed from a teaching pendant can be executed from a PC.

    Note.Ethernet is operable by selecting the option network board.

    Online instructions

    3. Multi-functions and expandability

    • Multi-axis controllers support up to 10,000 points, and single-axis controllers up to 1,000 points (255 points on the TS series). Up to 100 programs can be made on either type controller.
    • Supports various field networks including CC-Link, DeviceNet, Profibus, Ethernet, EtherNet/IPNote.

    Note. Some models do not support all networks.

    • The TS series, RD series, SR1 series, and RCX series utilize a dual power supply system where the control power supply and (main) power supply are separate.
    • Controllers support CE markings for EU (European) safety standards and so can also be used with confidence overseas. The TS series (except for TS-S), SR1 series, and RCX series can support safety category 4.
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