Ratoc Systems USB-Serial Converter REX-USB60F Manual de usuario Pagina 1

User’s ManualENGLISHERD seriesYAMAHA SINGLE-AXIS ROBOT DRIVERIM Operations882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.JapanURL http://www.yamaha-

Functions55-345. Functions3. Click the [Continuous pattern tuning start] button.4. Check safety conditions and then turn on the FOT and ROT terminals,

5-355Functions5. Functions5.11 Gain change functionThe gain change function is a function for changing the position and speed control gain during oper

Functions55-365. Functions(1) Parameter constants used for the gain change functionThe parameter constants used for changing the gain are explained be

5-375Functions5. Functions(2) Procedure for setting the gain change function1. Set the "Gain change mode" (Fd-30) to "AUto". • Se

Functions55-385. Functions5.12 Clearing the alarm log and setting the default valuesThe tripped alarm log can be cleared and all parameter data can be

5-395Functions5. Functions(2) When initializing with the TOP software on the PC All parameters can be reset to their default values (default values in

Functions55-405. Functions5.13 Motor rotating direction5.13.1 FLIP-X series phase sequenceThe forward direction when the RDX is used in combination wi

5-415Functions5. Functions5.14 Speed limit functionSpeed can be limited by the parameters (Fb-20, Fb-21) as shown in the table below.SettingSpeed limi

Functions55-425. Functions5.15 Fast positioning functionThe fast positioning function shortens the positioning settling time to the minimum time, and

5-435Functions5. Functions0Effects of position deviation minimizing control (Fd-40 = FoL) during positioning operationPosition error (pulses)Time [s]P

Chapter 1 Safety precautionsTo use this unit correctly and safely, always read this manual and all other attached documents carefully before use. Use

Functions55-445. Functions5.16 Notch filter functionThe notch filter function reduces the vibration originating from the machine resonance, by lowerin

5-455Functions5. Functions5.17 Magnetic pole position estimation actionOn the RDP, magnetic pole position estimation must be performed after power is

Functions55-465. Functions5.18 Magnetic pole position estimation and parametersThe magnetic pole position estimation is performed by repeatedly genera

5-475Functions5. FunctionsThe distance the motor or slider moves during magnetic pole position estimation can be derived by the following formula.Move

Functions55-485. FunctionsNote 1: Magnetic pole position estimation might sometimes be unable to accurately estimate the magnetic pole position due to

Chapter 6 Parameter descriptionThis chapter describes part names of the digital operator integrated into this product and how to operate it. This cha

T9H-5 ...6-45T9H-5-BK ...

F17L-50-BK (C17L-50-BK) ...6-67F17-10 (C17-10) ...6-

6-16Parameter description6. Parameter description6.1 Digital operator part names and operation6.1.1 Part names of digital operatorThe RD series is o

Parameter description66-26. Parameter description6.1.2 Operating the digital operator(1) Changing the monitor mode display and parameter settingThe b

6-36Parameter description6. Parameter description(2) Operating the trip monitor and the trip log monitorThe button marks over/under the right/left arr

Parameter description66-46. Parameter description(3) Special displayA special display appears to indicate the robot driver status as shown in the foll

6-56Parameter description6. Parameter description6.2 Function listsThis section describes monitor functions and parameters that can be set for the rob

Parameter description66-66. Parameter description6.2.1 List of monitor functionsParameter No.Parameter name Display rangeUnitsRDX RDPd-00 Speed comma

6-76Parameter description6. Parameter description6.2.2 List of setup parametersParameter setting ranges and default values are shown in the following

Parameter description66-86. Parameter descriptionParameter No.Parameter nameSetting rangeDefault setting UnitsChange during operationRDX RDP RDX RDPFA

6-96Parameter description6. Parameter description(2) Operation constant parametersParameter No.Parameter nameSetting range Default setting UnitsChange

Parameter description66-106. Parameter description(3) Input/output terminal parametersParameter No.Parameter name Setting rangeDefault setting UnitsCh

6-116Parameter description6. Parameter description(4) Control constant parametersParameter No.Parameter name Setting rangeDefault settingUnitsChange d

1-11Safety precautions1. Safety precautionsTo use this unit correctly and safely, always read this manual and all other attached documents carefully b

Parameter description66-126. Parameter description6.3 Function description6.3.1 Monitor display descriptionTo automatically display a parameter setti

6-136Parameter description6. Parameter descriptionMonitor No.Monitor name Display range Descriptiond-07Position command monitor80000000 (negative maxi

Parameter description66-146. Parameter descriptionMonitor No.Monitor name Display range Descriptiond-13Operation control mode monitortrq (torque contr

6-156Parameter description6. Parameter description6.3.2 Setup parameter description(1) Operation mode parameters, etc.Parameter No.Parameter nameSett

Parameter description66-166. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-08Regenerative braking operatin

6-176Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-11Pulse train input modeF-rP-SA

Parameter description66-186. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-16DB Operation selectionnontrPS

6-196Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-23 Homing modeL-FL-rH1-FH1-rH2-

Parameter description66-206. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-26Brake operation start speed*

6-216Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-86Pole position offset* Valid o

Safety precautions11-21. Safety precautionscCAUTION1. Use only the specifi ed robot and controller combination. Using the wrong combination may cause

Parameter description66-226. Parameter description(2) Operation constant parametersParameter No.Parameter nameSetting range[Default value]DescriptionF

6-236Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFb-16Forward position limit value(

Parameter description66-246. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFb-36Current for striking limit40

6-256Parameter description6. Parameter description(3) Input/output terminal parametersParameter No.Parameter nameSetting range[Default value]Descripti

Parameter description66-266. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFC-09Position sensor monitor resol

6-276Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFC-23Communication paritynon, odd,

Parameter description66-286. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFC-32Monitor output 1 gain0.0 to 3

6-296Parameter description6. Parameter description(4) Control constant parameterParameter No.Parameter nameSetting range[Default value]DescriptionFd-0

Parameter description66-306. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFd-14Notch filter 2 frequency3.0 t

6-316Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFd-46(Note 1)Mover mass for pole p

1-31Safety precautions1. Safety precautions1.3 CarryingcCAUTION1. Do not carry the robot driver by the cables. Doing so may cause malfunction or inj

Parameter description66-326. Parameter description6.3.3 Reference graph for setting the acceleration and position control cut-off frequencyFor your re

6-336Parameter description6. Parameter description RDXModel T4H-2 (C4H-2)Maximum payload [kg] 6.0 [kg]Fd-00 Moment of inertia 0.029 [×10-4kg•m2]Fd-

Parameter description66-346. Parameter descriptionModel T4H-6 (C4H-6)Maximum payload [kg] 6.0 [kg]Fd-00 Moment of inertia 0.044 [×10-4kg•m2]Fd-01 Sp

6-356Parameter description6. Parameter descriptionModel T4H-12 (C4H-12)Maximum payload [kg] 4.5 [kg]Fd-00 Moment of inertia 0.038 [×10-4kg•m2]Fd-01

Parameter description66-366. Parameter descriptionModel T5H-6 (C5H-6)Maximum payload [kg] 9.0 [kg]Fd-00 Moment of inertia 0.063 [×10-4kg•m2]Fd-01 Sp

6-376Parameter description6. Parameter descriptionModel T5H-12 (C5H-12)Maximum payload [kg] 5.0 [kg]Fd-00 Moment of inertia 0.067 [×10-4kg•m2]Fd-01

Parameter description66-386. Parameter descriptionModel T5H-20Maximum payload [kg] 3.0 [kg]Fd-00 Moment of inertia 0.100 [×10-4kg•m2]Fd-01 Speed con

6-396Parameter description6. Parameter descriptionModel T6-6-BK (C6-6-BK)Maximum payload [kg] 8.0 [kg]Fd-00 Moment of inertia 0.092 [×10-4kg•m2]Fd-0

Parameter description66-406. Parameter descriptionModel T6-12-BK (C6-12-BK)Maximum payload [kg] 4.0 [kg]Fd-00 Moment of inertia 0.110 [×10-4kg•m2]Fd

6-416Parameter description6. Parameter descriptionModel T7-12Maximum payload [kg] 8.0 [kg]Fd-00 Moment of inertia 0.125 [×10-4kg•m2]Fd-01 Speed cont

Safety precautions11-41. Safety precautions1.5 WiringwDANGER1. WIRING WORK SHOULD BE CARRIED OUT BY QUALIFIED ELECTRICIANS. IMPROPER WIRING MAY CAUS

Parameter description66-426. Parameter descriptionModel T9-5Maximum payload [kg] 80.0 [kg]Fd-00 Moment of inertia 0.282 [×10-4kg•m2]Fd-01 Speed cont

6-436Parameter description6. Parameter descriptionModel T9-10Maximum payload [kg] 55.0 [kg]Fd-00 Moment of inertia 0.304 [×10-4kg•m2]Fd-01 Speed con

Parameter description66-446. Parameter descriptionModel T9-20Maximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.399 [×10-4kg•m2]Fd-01 Speed con

6-456Parameter description6. Parameter descriptionModel T9-30Maximum payload [kg] 15.0 [kg]Fd-00 Moment of inertia 0.501 [×10-4kg•m2]Fd-01 Speed con

Parameter description66-466. Parameter descriptionModel T9H-5-BKMaximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.416 [×10-4kg•m2]Fd-01 Speed

6-476Parameter description6. Parameter descriptionModel T9H-10-BKMaximum payload [kg] 20.0 [kg]Fd-00 Moment of inertia 0.424 [×10-4kg•m2]Fd-01 Speed

Parameter description66-486. Parameter descriptionModel T9H-20-BKMaximum payload [kg] 8.0 [kg]Fd-00 Moment of inertia 0.564 [×10-4kg•m2]Fd-01 Speed

6-496Parameter description6. Parameter descriptionModel F8-6 (C8-6)Maximum payload [kg] 40.0 [kg]Fd-00 Moment of inertia 0.109 [×10-4kg•m2]Fd-01 Spe

Parameter description66-506. Parameter descriptionModel F8-12 (C8-12)Maximum payload [kg] 20.0 [kg]Fd-00 Moment of inertia 0.124 [×10-4kg•m2]Fd-01 S

6-516Parameter description6. Parameter descriptionModel F8-20 (C8-20)Maximum payload [kg] 12.0 [kg]Fd-00 Moment of inertia 0.160 [×10-4kg•m2]Fd-01 S

1-51Safety precautions1. Safety precautions1.6 Control and operationcCAUTION1. To prevent unstable or erratic operation never make drastic adjustmen

Parameter description66-526. Parameter descriptionModel F8L-5-BK (C8L-5-BK)Maximum payload [kg] 16.0 [kg]Fd-00 Moment of inertia 0.213 [×10-4kg•m2]F

6-536Parameter description6. Parameter descriptionModel F8L-10-BK (C8L-10-BK)Maximum payload [kg] 8.0 [kg]Fd-00 Moment of inertia 0.229 [×10-4kg•m2]

Parameter description66-546. Parameter descriptionModel F8L-20-BK (C8L-20-BK)Maximum payload [kg] 4.0 [kg]Fd-00 Moment of inertia 0.299 [×10-4kg•m2]

6-556Parameter description6. Parameter descriptionModel F8LH-5 (C8LH-5)Maximum payload [kg] 80.0 [kg]Fd-00 Moment of inertia 0.171 [×10-4kg•m2]Fd-01

Parameter description66-566. Parameter descriptionModel F8LH-20 (C8LH-20)Maximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.292 [×10-4kg•m2]Fd-

6-576Parameter description6. Parameter descriptionModel F10-5-BK (C10-5-BK)Maximum payload [kg] 20.0 [kg]Fd-00 Moment of inertia 0.289 [×10-4kg•m2]F

Parameter description66-586. Parameter descriptionModel F10-10-BK (C10-10-BK)Maximum payload [kg] 10.0 [kg]Fd-00 Moment of inertia 0.304 [×10-4kg•m2

6-596Parameter description6. Parameter descriptionModel F10-20-BK (C10-20-BK)Maximum payload [kg] 4.0 [kg]Fd-00 Moment of inertia 0.399 [×10-4kg•m2]

Parameter description66-606. Parameter descriptionModel F14-5 (C14-5)Maximum payload [kg] 80.0 [kg]Fd-00 Moment of inertia 0.282 [×10-4kg•m2]Fd-01 S

6-616Parameter description6. Parameter descriptionModel F14-10 (C14-10)Maximum payload [kg] 55.0 [kg]Fd-00 Moment of inertia 0.304 [×10-4kg•m2]Fd-01

Safety precautions11-61. Safety precautions1.7 Maintenance and inspectionwDANGERAFTER TURNING POWER OFF, WAIT AT LEAST 10 MINUTES BEFORE STARTING MAI

Parameter description66-626. Parameter descriptionModel F14-20 (C14-20)Maximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.399 [×10-4kg•m2]Fd-01

6-636Parameter description6. Parameter descriptionModel F14-30Maximum payload [kg] 15.0 [kg]Fd-00 Moment of inertia 0.501 [×10-4kg•m2]Fd-01 Speed co

Parameter description66-646. Parameter descriptionModel F14H-5-BK (C14H-5-BK)Maximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.388 [×10-4kg•m2

6-656Parameter description6. Parameter descriptionModel F14H-10-BK (C14H-10-BK)Maximum payload [kg] 20.0 [kg]Fd-00 Moment of inertia 0.424 [×10-4kg•

Parameter description66-666. Parameter descriptionModel F14H-20-BK (C14H-20-BK)Maximum payload [kg] 8.0 [kg]Fd-00 Moment of inertia 0.620 [×10-4kg•m

6-676Parameter description6. Parameter descriptionModel F17L-50 (C17L-50)Maximum payload [kg] 50.0 [kg]Fd-00 Moment of inertia 6.080 [×10-4kg•m2]Fd-

Parameter description66-686. Parameter descriptionModel F17-10 (C17-10)Maximum payload [kg] 120.0 [kg]Fd-00 Moment of inertia 1.480 [×10-4kg•m2]Fd-0

6-696Parameter description6. Parameter descriptionModel F17-20 (C17-20)Maximum payload [kg] 80.0 [kg]Fd-00 Moment of inertia 1.720 [×10-4kg•m2]Fd-01

Parameter description66-706. Parameter descriptionModel F17-40Maximum payload [kg] 40.0 [kg]Fd-00 Moment of inertia 1.930 [×10-4kg•m2]Fd-01 Speed co

6-716Parameter description6. Parameter descriptionModel F20-20 (C20-20)Maximum payload [kg] 120.0 [kg]Fd-00 Moment of inertia 2.250 [×10-4kg•m2]Fd-0

Chapter 2 Before using the unitThis chapter explains what you need to check after receiving the product you purchased as well as the warranty and the

Parameter description66-726. Parameter descriptionModel F20-40Maximum payload [kg] 60.0 [kg]Fd-00 Moment of inertia 4.710 [×10-4kg•m2]Fd-01 Speed co

6-736Parameter description6. Parameter descriptionModel N15-10Maximum payload [kg] 80.0 [kg]Fd-00 Moment of inertia 2.940 [×10-4kg•m2]Fd-01 Speed co

Parameter description66-746. Parameter descriptionModel N15-30Maximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 3.720 [×10-4kg•m2]Fd-01 Speed co

6-756Parameter description6. Parameter descriptionModel B10Maximum payload [kg] 10.0 [kg]Fd-00 Moment of inertia 0.451 [×10-4kg•m2]Fd-01 Speed contr

Parameter description66-766. Parameter descriptionModel B14HMaximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.800 [×10-4kg•m2]Fd-01 Speed cont

6-776Parameter description6. Parameter descriptionModel R10Moment of inertia of maximum allowable load 3.71 [kgf•cm•sec2]Fd-00 Moment of inertia 0.23

Parameter description66-786. Parameter description RDPModel MR12Maximum payload [kg] 5.0 [kg]Fd-00 Mover mass 0.108 [×10kg]Fd-01 Speed control cut-

6-796Parameter description6. Parameter descriptionModel MR16HMaximum payload [kg] 9.0 [kg]Fd-00 Mover mass 0.182 [×10kg]Fd-01 Speed control cut-off

Parameter description66-806. Parameter descriptionModel MR25Maximum payload [kg] 23.0 [kg]Fd-00 Mover mass 0.386 [×10kg]Fd-01 Speed control cut-off

6-816Parameter description6. Parameter descriptionModel MF15Maximum payload [kg] 15.0 [kg]Fd-00 Mover mass 0.180 [×10kg]Fd-01 Speed control cut-off

Parameter description66-826. Parameter descriptionModel MF30Maximum payload [kg] 30.0 [kg]Fd-00 Mover mass 0.310 [×10kg]Fd-01 Speed control cut-off

6-836Parameter description6. Parameter descriptionModel MF75Maximum payload [kg] 75.0 [kg]Fd-00 Mover mass 0.840 [×10kg]Fd-01 Speed control cut-off

Parameter description66-846. Parameter description6.4 Control block diagram and monitorsThe following is the control block diagram for the robot driv

6-856Parameter description6. Parameter descriptionTorquecommand filtertime constantSpeed controlTorquecommandlimiterPropor-tionalcontrolswitchingPPIFA

6-86MEMO

Chapter 7 Maintenance and InspectionThis chapter explains precautions and procedures for maintaining and inspecting this product.Contents7.1 Mainten

7-17Maintenance and Inspection7. Maintenance and Inspection7.1 Maintenance and inspectionwDANGERAFTER TURNING POWER OFF, WAIT AT LEAST 10 MINUTES BEF

Maintenance and Inspection77-27. Maintenance and Inspection7.1.1 Precautions for maintenance and inspection(1) After turning power off, wait at least

7-37Maintenance and Inspection7. Maintenance and Inspection7.2 Daily inspection and periodic inspectionCheck pointCheck item Check itemCheck interval

2-12Before using the unit2. Before using the unit2.1 Inspection after unpacking2.1.1 Checking the productAfter unpacking, take out the robot driver

Maintenance and Inspection77-47. Maintenance and Inspection7.3 Megger test and breakdown voltage testDo not perform a megger test or voltage breakdow

7-57Maintenance and Inspection7. Maintenance and InspectionTester polarity *1Reading (red) (black)ConverterD1L1 (+)1 Non-conducting(+)1 L1 ConductingD

Maintenance and Inspection77-67. Maintenance and Inspection7.5 Capacitor life curve10 20 30 40 1 2 3 4 5 6 7 8 9 1050 0 -10 24-hour daily operationCa

Chapter 8 Specifi cations and DimensionsThis chapter explains the specifications and dimensions of this product.Contents8.1 Specification tables 8-18

8-18Specifi cations and Dimensions8. Specifications and Dimensions8.1 Specification tables8.1.1 RDP specification tableRobot driverItemRDP-05 RDP-10 R

Specifi cations and Dimensions88-28. Specifications and Dimensions8.1.2 RDX specification tableRobot driverItemRDX-05 RDX-10 RDX-20Basic specification

8-38Specifi cations and Dimensions8. Specifications and Dimensions8.2 Robot driver dimensions and mounting holesModel name Model No. DrawingRDP(For PH

Specifi cations and Dimensions88-48. Specifications and DimensionsFig. 2Fig. 3 φ６１７０（７５）１５０±０．５（＊）１６０５６７０ＣＨＡＲＧＥＰＣ（＋）１Ｉ／ＯＵＶ（＋）Ｌ３ＲＢ（−）Ｌ２ＷＬ１ＥＮＣ（＊）MOUNTING

8-58Specifi cations and Dimensions8. Specifications and DimensionsTerminal block and mounting hole drawingOutput W D1100W200W57 5400W 65 9750W 70 14

Before using the unit22-22. Before using the unitX05 X05 0001 –X05X10X20P05P10P20P25RDX-05RDX-10RDX-20RDP-05RDP-10RDP-20RDP-251 to 9OXYJanuary to Sept

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Chapter 9 TroubleshootingThis chapter explains the protective functions, alarm display, and troubleshooting of this product.Contents9.1 Alarm displa

9-19Troubleshooting9. Troubleshooting9.1 Alarm display (alarm log)If an alarm has tripped, a display like that shown below appears.The trip log monit

Troubleshooting99-29. Troubleshooting9.2 Protective function listThe table below shows alarms and errors that might occur to protect the robot driver

9-39Troubleshooting9. Troubleshooting9.3 TroubleshootingCorrective action for an alarm or error differs depending on whether the alarm or error has tr

Troubleshooting99-49. TroubleshootingSymptom Possible cause Checkpoint ActionRobot motion is unstable.Large load variation • Check the load variation.

9-59Troubleshooting9. Troubleshooting9.3.2 When an alarm or error has trippedWhen an alarm or error has tripped, clear the alarm or error by inputtin

Troubleshooting99-69. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE07Main power overvoltageRegenerative resistance is lar

9-79Troubleshooting9. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE09Main power undervoltageMain circuit power supply vol

2-32Before using the unit2. Before using the unit2.2 Product inquiries and warranty2.2.1 Notes when making an inquiryIf you need to inquire about po

Troubleshooting99-89. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE20Control power undervoltageControl circuit power supp

9-99Troubleshooting9. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE31PM (power module) errorOutput terminal is shorted.A

Troubleshooting99-109. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE83Position deviation errorPulse position command rate

9-119Troubleshooting9. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE85Overspeed errorSpeed command input setting is wrong

Troubleshooting99-129. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE89Position monitoring timeout errorControl gain, Posi

Chapter 10 AppendixThis chapter explains the options for this product.Contents10.1 Timing chart 10-110.2 Options 10-210.3 Recommended peripheral de

10-110Appendix10. Appendix10.1 Timing chartThe following shows the timing chart from the power-on to the position command input (when the return-to-o

Appendix1010-210. Appendix10.2 Options(1) Dedicated software for YAMAHA RD series (TOP for Windows)When the RD series robot driver is connected to a P

10-310Appendix10. Appendix(2) Cables PC cableLength L Description2m8-pin modular connector 9-pin D-Sub connectorRobot driver side PC sideWiring and p

Before using the unit22-42. Before using the unit2.3 External view and part namesRDXBattery holderNot used.Battery housing cover Charge lampLights up

Appendix1010-410. Appendix(3) Precautions for braking resistorcCAUTION• Install the braking resistor on a noncombustible object, such as metal.

10-510Appendix10. Appendix(4) Braking resistor RBR1 (small type) Dimensions (mm) Circuit diagramRBP21 Connection diagram(+)RBP1 RB 2 Robot driverAl

Appendix1010-610. Appendix(5) Braking resistor RBR2 (standard type) Dimensions (mm) Circuit diagramRBP21 Connection diagram(+)RBP1 RB 2 Robot drive

10-710Appendix10. Appendix10.3 Recommended peripheral devicesThis section describes the recommended optional devices for the RD series robot drivers.

Appendix1010-810. Appendix(2) DC reactor (for harmonic suppression, power coordination, power factor improvement) Model No.DCL-L-0.2Capacity (See the

10-910Appendix10. Appendix(3) Input side noise filter Model No.NF-L 6Rated current of noise filterSeries name (NF series) Connection diagram (3-pha

Appendix1010-1010. Appendix(4) Input side noise filter (EMC compliance) Model NoNF– CEH 7Rated current of noise filterSeries name (NF series)EMC comp

10-1110Appendix10. Appendix(5) Radio noise filter (zero-phase reactor) Connection diagramR S TM L1 L2 L3 U V W Should be as close as possible to robo

Appendix1010-1210. Appendix(6) Input-side radio noise filter (capacitor filter)Connect this filter directly to the power terminals on the robot driver

10-1310Appendix10. Appendix10.4 Internal block diagram of robot driver B2 B1 84 PC PWM RS232C TM2 L1C L2C ENC A/D CHARGE U WM TM2 RB (+) (+)1 L1

2-52Before using the unit2. Before using the unit2.4 Robot driver and robot combinationThe table below shows applicable combinations of robot drivers

Revision recordManual versionIssue date DescriptionVer. 2.00 Dec. 2009 Addition of RDP-25 and applicable robot type. Addition and correction of refere

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Chapter 3 Installation and wiringThis chapter explains how to install the robot driver, as well as how to connect wiring to the main circuit and inpu

3-13Installation and wiring3. Installation and wiring3.1 InstallationcCAUTION1. Do not step or stand on the unit. Do not place heavy objects on the u

Note to the userOur sincere thanks for purchasing this "YAMAHA single-axis robot driver RD series".This user's manual describes handlin

Installation and wiring33-23. Installation and wiring3.1.1 Precautions during installation(1) Precautions when carrying the unitThe robot driver uses

3-33Installation and wiring3. Installation and wiring(6) Installation method and direction precautionsInstall the robot driver on a vertical surface c

Installation and wiring33-43. Installation and wiring3.2 WiringwDANGER1. WIRING WORK SHOULD BE CARRIED OUT BY QUALIFIED ELECTRICIANS. IMPROPER WIRIN

3-53Installation and wiring3. Installation and wiring3.2.2 Main circuit wiring(1) Terminal connection diagram(+)1(+)RB(-)L2L1L3MGL1CL2CB1B2TM1TM2I/OU

Installation and wiring33-63. Installation and wiring(2) Terminal assignmentTerminal block connectorTerminal assignmentTerminal screw sizeTerminal wid

3-73Installation and wiring3. Installation and wiring(3) Wiring precautionsBefore starting wiring, make sure that the charge lamp is completely off. U

Installation and wiring33-83. Installation and wiring4) External braking resistor connection terminals ( (+), RB) ) • A regenerative braking circuit

3-93Installation and wiring3. Installation and wiring8) Ground terminals ( ) • To prevent electrical shock, be sure to ground the robot driver and

Installation and wiring33-103. Installation and wiring(4) Peripheral cables and productsName Function Availability1TOP (software for YAMAHA RD series)

3-113Installation and wiring3. Installation and wiring(5) Recommended wire size and wiring accessories • Select optimal breakers by taking their bre

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Installation and wiring33-123. Installation and wiring(6) Attaching the cover to the main circuit terminal block (TM1)1. Insert the bottom hook of the

3-133Installation and wiring3. Installation and wiring3.2.3 Wiring to the control terminal block (TM2)cCAUTION1. Unplug the control power supply con

Installation and wiring33-143. Installation and wiring3.2.4 Input/output signal wiring(1) Input/output signal connectorPin No.1 of the input/output s

3-153Installation and wiring3. Installation and wiringOn the mating input/output signal connector (cable side), pin No.1 is located at the upper left

Installation and wiring33-163. Installation and wiring(2) Input/output signal connection diagramStandard input/output signal connections are shown bel

3-173Installation and wiring3. Installation and wiring(3) Input/output signal functionsInput/output signal functions are summarized in the following t

Installation and wiring33-183. Installation and wiringTypeTerminal symbolTerminal name DescriptionElectrical specificationsOutput signalSRDSRDEServo r

3-193Installation and wiring3. Installation and wiring(4) Brake and origin sensor connectorAmong the input/output signals, the brake and origin sensor

Installation and wiring33-203. Installation and wiring(5) Details of input/output signal wiring1) Contact input signal • Contact signals should be in

3-213Installation and wiring3. Installation and wiring • When using an external power supply, do not connect to the internal interface power of the

General ContentsChapter 1 Safety precautions1.1 Precautions for use 1-11.2 Storage 1-21.3 Carrying 1-31.4 Installation 1-31.5 Wiring 1-41.6 Co

Installation and wiring33-223. Installation and wiring2) Open collector output signal • Connect a relay coil or the input module of a programmable co

3-233Installation and wiring3. Installation and wiring3) Monitor output signal • Connect a meter (voltmeter) or recorder for monitoring speed detecti

Installation and wiring33-243. Installation and wiring4) Position command signal • Connect the pulse train signal for position command. As shown in t

3-253Installation and wiring3. Installation and wiringPosition command pulse timing chartPulse train signal formPulse train input timing(1) Pulse trai

Installation and wiring33-263. Installation and wiring5) Position sensor monitor signal • The position sensor signal is output as phase A, B, and Z s

3-273Installation and wiring3. Installation and wiring3.2.5 Wiring for position sensor signals(1) Position sensor signal connectorConnector compatibl

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Chapter 4 OperationThis chapter explains typical product operation and shows simple trial runs.Contents4.1 Control and operation 4-14.1.1 Position

4-14Operation4. Operation4.1 Control and operationcCAUTION1. To prevent unstable or erratic operation never make drastic adjustments to the unit.

5.3 Output terminal functions 5-75.4 Return-to-origin function 5-105.5 Analog output function 5-215.6 Pulse train input function 5-225.7 Smooth

Operation44-24. Operation4.1.1 Position control by pulse train inputThis method controls the position with external pulse train signals.1) Make conn

4-34Operation4. Operation4.2 Test RunThis section explains how to make a test run.4.2.1 Jog from the digital operatorJog can be performed from the di

Operation44-44. Operation4.2.2 Making a test run using "TOP" software for RD seriesJog can be run from a PC. During this jog operation, wir

4-54Operation4. Operation(2) Pulse feed jog operationIn this jog operation, the robot moves in position control mode up to the position specified by t

Operation44-64. Operation4.3 Emergency stopTo safely stop the robot in case of an emergency, configure an emergency stop circuit while referring to th

Chapter 5 FunctionsThis chapter explains the input/output signal functions of this product and its major control functions.Contents5.1 Terminal func

5-15Functions5. Functions5.1 Terminal function listTypeTerminal symbolTerminal name FunctionContact pointinput signalP24 Interface powerSupplies 24V

Functions55-25. FunctionsTypeTerminal symbolTerminal name FunctionRelay outputBK (B24)Brake release relay outputWhen the servo is ON, this terminal ou

5-35Functions5. Functions5.2 Input terminal functionsFunctions of the robot driver input terminals are described below.For details on input/output te

T4H-6 (C4H-6) ……………………………………………………………………… 6-34T4H-6-BK (C4H-6-BK) ……………………………………………………………… 6-34T4H-12 (C4H-12) …………………………………………………………………… 6-35T4H-12-B

Functions55-45. FunctionsRS terminalWhen an alarm has tripped, setting the SON signal to OFF and this RS signal to ON clears the tripped alarm state,

5-55Functions5. FunctionsFOT/ROT terminalsThese terminals connect to operating range limit switches in order to prevent overtravel.FC-01 : Input termi

Functions55-65. FunctionsORG terminalWhen servo is ON, tuning this signal ON performs return-to-origin. See 5.4, "Return-to-origin function"

5-75Functions5. Functions5.3 Output terminal functionsRobot driver output terminal functions are described next.For details on input/output terminal

Functions55-85. FunctionsBRK terminal (relay contact)This signal is for controlling an externally installed brake. Use this signal only when the conne

5-95Functions5. Functions(2) Brake signal while robot is operatingThis function is used when applying the brake while the robot is operating so use in

Functions55-105. Functions5.4 Return-to-origin function(1) Return-to-origin using stroke end method (RDX)The following table shows the RDX return-to-o

5-115Functions5. Functions(2) Return-to-origin using sensor method (RDX)The following table shows the RDX return-to-origin operation using the sensor

Functions55-125. Functions(3) Return-to-origin using stroke end method (RDP)The following table shows the RDP return-to-origin operation using the str

5-135Functions5. FunctionsFA-23Return-to-origin using stroke end methodt-rWhen phase ZM is between return-to-origin start position and stroke end45623

F14-20 (C14-20) …………………………………………………………………… 6-62F14-20-BK (C14-20-BK) …………………………………………………………… 6-62F14-30 ……………………………………………………………………………… 6-63F14H-5 (C14

Functions55-145. FunctionsFA-23Return-to-origin using stroke end methodWhen phase ZM is between return-to-origin start position and stroke endWhen ret

5-155Functions5. Functions(4) Return-to-origin using sensor method (RDP)The following table shows the RDP return-to-origin operation using the sensor

Functions55-165. FunctionsFA-23Return-to-origin using sensor methodS-FWhen origin sensor is ON when starting return-to-origin12139114096141581012345 6

5-175Functions5. FunctionsFA-23Return-to-origin using sensor methodS-rWhen phase ZM is between return-to-origin start position and origin sensor452314

Functions55-185. FunctionsFA-23Return-to-origin using sensor methodS-rWhen origin sensor is ON when starting return-to-origin1213409614 15106789111234

5-195Functions5. FunctionsFA-23Return-to-origin using sensor methodOperation sequenceWhen phase ZM is between return-to-origin start position and orig

Functions55-205. FunctionsFA-23Return-to-origin using sensor methodOperation sequenceWhen origin sensor is ON when starting return-to-origin1. Start

5-215Functions5. Functions5.5 Analog output functionThe robot driver has 2 channels provided with analog monitor output terminals. The output voltage

Functions55-225. Functions5.6 Pulse train input function(1) Position pulse train input The pulse train signals (PLS, SIG) for the position command ar

5-235Functions5. FunctionsThe "Command pulse filter time constant" (FC-19) parameter for the pulse train input circuit hardware can be selec

7.3 Megger test and breakdown voltage test 7-47.4 Checking the inverter and converter 7-47.5 Capacitor life curve 7-6Chapter 8 Specifi cations a

Functions55-245. Functions[Calculation examples of electronic gear ratio]1. To move the MR16 (PHASER series) robot at a speed of 2000 millimeters per

5-255Functions5. Functions5.7 Smoothing function(1) Position command filterThe command pulse rate may cause vibrations when used in combination with a

Functions55-265. Functions5.8 Position sensor monitor functionThe position sensor monitor signals OA and OB, which are obtained by dividing the posit

5-275Functions5. Functions5.9 Adjusting the control gainThis section describes the method for adjusting the control gain required when adjusting the

Functions55-285. Functions5.9.2 Setting the mechanical rigidity and responseSet the response of the servo system according to the rigidity and streng

5-295Functions5. Functions5.9.3 Adjusting the position control loop(1) Parameter constants used for position controlParameter constants used for posi

Functions55-305. Functions5.10 Offline auto-tuning functionThe auto-tuning function is described here.Offline auto-tuning is a function for automatica

5-315Functions5. Functions(2) Offline auto-tuning operation1. Turning on the FOT and ROT terminals, and then turning on the SON terminal starts the au

Functions55-325. FunctionsCalculating the robot axis rotation during offline auto-tuningIf the tuning speed is Va [min-1] and the accel/decel time is

5-335Functions5. Functions2. When tuning ends, turn the SON terminal off, and turn the RS terminal on and then off, to exit the auto-tuning mode.Note