Yamaha Robotics Division
Yamaha Motor Co. Ltd.

Robots & Robot Controllers

Yamaha Robot Controllers

ERCX/SRCX/DRCX
TRCX/RCX40 series

• Multi-tasking functions

  •Multi-tasking functions

  This function enables multiple tasks to execute on robot's peripheral devices simultaneously. (When multiple tasks exit, the executable tasks with higher priority will be performed.
  System design is simplified, increasing operation efficiency. You can control 2 different robots by assigning 2 tasks of the top priority, or you can assign a task of lower priority to the additional axis, controlling it independently. The use of this function can be expanded with its user's creativity.

  •Sequence programming functions

  Apart from multi-task program, I/O commands can be executed in sequence, emulating an internal PLC.

  •Controlling 2 robots.

  Provides users with freedom to control up to 3 axes on TRCX. (The number of axes must be 1 to 3.)

  • Controlling one robot and additional peripheral single-axis devices.
  • Three teaching methods

    •Manual Data Input (MDI) teaching (co-ordinates input)

    A teaching method by direct input of coordinate values using the numeric keypad of the TPB programming unit. The point data and programs can also be created on a PC and be transferred on-line or with a 3.5" floppy disk.

    •Remote teaching

    A teaching method by moving the arm to the target position using the jog keys on the TPB programming unit. Inching distances can be changed.

    •Direct teaching

    A teaching method by physically moving the arm to the target position with the servo motors off.

  • Sophisticated axis-control

    •Arch motion

    Speeds up pick-and-place operations by changing the direction before reaching the target point. Users can freely change the switch points.

    •Zone control

    This function shortens the cycle time of scara robots' arm movement, by providing the most appropriate speed and acceleration/deceleration.

    •2-dimensional circular arc interpolation control

    Controls 2D circular arm interpolation (XY surface).

    •2-,3-dimensional CP control

    Permits operations like 3D linear interpolation and 3D free curvilinear trajectories. Most appropriate for sealing work.

    •Multi-robot control

    Although the axes of a multi-axis robot are usually operated simultaneously, the drive command allows you to operate them independently if required.

  • Advanced functions

    •A wide variety of parameter settings

    For power users, a wide variety of parameters are provided to optimize motion control. Parameters can be automatically optimized for different models of Yamaha robot, simply by entering the robot-type code number.

    •Conditional stop during arm movement

    The STOP ON command allows you to automatically slow down the robot until it comes to a full stop when I/O conditions and/or variable conditions are satisfied. When used with a sensor, this is suitable for inspection process, etc.

    •Access level setting

    This provides a protection against accidental data deletion or change. Access level 3, for example, prevents any data changes. The access level is password-protected. (TPB)

    •Self-check functions

    In cases of an error, a wide range of diagnostic messages assists trouble-shooting, providing a powerful tool for maintenance. Additionally, past errors *up to 5) are buffered for subsequent recall.(TPB)

    •Easy return from emergency stop conditions

    It is possible to return from emergency stop conditions by simply releasing the emergency switch before turning on the servo. There is no need to turn the robot off and on again to return to the origin.

    •I/O parallel processing

    Using multi-tasking functions, I/O timing can be specified even during arm movement.

SRCX Single-axis Controller

• Features
  1. Completely absolute
     Compatible with absolute position detector resolvers. A function to backup the multi-rotation amount data is provided therby realizing a completely absolute model.
  2. Supports network systems
     Supports the field network systems as CC-Link and DeviceNet. Ethernet can also be supported, making it easy to connect this controller to a personal c computer or other device.
  3. High-speed, high-accuracy servo
     High-speed, high-accuracy and detailed control is achieved by incorporating a 32-bit RISC CPU.
  4. Two roles with one unit
     As a BASIC-like programming language is used, even first-time users can easily program the data. A simple usage method, with no need for programming is possible, by carrying ou only point teaching and using movement commands with I/O from the sequencer.
  5. 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.
  6. Function to make conditional stop during movement
     The arm can be decelerated and stoped, using I/O conditions of the MOVF command while it is moving. This function is useful when searching the target position with a sensor.
  7. Limitless operation function
     This function cancels restriction against multi-rotation in one direction. It is usable for the servo tact conveyor and index table.
• Options
  • TPB
    A programming unit with 20X4 LCD
  • IC memory card
    64 KB memory (for one controller)
  • Communication software : POPCOM
    An application software to create and edit programs and to carry out on-line operation of robots.
  • POPCOM communication cable
    Available for DOS/V. 3.5m in cable length.
  • I/O checker
    I/O checker allows you to monitor input and output using flashing LEDs. You can also simulate input signal conditions with toggle switches.

TPB Controller Programming Unit