Yamaha Computer Hardware DRCX

2 axes
robot controller
Usable for cartesian robots of
XY-X series and Multi Flip-X series.
High performance 2 axes controller
available at a reasonable cost.
Features
1
Completely absolute
2
Applicability to network
3
Two roles with one unit
Compatible with absolute position detector resolvers.
A function to backup the multi-rotation amount data is
provided thereby realizing a completely absolute model.
DRCX
CC-Link, DeviceNet, Profibus, and Ethernet are
available options for the DRCX controller for easy
communication.
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 out only point teaching and using
movement commands with I/O from the sequencer.
4
Large number of points
7
Palletizing function
Teaching points,
Only by inputting 4 corner
positions on the pallet as
teaching points, it is possible to
define up to 32 types of pallets
easily. For palletizing operation,
specify the defined pallet No. and
execute the matrix movement
command.
A, B, C, D
9
10
11
12
5
6
7
8
1
2
3
4
B
A
Provided with the multitask function supported by up
to as many as 1000 points and up to 16/13 points
general purpose input/output.
5
D
C
Supply source
Arch motion function
This function enables movement with the direction
changed before reaching the intermediate target
position so that the pick & place operation in air is
executed quickly. The direction changing point can be set
freely by using a parameter.
Direction
changing
point
6
Intermediate target point
Direction
changing
point
Two-dimensional linear and circular
interpolation control function
Capable of controlling two-dimensional linear and
circular interpolation ARC (XY plane).
DRCX part names / dimensions
Status indicator
ESC switch
RS232C (HPB)
connector
Motor connector
Regenerative
unit connector
Robot I/O connector
Power terminal block
I/O connector
100V/200V AC
changeover tap
Battery
connector x 2
100
78
40
5.5
250
265
290
Intermediate target point
(100)
157
DRCX ordering method
MXYx C A1 125 65 3L DRCX 20 10
Model
Combination
of robot arms
Cable
X-axis stroke
Y-axis stroke
Cable length
Applicable
controller
X-axis driver
Y-axis driver
Note 2
Usable for
CE
05 : 100W or less
10 : 200W
20 : 400 to 600W
Note 1
E
R CC B1
Note 2
Regenerative
unit
No entry : Standard
E : CE specification
Network Option
Battery
B1 : 700mAh
B2 : 2000mAh
No entry : None
CC : CC-Link
DN : DeviceNet
PB : Profibus
EN : Ethernet
No entry : None
R : RGU2 Note 3
Note 1 : For details of the mechanical section, refer to Yamaha FLIP-X or XY-X catalog.
Note 2 : It will be a customer’s choice.
Note 3 : The regenerative unit RGU2 (option) is required when operating a model designated by YAMAHA or a load with a large inertia.
DRCX basic specifications
Item
Model
DRCX
Axis control
Applicable
Driver model Note 1
X axis
Y axis
motor output
0505
100W or less
100W or less
0510
100W or less
200W
0520
100W or less
400W to 600W
1005
200W
100W or less
1010
200W
200W
1020
200W
400W to 600W
2005
400W to 600W
100W or less
2010
400W to 600W
200W
2020
400W to 600W
400W to 600W
Number of controllable axes
2 axes
Number of controllable robots
One 2-axis robot, two single-axis robots
Control system
AC full-digital servo
Position detection method
Resolver with a multi-revolution data backup function
Position setting unit
Cartesian coordinates system: mm, joint coordinate system: degree
PTP (synchronous arrival of each axis), CP Note 2, ARCH Note 2
Operation system
Interpolation control
Note 2
Linear interpolation, 2-dimensional circular interpolation
Speed setting
1% to 100% in 1% increments
Acceleration setting
1) Automatically set according to robot type and transfer amount
2) Setting with acceleration/deceleration parameter, 1% to 100% in 1% increments
Program
External
input/output
Protective
function
Program language
Yamaha robot language, multitask function : 4 tasks maximum, I/O control during axis movement, multiple robot control
Number of programs
100 programs
Number of program steps
255 steps per program, 3000 steps in total
Number of points
1000 points in total
Point-data input method
Manual data input (coordinates input), remote teaching, direct teaching, off-line programming with PC
Input / output
16/13 general-use points, 8/3 dedicated points
External communication
RS-232C : 1CH (for communication with HPB / HPB-D or PC)
Power supply for external drive
24VDC/900mA (horizontal specification)
Brake output
2-point relay type
Abnormality
Over-current check, over-load check, case temperature check, motor open-circuit check,
detection items
encoder open-circuit check, software limit over, system malfunction, communication error, battery malfunction
Power
0505/0510/0520/1005/1010/2005 driver : Single phase AC 100 to 115V/ AC 200 to 230V +/-10%, 50/60Hz
Note 3
General specifications
1020/2010/2020 driver : Single phase AC 200 to 230V +/-10%, 50/60Hz
Power consumption (Max.)
1600VA (variable depending on robot models)
Dimensions / Weight
W100 x H250 x D157mm / 2.1kg
Operating temperature / Storage temperature 0
to 40
/ -10
to 65
Options
Operating humidity
35% to 85%RH (non-condensing)
Noise resistance capacity
IEC61000-4-4 level 2
Ni-Cd battery charging method
Trickle charging
Accessories
I/O connector (48-pin) (1 pc)
Mandatory options
Battery B1 or B2 for absolute data backup
Selective options
HPB / HPB-D, PC supporting software POPCOM, Communication cable for PC supporting software (3.5m),
I/O checker, Regenerative unit RGU2 (Basic weight : 1.1kg) Note 1
Note 1 : The regenerative unit RGU2 (option) is required when operating a model designated by YAMAHA or a load with a large inertia.
Note 2 : Applicable only with cartesian robots.
Note 3 : When using 100V power, a jumper cable is required for the power terminal.
DRCX example of input signal connection
When using internal 24V power supply
When using external 24V power supply
Input
signal
DI
NPN
transistor
Internal 24V DC
power supply
Input
signal
Push button
DI
NPN
transistor
DI
+IN COM
When using internal 24V power supply
LED
LED
Solenoid
valve
DI
+IN COM
0V
Controller side
Output
signal
DO
Internal 24V DC
power supply
DO
Internal 24V DC
power supply
0V
DRCX command list
CALL
DO
WAIT
TIMR
L
P
P+
PORGN
SRVO
STOP
JMPP
MAT
MSEL
MOVM
CSEL
C
C+
CD
D+
DJMPC
JMPD
MOVC
MOVL
ACHA
ACHI
DRVA
DRVI
Function
Start a specified task
End a specified task
Move to a specified point (absolute position movement)
Move to a specified point (relative position movement)
Move until the specified DI number is entered
The position is shifted by the coordinate value of the specified point data
Jump to a specified label of the program
Jump to a specified label of the program when conditional
jump input matches the set value
Jump to a specified label of the program when a DI number
input matches the condition
Call another program
Turn general output and internal memory output ON/OFF
Wait until the input/output condition is entered
Set the standby time
Set the location label
Set the execution point number
Add 1 to the execution point number
Subtract 1 from the execution point number
Return all or specified axes to the origin
Turn servo of all or specified axes ON/OFF
Halt execution of the program
Jump to a label designated by axis positioning
Define the pallet matrix
Select the pallet number
Move to a the designated pallet work position
Select the array number of counter array variable C
Set the value at counter array variable C
Add a specified value to counter array variable C
Subtract a specified value from counter array variable C
Set the value at counter array variable D
Add a specified value to counter array variable D
Subtract a specified value from counter array variable D
Jump to a specified label when the counter array variable C matches with the set value
Jump to a specified label when the counter variable D matches with the set value
Move in a circular interpolation through a specified point
Move in a linear interpolation to a specified point
Set the arch position of a specified axis (absolute position from the origin)
Set the arch distance of a specified axis (relative position from the current position)
Move a specified axis to a specified point
Move a specified axis from the current position by a specified point value
Internal 24V DC
power supply
+24V
0V
Controller side
Controller side
External 24V power supply
External 24V power supply
JMPB
+IN COM
+24V
Controller side
Output
signal
DO
Solenoid
valve
DO
+IN COM
+24V
0V
+24V
Command
TON
TOFF
MOVA
MOVI
MOVF
SHFT
JMP
JMPF
When using external 24V power supply
Photo coupler
Photo coupler
Push button
DRCX example of output signal connection
DRCX connector signals
Terminal
number
A-1
B-1
A-2
B-2
A-3
B-3
A-4
B-4
A-5
B-5
A-6
B-6
A-7
B-7
A-8
B-8
A-9
B-9
A-10
B-10
A-11
B-11
A-12
B-12
A-13
B-13
A-14
B-14
A-15
B-15
A-16
B-16
A-17
B-17
A-18
B-18
A-19
B-19
A-20
B-20
A-21
B-21
A-22
B-22
A-23
B-23
A-24
B-24
Signal name
ABS-PT
INC-PT
AUTO-R
STEP-R
ORG-S
RESET
SERVO
LOCK
DI 0
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 8
DI 9
DI 10
DI 11
DI 12
DI 13
DI 14
DI 15
+ IN COM
+ IN COM
+ 24V
+ 24V
0V
0V
DO 0
DO 1
DO 2
DO 3
DO 4
END
BUSY
READY
DO 5
DO 6
DO 7
DO 8
DO 9
DO 10
DO 11
DO 12
ENG 1
ENG 2
Function
Move the point from the origin position
Move the point from the current position
Start automatic operation
Start step operation
Return to the origin
Reset
Return to servo on
Interlock
General input 0
General input 1
General input 2
General input 3
General input 4
General input 5
General input 6
General input 7
General input 8
General input 9
General input 10
General input 11
General input 12
General input 13
General input 14
General input 15
Controller external +24V power input
Controller external +24V power input
Controller internal +24V power output
Controller internal +24V power output
Input/output standard 0V
Input/output standard 0V
General output 0
General output 1
General output 2
General output 3
General output 4
End normal execution
Executing the command
Ready for operation
General output 5
General output 6
General output 7
General output 8
General output 9
General output 10
General output 11
General output 12
Emergency stop input 1, used with EMG2 as a pair
Emergency stop input 2, used with EMG1 as a pair