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Industrial robots

Single axis robot controller ERCD

Introduces the single-axis robot controller ERCD.



Model ERCD
Number of controllable axes Single-axis
Controllable robots Single-axis robot FLIP-X series T4L / T5L / C4L / C5L / YMS
Basic specifications
Capacity of the connected motor DC24V 30W or less
Dimensions W44 × H166 × D117mm
Weight 0.45kg
Input power supply DC24V +/- 10% maximum 3A to 4.5A(Variable depending on robots in use.)
Axis control
Drive method AC full-digital software servo
Position detection method Resolver
Operating method Normal mode: point trace movement, program operation, operation using RS-232C communication Pulse Train mode: operation by pulse train input
Position indication units mm (millimeters)
Speed setting 1% to 100% (Setting by 1% unit)
Acceleration setting 1. Automatic speed setting per robot No. and payload
2. Setting based on acceleration and deceleration parameter 1% to 100% (Setting by 1% unit)
Resolution 16384 P/rev
Origin search method Incremental
Program language YAMAHA SRC
Multitasks 4 tasks
Point-data input method Manual data input (coordinates input), Direct teaching, Remote teaching
RAM 32 Kbytes with lithium battery backup (5-year life) Retains programs, point data, parameters and alarm history
Programs 100 programs (Maximum program number)
255 steps per program 1024 steps / total or less
Points 1000 points (256 when point tracing)
External input/output
I/O interface Normal modeNote1 Sequence input Dedicated input 8 points, General input 6 points
Sequence output Dedicated input 3 points, General input 6 points, Open collector output
Pulse train modeNote1 Sequence input Dedicated input 5 points, General input 6 points
Sequence output Dedicated input 3 points, General input 6 points, Open collector output
Command pulse input Type 1.Phase A / phase B, 2.Pulse / code, 3.CW / CCW
Mode Line driver (+5V)
Frequency Maximum 2 Mpps
Feedback pulse output Terminal name PA+, PA-, PB+, PB-, PZ+, PZ
Type Phase A / phase B / phase Z
Mode Line driver (+5V)
Number of pulse 16 to 4096 P/rev
Power supply for sequence I/O External DC +24V input
Emergency stop input Normal close contact point input
Brake output Relay output (for 24V/300mA brake) 1CH
External communications RS-232C 1CH (For communication with HPB or PC)
Programming box HPB, HPB-D (with enable switch)
Support software for PC POPCOM
General specifications
Operating temperature 0°C to 40°C
Storage temperature -10°C to 65°C
Operating humidity 35% to 85%RH (non-condensing)
Noise resistance capacity IEC61000-4-4 Level 2
Protective functions Overload, overvoltage, voltage drop, resolver wire breakage, runaway detection, etc.

Note1  Switching between the normal mode and pulse train mode is done by use of the parameter.

127 Toyooka, Chūō-ku, Hamamatsu, Shizuoka 433-8103, Japan

Telephone +81-53-525-8350 /
Facsimile +81-53-525-8378

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