Yamaha Srcd series Owner's manual

Supporting Supplement Manual ENGLISH E

YAMAHA ROBOT CONTROLLER

E72-Ver. 3.00

CEmarking

SRCD/SRCP

ERCX/SRCX/DRCX

INTRODUCTION

Thank you for purchasing the YAMAHA ERCX/SRCX/DRCX series robot controller.

This supplement manual describes the CE marking for ERCX/SRCX/DRCX series ro-

bot controller.

When shipping the ERCX/SRCX/DRCX series robot controller to or use it in Europe,

please be sure to read this manual and follow the instructions for correct operation.

This supplement manual describes only the items related to the CE marking. For basic

operations and programming of the robot controller, refer to the instruction manual for

the robot controller.

MEMO

Contents

Chapter 1 CE marking ............................................................1

1-1 Safety Information .............................................................................. 2

1-2 CE marking ........................................................................................ 3

1-3 Safety precautions during robot operation ......................................... 5

1-4 Safety precautions during maintenance ............................................. 5

1-5 Precautions for motor overload .......................................................... 5

1-6 Warning labels.................................................................................... 6

1-7 Operating environment....................................................................... 8

Chapter 2 Configuration and Connection.............................9

2-1 Configuration of CE marking controller ............................................ 10

2-2 Connecting the Power Supply .......................................................... 16

Chapter 3 EMC Countermeasures .......................................20

3-1 Typical component layout for EMC countermeasures...................... 21

3-2 Precautions for Cable Connections.................................................. 23

Chapter 4 SPECIFICATIONS ................................................24

4-1 CE marking ...................................................................................... 25

MEMO

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CE marking

CHAPTER1 CE marking

1-1 Safety Information

To ensure correct and safe use of YAMAHA industrial robots, carefully read this supple-

ment manual and make yourself well acquainted with the contents. FOLLOW THE

WARNINGS, CAUTIONS AND USER’S INCLUDED IN THIS SUPPLEMENT

MANUAL.

It is not possible to detail all safety items within the limited space of this supplement

manual. So it is essential that the user have a full knowledge of basic safety rules and

also that the operator makes correct judgments on safety procedures during operation.

Industrial robots are highly programmable, mechanical devices that provide a large de-

gree of freedom when performing various manipulative tasks. Failure to take necessary

safety measures or mishandling due to not following the instruction in this supplement

manual may result in trouble or damage to the robot and injury to personnel (robot op-

erator or service personnel) including fatal accidents.

Warning information in this supplement manual is shown classified into the following

items.

DANGER

Failure to follow DANGER instruction will result in severe injury or death to the robot

operator, a bystander or a person inspecting or repairing the robot.

WARNING

Failure to follow WARNING instruction could result in severe injury or death to the

robot operator, a bystander or a person inspecting or repairing the robot.

CAUTION

Failure to follow CAUTION instruction may result in injury to the robot operator, a

bystander or a person inspecting or repairing the robot, or damage to the robot and/or

robot controller.

CHAPTER1 CE marking

1-2 CE marking

This section provides a basic description of how YAMAHA robot series products are

compatible with CE marking.

1-2-1 Safety standards

■Safety precaution for EC directive applicability

The YAMAHA robot series products (robots and controllers) do not fall within the

robot systems category. We define the YAMAHA robot series products as equipment

to be incorporated (built-in equipment) into your system, and declare that our prod-

ucts conform to the EC directives only within the scope of that equipment. Therefore,

although CE marking is affixed to any single unit of YAMAHA robot series products,

this means that use of any single unit of YAMAHA robot series products is not guar-

anteed to conform to the EC directives. When you ship your finished system to or use

it in Europe, you are required to verify that your system conforms to EC directives.

Differences between the YAMAHA robot series products (robots and

controllers) and robot systems.

YAMAHA robot series products (robots and controllers) are components used to

assemble a robot system and therefore do not constitute a robot system.

This is because YAMAHA robot series products do not include the end effector,

equipment, devices or sensors required for the robot to perform its tasks, which

are listed in the “Robot System” definition in Clause 3.2.20 of the EN775:1992

standard.

■Applicable directives and standards

The table below shows directives and related standards applied to make YAMAHA

robots compatible with the CE marking.

EC Directives NoteRelated Standards

Machinery directives

98/37/EC

Low-voltage directives

73/23/EEC

93/68/EEC

EMC directives

89/336/EEC

92/31/EEC

93/68/EEC

EN292 : Safety of machinery - basic concepts

EN1050 : Safety of machinery - risk assessment

EN60204-1 : Safety of machinery - electrical

equipment of machines

EN55011 : Emission / ISM equipment

EN61000-6-2 : Immunity / Industrial environment

*1: YAMAHA robot series products are built-in equipment unnecessary to adapt to the machinery directives.

However, YAMAHA robot series products conform to the above standards regarding the required items for

basic health and safety.

*2: The SRCX and DRCX controllers conform to the above directives and related standards. However, the ERCX

controller operates on DC 24V and is therefore excluded from the above directives and related standards.

*3: YAMAHA robot series products are tested according to the above directives and related standards. EMC

countermeasures for a single unit of YAMAHA robots are described in Chapter 3, “EMC Countermeasures”.

CHAPTER1 CE marking

1-2-2 Robots subject to CE marking

The ERCX/SRCX/DRCX series controller can be used with the following robot series

products which are subject to CE marking.

For more details on model numbers and combinations with peripheral units, consult

YAMAHA or YAMAHA dealers.

1-2-3 Safety measures

■Operating conditions

The following description gives major operating conditions for using YAMAHA ro-

bot series products.

●EMC (Electromagnetic compatibility)

YAMAHA robot series products are products for use in an industrial environment.

(Refer to the definition applicable to the EMC directives: Under “Scope” in the first

article of the EN61000-6-2 standard.

In order to ensure your product conforms to EMC directives, you must evaluate your

finished product (entire system) and take necessary countermeasures. EMC counter-

measures for single units of YAMAHA robots are listed in “Chapter 3 EMC Counter-

measures” on page 20.

●Installation conditions

• Since YAMAHA robot series products are built-in equipment, they have a Class I

protective structure against electrical shock. The robot and controller must there-

fore be grounded properly to prevent possible electrical shock. For more details,

refer to “2-2-4 Protective bonding” (page 19) in this supplement manual and the

Robot User’s Manual.

• The robot controller case is not designed as an enclosure that conforms to EN60204-

1 standard. Therefore you must provide appropriate protection against the danger

of electrical shock due to inadvertent contact and external environmental problems

(dust, water, etc.)

• Insulation co-ordination is designed to meet the following conditions. (Refer to the

IEC60664-1 standard.)

Overvoltage category II

Pollution degree II

Take proper countermeasures as needed if the robot or controller is used in envi-

ronments worse than these levels.

●Explosion-proof

YAMAHA standard robots and robot controllers are not designed to meet explosion-

proof specifications. Do not use the robot and controller in environments containing

inflammable gas, gasoline or solvent. Explosions or fire may otherwise result.

Robot Type ERCX SRCX DRCX

Single-axis robot

FLIP-X series

Cartesian type robot

XY-X series

Pick-and-place type robot

YP-X series

(Except some models)

CHAPTER1 CE marking

■Safety measures for robot

●Protective measures against electrical shock (except robots for ERCX con-

troller)

Use the protective ground terminal to ensure safety. Refer to the user’s for details.

1-3 Safety precautions during robot operation

■The robot must be operated by a person who has received Robot Training

from YAMAHA or an authorized YAMAHA dealers.

■During operation of the robot, be sure to stay out of the working area of the

manipulator. Install a safeguard enclosure to keep anyone away from the work-

ing area or provide a gate interlock using an area sensor that triggers emer-

gency stop when anyone enters the working area.

1-4 Safety precautions during maintenance

■Never disassemble the robot or controller. In cases where you have to replace

or repair parts used in the robot or controller, first consult with us and follow

the user’s we provide.

■Before beginning maintenance for the robot or controller, be sure to turn off

the power to the controller. Even after turning off the controller, there are some

parts in the controller which are still hot or at a high voltage. Always wait for at

least 5 minutes after the controller is turned off.

1-5 Precautions for motor overload

Since abnormal operation of the motor such as “overload” is detected by software, the

controller parameters must be set correctly to match the motor type used in the robot

which is connected to the controller.

Prior to shipping, the controller parameters are preset to match the robot model to be

used. When connecting to the robot to the controller, check the robot model again. If any

abnormality is found during operation, stop the controller and contact us for corrective

action.

CHAPTER1 CE marking

1-6 Warning labels

The following labels are affixed to the SRCX/DRCX controller to emphasize what you

must do or must not do to ensure safety. (These warning labels are not affixed to the

ERCX.)

To use the YAMAHA robot and controller safely and correctly, be sure to observe the

caution and instruction on the labels.

1-6-1 Warning labels locations

SRCX controller

DRCX controller

■Label warning of

high temperature

■Label warning of

electrical shock

■Label warning of

200V only

■Label warning of

Read instruction

manual

High temperature

warning label

Electrical shock

warning label

AC 200V warning label

“Read instruction

manual” label

High temperature

warning label Electrical shock

warning label

AC 200V warning label

“Read instruction

manual” label

CHAPTER1 CE marking

1-6-2 Meaning of warning labels

■“Read instruction manual” label

This label indicates that important items you must know are described in the instruc-

tion manual. The followings are particularly important.

•The power fuses in the controller are located on both sides of L/N. (See Fig. 2-4,

“Power supply and emergency stop circuit block diagram (SRCX)”(page 13), and

also Fig. 2-6, “Power supply and emergency stop circuit block diagram

(DRCX)”(page 15).

•When one end of the power supply is grounded, connect the grounded side to the N

side of the controller power input terminal.

•Be sure to connect the controller’s protective conductor terminal to the protec-

tive conductor on the user side.

•Be sure to connect the robot’s protective conductor terminal to the protective

conductor of the user’s system.

■High temperature warning label

Indicates that the area around this waning label is very hot. Do not touch any part of

this area during operation to prevent burn.

■Electrical shock warning label

Indicates that a high voltage is applied to some parts in the controller. Never touch the

connectors or terminals during operation.

■AC 200V warning label

Indicates that the power supply connected to the controller must be AC 200V±10%.

CHAPTER1 CE marking

1-7 Operating environment

■Installation location

Install the robot controller indoors, at a height of less than 1000 meters above sea

level.

■Operating temperature

The ambient temperature should be maintained within a range of 0 to 40°C during

operation. This is the range in which continuous operation of the robot controller is

guaranteed according to the initial specifications. If the robot controller is installed in

a narrow space, heat generated from the controller itself and from peripheral equip-

ment may drive the temperature above the allowable operating temperature range.

This may result in thermal runaway or malfunction and may lower component per-

formance along with shortening their useful service life. So be sure to install the con-

troller in locations with a vent having a natural air flow. If this proves insufficient

provide forced air-cooling.

■Operating humidity

The ambient humidity of the robot controller should be kept 35 to 85% RH (no con-

densation) in order to guarantee continuous operation within the initial specifications.

■Storage temperature

The controller should be stored in a location having an ambient temperature range

from -10 to +65°C when not being used. If the robot controller is stored in a location

at high temperatures for extended periods, deterioration of the electronic components

may occur and the memory backup time may decrease.

■Storage humidity

The controller should be stored in a location having an ambient humidity below 95%

RH when not being used. If the robot controller is stored in a location with high hu-

midity for an extended period of time, rust may form on the electronic components.

■Vibration and shock

Do not apply excessive shocks or constant vibrations to the robot controller. Install the

robot controller in a location not subject to vibrations.

■Atmosphere (gas etc.)

Do not install the robot controller in locations where conductive dust particles, hydro-

gen sulfide gas or sulfurous acid gas are present. Such an atmosphere may cause the

components to erode.

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Configuration and Connection

This chapter explains the configuration of the CE marking controller and the connections to the power supply.