01 4 command formats

Select from 4 command formats including program operation that allows using diverse commands, or point trace operation that works just by specifying a point No., or online commands, and pulse train input.

02 Compact design

Along with sophisticated functions, the ERCD also has a compact box shape of W44 × H142 × D117. It is compact, only taking up about 62% of the area used by the prior YAMAHA ERCX model. This allows greater freedom for use of installation space.

03 Diverse input/output functions

The ERCD includes a feedback pulse output function that allows easily controlling the current position from a host control device. Moreover, movement point numbers can be easily output in binary during point trace so operation points are easy to check. Teaching functions can also be added by way of I/O, and there is more freedom in building up the system and it is easier to use. This output is also effective for program and point trace operation, and the number of outputs can be changed as needed by a divider setting.

04 Torque restriction control

As the torque restriction can be controlled using the program command, the axis can be stopped with the torque applied. This function is usable for continuous positioning of works of different sizes, press-fitting work and work retaining operation.

05 Zone output function

It is possible to set ON / OFF of the general purpose output between any points by using the parameter setting . Also, the axis posi tion can be judged easily by using an external equipment as positive logic / negative logic settings can be made. Settings are acceptable up to 4 patterns.

01 Position data output function

Zone output

Outputs whether the robot position is within the specified range or not.

Feedback pulse output

Outputs the current position counter value of the robot through the A/B phase line driver.

02 Torque limiting drive

It is possible to perform such actions as pressing and gripping the work by restricting the torque during operation.

03 Torque limiting drive

It is possible to perform such actions as pressing and gripping the work by restricting the torque during operation.

04 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.

05 Function to make conditional stop during movement

The arm can be decelerated and stopped, using I/O conditions of the MOVF command while it is moving. This function is useful when searching the target position with a sensor.