Single Axis ERCD Industrial Robots | Robot Controller

Single Axis ERCD
4 - CMD


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.


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.

Single Axis ERCD | Industrial Robots | Robot Controller