YAMAHA MOTOR CO., LTD. RD series
1
2
w c 1 w 1-1
1 c c 1-2
c 1 w c 1-3
1 c w c 1-4
2 RDX 2-1
X05 05 X 0001 2 X05 X10 X20 P05 P10 P20 RDX-05 RDX-10 RDX-20 RDP-05 RDP-10 RDP-20 1 to 9 O X Y 2-2
2 2-3
2 2-4
2-5 2 RDX 1-2
2 2-6
c 3 3-1
3 3-2
3 100mm 75mm 100mm 40mm 10mm 10mm 10mm 40mm 3-3
3 w c RDX FUNC CHARGE SET (TM1) (PC) (I/O) (ENC) (TM2) 3-4
AC200 230V ELB MG B1-B2 TM1 TM1 (+)1 U (+) V RB (-) L1 L2 L3 TM2 L1C L2C B1 B2 W ENC PC 3 I/O 3-5
3 (+)1 (+) RB ( ) L1 L2 L3 U V W B1 B2 L1C L2C c 3-6
3 3-7
3 3-8
L1L2L3UVW1RB L1CL2C 3 30cm 3-9
3 AC200V (AC200VL1, L2) (ELB) RDP/RDX TOP FUNC CHARGE (+)1 SET I/O ENC 3-10
3 3-11
3 RDX 3-12
c 3 89mm B2 L1L2C B1 3-13
3 FUNC CHARE SET 1 26 50 25 I/O 3-14
3 2 4 6 22 24 1 3 5 23 25 27 29 31 47 49 26 28 30 48 50 2 PLC 4 TL 6 BO 8 ORL 10 CM1 12 INP 14 16 PLSN 18 20 L 22 OAN 24 OZN 1 P24 3 5 B24 7 9 CER 11 ALM 13 BK 15 PLSP 17 19 21 OAP 23 OZP 25 AO1 27 RS 29 ROT 31 BO 33 PEN 35 SRD 37 39 INPE 41 SIGN 43 45 47 OBN 49 L 26 SON 28 FOT 30 CM1 32 ORG 34 ALME 36 38 40 SIGP 42 SRDE 44 46 OBP 48 OZ 50 AO2 3-15
3-16 3 PLSP PLSN 150 150 SIGP SIGN 15 16 40 41 P24 PLC RS 1 2 26 27 SON 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k TL 4 FOT 28 ROT 29 ORG 32 PEN 33 CER 9 CM1 30 DC24V OAP OAN 21 22 OBP OBN 46 47 OZP OZN 23 24 SRD ALM SRDE INP ALME BK B24 OZ 48 L 49 AO1 25 AO2 50 INPE BRK 35 42 11 34 12 39 13 5 ORL 4.7k CM1 8 10 B0 Br DC24V 31.6 24V 20 L
3 3-17
3 3-18
P24 (DC24V) PLC CM1 4.7k (a) DC24V P24 PLC 4.7k CM1 DC24V (b) 3 P24 DC24V (DC24V) S PLC P24 DC24V C (DC24V) PLC C CM1 4.7k S CM1 4.7k (c) (d) 3-19
3 (DC24V) S C P24 PLC CM1 (e) DC24V 4.7k 3-20
C () () (a) (DC24V) () (DC24V) (b) 3 3-21
3 AO1, AO2 L (a) 3-22
(AM26LS31) PLSP, SIGP PLSN, SIGN 150 3 3-23
PLS "1" t 1 t 2 "0" 3 t 0 SIG T t S2 t S4 t S1 t 3 t S3 t 4 PLS t 1 t 2 t 0 SIG T t S0 "1" "0" "1" "0" "1" "0" PLS t 1 t 2 t 0 "1" "0" SIG t 5 T t 6 "1" "0" 3-24
(AM26LS31) L OAP, OBP, OZP, OAN, OBN, OZN, L R (AM26LS32) R=220 to 330 3 (a) OZ 2.2k SIGN (DC24V) L (b) 3-25
3 2 4 6 8 10 EG(R2) EG(R2) SIN-(S4) COS-(S3) Z 1 3 5 7 9 EP(R1) EP(R1) SIN+(S2) COS+(S1) Z+ 3-26
c 4 4-1
4 AC200230V ELB MC 200 230V L1 L2 L3 L1C L2C P24 PLC SON RS FOT ROT PEN CER CM1 PLSP PLSN SIGP SIGN U V W ENC 4-2
FUNC 1) FUNC 4 2) SET : FUNC : 3) 4) 5) SET FUNC 4-3
4 4-4
4 4-5
4-6
5 5-1
5 5-2
FA-16 : FC-01 : 5 FC-01 : 5-3
FA-00 : FA-17 : Fb-07 10 : 14 FC-01 : 5 Fb-08 Fb-07 Speed Fb-09 Fb-10 FC-01 : 5-4
FC-01 : FC-01 : 5 = 5-5
FC-02 : 5 Fb-23 : FC-02 : 5-6
FA-24 : FA-26 : FA-27 : FC-02 : 5 SON OFF FA-24 BRK 5-7
5 SON ON SON=OFF BRK FA-27 FA-26 FA-26 > FA-27 5-8
(Fb-12) 2048 (d-18) {L- {[(Fb-35)-1] 4096+2048}}/4096 4096 () 100% 5 L 2048 (Fb-12) (Fb-13) {L- {[(Fb-35)-1] 4096+2048}}/4096 =100% (d-18) (Fb-12) 2048 4096 4096 2048 [(Fb-35)-1] 4096 L 5-9
5 4096=100% (Fb-13) (ORL) (d-18) (Fb-12) (Fb-13) A Z (d-18) A (Fb-12) 0.5 4096=100%(ORL) 4096=100%(ORL) (d-18) (Fb-12) 0.5 (Fb-12) 0.5 (Fb-12) 0.5 A (Fb-13) 4096=100% (d-18) A (Fb-12) 0.5 (ORL) 5-10
(Fb-12) R FA-14=CC 4096 (Fb-12) 256(=100H) 768 (=300H) (Fb-13) [(Fb-35)-1] 4096 1024 768 (=300H) (1.024mm) L FA-14=CC 5 4096 4096 d 256(=100H) (d-18)=(d+768)/4096 =100% (Fb-12) R FA-14=CC (Fb-12) (Fb-13) 1024 768 (=300H) 4096 () 1024 256(=100H) 768 (=300H) (1.024mm) L FA-14=CC 4096 4096 d 256(=100H) (d-18)=(d+768)/4096 =100% 5-11
5 R FA-14=CC R FA-14=CC [(Fb-35)-1] 4096 (Fb-13) 256(=100H) 768 (=300H) (Fb-12) 4096 1024 (1.024mm) d 4096 4096 768(=300H) (d-18)=(d+256)/4096 =100% () 768(=300H) 4096 256(=100H) 768 (=300H) 1024 (Fb-13) d 4096 4096 768(=300H) (d-18)=(d+256)/4096 =100% 1024 768(=300H) (1.024mm) L FA-14=CC (Fb-12) (Fb-12) L FA-14=CC (Fb-12) 5-12
5 5-13
(ORL) 5 (Fb-12) R FA-14=CC 256(=100H) (Fb-13) d (d-18) 4096((d-18)=100%) 1024 (1.024mm) L FA-14=CC 256(=100H) 768 (=300H) 4096 (ORL) (Fb-12) (Fb-12) R FA-14=CC 1024 256 (=100H) (Fb-13) d (d-18) 4096(d-18)=100%) 1024 (1.024mm) L FA-14=CC 256(=100H) 768 (=300H) 4096 5-14
(ORL) (Fb-12) (Fb-12) R FA-14=CC 1024 256(=100H) (d-18) d 4096((d-18)=100%) 1024 (1.024mm) (Fb-13) (Fb-12) 0.5 L FA-14=CC 256(=100H) 768 (=300H) 5 4096 5-15
(ORL) 5 R FA-14=CC (Fb-13) 768 (=300H) (d-18) d 4096((d-18)=100%) 1024 256(=100H) (1.024mm) 4096 L FA-14=CC (Fb-12) 768 (=300H) (ORL) (Fb-13) R FA-14=CC (d-18) d 768 (=300H) 4096((d-18)=100%) 1024 256(=100H) (1.024mm) 1024 L FA-14=CC (Fb-12) 768 (=300H) 4096 5-16
(ORL) R FA-14=CC (Fb-12) 0.5 (Fb-13) 768 (=300H) (d-18) d 4096((d-18)=100%) 1024 256(=100H) (1.024mm) L FA-14=CC (Fb-12) 1024 768 (=300H) 5 4096 5-17
5 5-18
5 5-19
5 nfb, tqr, nrf, ner, PEr, ifb, PFq, brd ±10% 200.0% 3.0V 1.5 100.0% 50.0% () 0 + () -1.5-3.0 1, 2 (FC-32), (FC-35) 5-20
PLS 1 0 SIG 1 ON 0 OFF PLS () SIG () 1 0 1 0 5 PLS A SIG ( B) 4 1 0 1 0 PLS 1 0 SIG 1 ON OFF 0 PLS () SIG () 1 0 1 0 PLS B SIG ( A) 4 1 0 1 0 5-21
5 FA 12 = FA 13 PLS SIG FA-11 FA-12 FA-13 5-22
1 + 1+Tds 5 5-23
5 Z A B OZ OA OB FC-09 M N FC-10 FC-11 5-24
(Fd-09) (Fd-00) (Fd-01) 5 + + + 5-25
5 5-26
5 5-27
5 5-28
0 1 5 S= 3 Va t 60 5-29
5 (ofl) (FA-10) (Auto) (End) (Err) 5-30
5 5-31
5 5-32
5 5-33
5-34 5 + + Fd-09 Fd-32 Fd-33 Fd-01 Fd-30 Fd-31 FC-40 non AUto
5 5-35
5 5-36
SET 5 SET 5-37
5 5-38
5 5-39
5 5-40
5 (Fd-42) = 0 [%] (Fd-42) = 20 [%] (Fd-42) = 50 [%] (Fd-42) = 80 [%] (Fd-42) = 100 [%] 0 [s] (Fd-40 = FoL) 5-41
5 5-42
ON RS OFF ON SON OFF ON SRD OFF 10 [ms] 10 [ms] 5 RS SON ALM ON OFF ON OFF ON OFF ON OFF RSOFF SONOFFON 5-43
SON SRD ON OFF ON OFF 5 5-44
[mm/s] Fb-40 0 Fb-40 Fb-43 Fb-41 Fb-42 Fb-41 Fb-43 Twait [s] 5 1 Twait [s] = Fb-42 [s] Fb-42 [s] Tstop [s] = Tstop [s] Fb-42 [s] Tstop [s] Tstop [s]: 0[mm/s] Fb-22 [s] 5-45
[mm/s] Twait(=Fb-42) [mm/s] Twait(=Tstop) Tstop Fb-42 0 -Fb-22 [s] 0 -Fb-22 [s] 5 5-46
LED Down FUNC FUNC CHARGE SET SHIFT 6 Up SET FUNC SET 6-1
SET FUNC FUNC FUNC SET SET 6 FUNC FUNC FUNC FUNC FUNC FUNC FUNC FUNC SET FUNC SET FUNC 3 FUNC FUNC SET FUNC 6-2
FUNC FUNC PN FUNC 6 FUNC d-11 6-3
6 SET 6-4
6 6-5
ON OFF 6 CER ROT PEN FOT BRK TL ORG INP ALM RS ORL SON SRD ON OFF 6-6
6 6-7
6 6-8
6 6-9
6 6-10
6 6-11
SET SET 6 ON OFF CER ROT PEN FOT TL ORG RS ORL SON ON OFF BRK INP ALM SRD 6-12
6 6-13
6 6-14
6 6-15
6 6-16
6 6-17
6 6-18
(Fb-36) 100 2 2 2 2 ( Ia - Ir ) > ( ( Imax ) lr ) (Fb-37) 6 Ia: (Fb-36) Ir: 6-19
6 (s)1000 20 105 6-20
6 6-21
6 6-22
Fb-08 Fb-09 CCW Fb-07 Fb-10 CCW 6 6-23
6 6-24
6 6-25
6 6-26
6 6-27
6 6-28
6 6-29
3.0V 200.0% 100.0% 50.0% 6 % 0 0-3.0V % 6-30
6 6-31
6 6-32
6 6-33
d-07 No. Kpf No. 6 FA-11 F- r P- S A- b r - F -P -S b- A FC-19 EGR2 FA-12 FA-13 Fd-36 d-08 d-09 Kpp Fd-09 Fd-32 2 Fd-33 Fd-10 Fd-07 Fd-08 FA-00 P- S d-00 Fd-20 FA-20 non FA-81 d-01 FA-82 FA-15 6-34
6-35 6 PPI FA-18 non CnS FA-17 non d-03 Kspp Ksi Ksp 1- Ksp Fd-02 Fd-04 P Fd-03 PI Fd-00 Fd-01 Integral Fd-06 Fd-05 IP PI Fd-12 Fd-13 Fd-14 Fd-15
6-36
w c 7 7-1
7 7-2
7 7-3
7 7-4
(+)1(+) RB D1 D2 D3 L1 L2 L3 C + TR7 TR1 TR2 TR3 U V W D4 D5 D6 (-) TR4 TR5 TR6 *1: 7 7-5
( C) 50 40 12 / 30 20 10 24 / 0-10 1 2 3 4 5 6 7 8 9 10 () 7 7-6
8 8-1
8 8-2
8 8-3
8 8-4
9 9-1
9 9-2
9 9-3
9 9-4
9 9-5
9 9-6
9-7 9
9 9-8
9 9-9
9-10 9
9 9-11
9 9-12
10 10-1
8P D-SUB 9P 8 1 1 GND 2 3 4 ER2 5SD 6RD 7DR 8RS 1 DCD 2 RxD 3 TxD 4 DTR 5 GND 6 DSR 7 RTS 8 CTS 9 0 10-2
1 2 P RB (+) RB P 1 RB 2 b ON 10 10-3
1 2 P RB (+) RB P 1 RB 2 b ON 0 10-4
ALI 2.5L R 0 R L1 U S0 S L2 V M T0 T L3 W Amax. 6-M K Hmax. Dmax. Emax. X 4-J Y Cmax. 10 10-5
DCL-L-0.2 PD P (+)1 (+) L1 U L2 L3 V W M Y±1 D X±1 W 4-C 2-K Bmax. 0 Hmax. 10-6
NF-L 6 NF L1 L2 L3 L1 L2 L3 L1 U L2 V M L3 W 66±3 52±1 (10) L3 L2 L1 (84) 100±1 117±2 2-5.0 L3 L2 L1 10 M4 (15) 67MAX 10 10-7
NF CE H 7 EMC NF L1 L2 L3 L1 L2 L3 L1 U L2 V M L3 W 74±3 56±2 5 L3 L2 L1 (95) 130±2 144±2 5 L3 L2 L1 11 M4 0 (15) 73±3 10-8
R S T L1 U L2 V L3 W M L1L2L3 7 14 ZCL A ZCL B40 129 85 32 7 78max. 72±0.5 39.5min 3-M4 160 180 35 3 ZCL B75 7±0.5 10 112 75 83 95 max 80±0.5 26 max 2-5.5 (M5 ) 12.5±0.3 R3.5±0.3 7±0.5 161 MAX 140±0.5 32 10-9
L1 L2 L3 U V W M 0 10-10
B2 B1 TM2 84 10 PC TM2 PWM RS232C RB L1C L2C RBR M U V W CHARGE A/D ENC (+) (+)1 L1 L2 L3 ( ) I/O DB A/D I/O R/D PC (TOP for Windows) 10-11
10-12
IM TEL 053-460-6140 FAX 053-460-6811 TEL FAX TEL FAX K 1. 2. 3. 1. 2. 24 3. 424 4. 1 5.
Ver.1.00 Ver.1.01 Ver.1.02 2007 Version 1.02 IM RD series