Robot positioner Single-axis EP Series

Features

EP-01
Basic model

Motor-less
Slider type

CE compliance
LBAS

Single-axis robot positioner for single-axis robot

Robonity series “ABAS”, “AGXS”, and “ABAR”.
Advanced model

Motor-less

This robot positioner supports Ethernet, is equipped

Slider type

with an Ethernet port as standard, and achieves 37 %

size reduction when compared to the conventional
LGXS

robot positioner.
Following the TS series, usability is greatly improved.
Basic model

Motor-less
Rod type
LBAR

Handy terminal Support software for PC

EP-Manager
HT2 / HT2-D EP-Manager
*F
 ree download is available
EP-01
Basic model

at the member site.

With motor
Slider type
ABAS

■ Basic specifications

Item EP-01
Driver model EP-01-A10 EP-01-A30
Advanced model

Basic specifications

Number of controllable axes Single-axis

With motor
Slider type

Controllable robots Single-axis robot Robonity series ABAS / AGXS / ABAR

Power capacity 420 VA 1600 VA
Dimensions W 40 × H 150 × D 130 mm W 55 × H 150 × D 130 mm
AGXS

Weight Approx. 0.6 kg Approx. 1 kg

Input power Control power supply Single phase AC200 to 230V +/-10% 50/60Hz
supply Motor power supply Single phase AC200 to 230V +/-10% 50/60Hz
Control method Closed loop vector control method
Operating method I/O point tracing (Positioning operation by specifying point number) / Remote command
Axis control
Basic model

With motor

Operation types Positioning, merge-positioning, push, and jog operations

Rod type

Position detection method Optical encoder, battery absolute encoder, or battery-less absolute encoder is selected.
Resolution 8,388,608 pulses/rev.
Origin search method Absolute
ABAR

Number of points 255 points

Points

(1) Standard setting: Set speed and acceleration in percent of the respective maximum settings.
Point type setting (2) Custom setting: Set speed and acceleration in SI units.
Point teaching method Manual data input (coordinates input) , Teaching, Direct teaching
Acceleration/Deceleration

I/O interface Selectable from the following: EtherNet/IPTM, PROFINET, EtherCAT, NPN, CC-Link
Options External input/output
Inertia Moment

Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK) origin search (ORG), teaching mode (TMODE),
Input jog motion - (JOG-), jog motion + (JOG+), point number selection (PIN0 to PIN7)
Servo status (SRV-S), alarm (/ALM), operation end (END), operation in-progress (BUSY),
Output control outputs (OUT0 to 3), point number output 0 to 7 (POUT0 to POUT7), feedback pulse output (A/B/Z) (option)
External communications Ethernet (In conformity with IEEE802.3 100BASE-TX, Applicable to Auto Negotiation)
Power supply for brake DC24V +/-10% 300mA (prepared by the customer)
Safety circuit Emergency stop input, main power input ready output, emergency stop contact output (1 system: When the HT2 is used.)
Handy terminal HT2, HT2-D (with enable switch)
Option

Support software for PC EP-Manager

Operating temperature / Operating 0°C to 40°C, 35% to 85%RH (non-condensing)
humidity
General specifications

Storage temperature / Storage -10°C to 65°C, 10% to 85%RH (non-condensing)

humidity
positioner
axis Robot
Single-

Atmosphere Indoor location not exposed to direct sunlight. No corrosive , flammable gases, oil mist, or dust particles
Anti-vibration All XYZ directions 10 to 57Hz unidirectional amplitude 0.075mm 57 to 150Hz 9.8m/s2
EP-01

Position detection error, power module error, temperature error, overload, overvoltage, low voltage, excessive
Protective functions position deviation, overcurrent, motor current error
Protective structure IP20

146
 EP-01
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
https://global.yamaha-motor.com/business/robot/

Features
Controllable robot EP-01 u Robonity (ABAS, AGXS, ABAR)
CE marking Field networks

Basic model

Motor-less
Slider type
■ Model Overview
Name EP-01
Controllable robot Single-axis robot Robonity (ABAS / AGXS / ABAR)

LBAS
Main power supply Single phase AC200 to 230V +/-10% 50/60Hz
Input power
Control power supply Single phase AC200 to 230V +/-10% 50/60Hz
Operating method I/O point tracing (Positioning operation by specifying point number) / Remote command

Advanced model
Maximum number of controllable axes Single-axis

Motor-less
Slider type
Origin search method Absolute

LGXS
■ Ordering method

EP-01 - - -

Basic model

Motor-less
Controller - Driver: Power capacity - Regenerative - I/O

Rod type
A10: 200W or less No entry: None EP: EtherNet/IPTM
A30: 400W/750W R: With EP-RU PT: PROFINET
ES: EtherCAT
NS: NPN

LBAR
CC: CC-Link

Note. Whether the battery is provided with the robot positioner is selected by the robot
order model.

Basic model

With motor
Slider type
ABAS
■ Robonity specification selection table
Basic Advanced
ABAS04 ABAS05 ABAS08 ABAS12 ABAS12H ABAR04 ABAR05 ABAR08 AGXS05 AGXS05L AGXS07 AGXS10 AGXS12 AGXS16 AGXS20

Advanced model
EP-01-A10 ● ● ● ● ● ● ● ● ● ● ●

With motor
Driver

Slider type
EP-01-A30 ● ● ● ●
Regenerative unit Vertical (1) (2) (4) (6) (7) (8) (10) (12) (12) (10) (14) (10) (10)
EP-RU Horizontal (3) (5) (9) (11) (13) (14) (15) (15)

AGXS
Conditions required for regenerative unit
(1) Stroke of lead 5 or 10 is 650 mm or more. (7) Stroke of all leads is 250 mm or more.
(2) Stroke of lead 5 or 20 is 450 mm or more and stroke of lead 10 is 150 mm (8) Stroke of all leads is 150 mm or more.
or more. (9) Stroke of lead 20 is 300 to 400 mm.
(3) Stroke of lead 20 is 250 to 750 mm. (10) All strokes of all leads

Basic model

With motor
(4) Stroke of lead 5, 10, or 20 is 150 mm or more and stroke of lead 32 is 300 (11) Stroke of lead 10 or 20 is 150 to 500 mm.

Rod type
to 750 mm. (12) Stroke of all leads is 500 mm or more.
(5) Stroke of lead 10 or 20 is 250 to 750 mm and stroke of lead 32 is 400 to (13) Stroke of lead 10, 20, or 30 is 300 to 800 mm.
750 mm.
(14) Stroke of all leads is 400 mm or more.
ABAR
(6) Stroke of lead 5, 10, or 20 is 300 mm or more and stroke of lead 32 is 300
(15) Stroke of lead 20 is 400 to 850 mm and stroke of lead 40 is 600 to 950 mm.
to 750 mm.
Note. The selection table is a guideline for the necessity of the regenerative unit, and may differ depending on the actual operating conditions.

■ Regenerative unit EP-RU

Acceleration/Deceleration
Inertia Moment

Basic specifications
Dimensions 125 Item EP-RU
30
5 Model KFX-M5850-00
15 ф5. 1.5
5

W30 × H144 (Not including installation stay)

Dimensions
× D125 mm
Weight 650 g
Regenerative voltage Approx. 380V or more
Regenerative stop voltage Approx. 360V or less
Option

Absorbable electric power 40W

Cable for connection with controller
166

156
144

Accessory
(300 mm)
positioner
axis Robot
Single-

Note. Always leave an empty space (gap of about 20 mm) between this unit and the
adjacent controller.
.75 Also, always use the dedicated cable when connecting the controller.
R2
EP-01

147
 EP-01
Features

■ Part names

EP-01(EtherNet/IPTM, PROFINET, EtherCAT)

Basic model

Motor-less
Slider type

Status indicator lamps (SERVO, ALARM, NS, MS)

The controller status is indicated by LED lamps.

Charge indicator lamp (CHARGE)

SAFETY connector
LBAS

The main power supply status is indicated by LED lamp.

External safety circuit I/O connector
Power supply connector
Connector for main power and control power input. Communication connector 2 (COM2)
Connector for the daisy-chain connection.
Advanced model

Motor-less
Slider type

Communication connector 1 (COM1)

Regenerative unit connector (R.UNIT) Connector for connection to HT2.

Robot ENC. connector (ENC.)

LGXS

Motor connector (MOTOR) Dedicated connector for robot peripherals such as position signal and origin sensor
Connector for the servo motor's power line connection.
Ethernet connector (Ethernet)
Rating nameplate (on side face of unit body) Connector for connection to a personal computer
Basic model

Motor-less

Serial No. Field network connector (I/O)

Rod type

EtherNet/IPTM, PROFINET, EtherCAT

LBAR

EP-01(NPN) EP-01(CC-Link)
Basic model

With motor
Slider type
ABAS
Advanced model

With motor
Slider type
AGXS

Connector for CC-Link connection (I/O)

CC-Link V2
Parallel I/O connector (I/O)
NPN
Basic model

With motor
Rod type
ABAR

EP-01(Bottom view)
Acceleration/Deceleration
Inertia Moment

Connector for brake power input

Feedback pulse I/O connector
Option
positioner
axis Robot
Single-
EP-01

148
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
https://global.yamaha-motor.com/business/robot/ EP-01

Features
■ Dimensions

EP-01-A10 4

Basic model

Motor-less
Slider type
124 5.5 .6
40 ф5

LBAS
Advanced model

Motor-less
Slider type
150

166

156

LGXS
8

Basic model

Motor-less
5.6

Rod type
4

LBAR
EP-01-A30

Basic model

With motor
Slider type
55 124 20.5
.6
ф5

ABAS
Advanced model

With motor
150

166

156

Slider type
AGXS
8

5.6

Basic model

With motor
Rod type
■ Installation conditions
• Install the EP-01 inside the control panel.
(Fig. 1) (Fig. 2)
ABAR
• Install the EP-01 on a metal wall vertically.
• Install the EP-01 in a well ventilated location, with space on 20mm
or more
all sides of the EP-01 (See fig. at right.). Wind direction: Upward
100mm
Fan or more
Acceleration/Deceleration

• Ambient temperature : 0 to 40˚C

A10 A10 A30
Inertia Moment

• Ambient humidity : 35 to 85% RH (no condensation)

[When multiple EP-01 robot positioners are used]

20mm 20mm
• Install a fan to cool the controller main body sufficiently. or more or more
• When installing multiple controllers, keep at least 1 mm
between the controllers. 40mm 40mm
or more or more
• Install the controllers in a well-ventilated area with sufficient
Option

space around them. (See figure 2.)

20mm
• If the distance to the adjacent EP-01 is 20 mm or less (A in or more
figure 2), set the effective load factor to 75% or less.
positioner
axis Robot
Single-

A A
100mm
EP-01

or more

149
 EP-01
Features

■ Data overview

Point data and parameter data settings must be specified in order to operate a robot from a EP series controller.

Point data
Basic model

Motor-less
Slider type

The point data used in positioning operations includes items such as the “RUN type”, “Position”, and “Speed”, etc.
Up to 255 points (P1 to P255) can be registered. There are two point data setting types: “Standard setting” type that automatically
defines optimal positioning simply by specifying the payload and “Custom setting” type that allows setting the speed (mm/s) and
LBAS

acceleration (m/s2) in SI units. Select the desired setting type according to the application.

Parameter data
Parameter data is divided into the following categories: “RUN parameters”, “I/O parameters”, “option parameters”, and “servo
Advanced model

parameters”.
Motor-less
Slider type

● Data structure
LGXS

Data Point data P1 to P255 Sets the point data to be used in positioning.
Select the desiredsetting type (“standard setting” or
1 RUN type 7 Zone (-) “custom setting”) according to the application.
Basic model

Motor-less

2 Position 8 Zone (+)

Rod type

(1) Standard setting

3 Speed 9 Near width Optimum positioning is provided simply by
4 Accel. 10 Jump specifying the payload.
5 Decel. 11 Flag
LBAR

(2) Custom setting

6 Push 12 Timer Speed and acceleration can be set in SI units.

Parameter data
Basic model

With motor

Specifies parameter settings related to positioning

Slider type

RUN parameter and return to-origin operations.

ABAS

Specifies parameter settings related to terminal

I/O parameter assignments and I/O function selection.
Advanced model

Specifies parameter settings related to options

With motor

Option parameter
Slider type

such as EtherNet/IPTM, etc.

Specifies parameter settings specified to the connected

AGXS

Servo parameter robot.

These parameters are specified during initial processing.

■ Point data
Basic model

With motor
Rod type

Point data item list “Standard setting” and “custom setting”

There are 2 setting types for point data (“standard setting” or
ABAR

P1 to P255
Item Description “custom setting”). Select the desired setting type according to the
1 RUN type Specifies the positioning operation pattern. application.
Specifies the positioning target position or The maximum number of setting points for both setting types is
2 Position
255 points (P1 to P255).
Acceleration/Deceleration

movement amount.
3 Speed Specifies the positioning speed.
Inertia Moment

4 Accel. Specifies the positioning acceleration. Setting Type Description

Specifies the positioning deceleration (as a Optimum positioning is provided simply by
5 Decel. specifying the payload.
percentage of the acceleration). Standard setting
Specifies the electrical current limit value for This setting type is well-suited to assembly
6 Push
“Push” operations. and transport applications.
7 Zone (-) Since the speed and acceleration can be
Specifies the “personal zone” output range.
8 Zone (+) changed arbitrarily in SI units, the position-
Option

Specifies the “near width” zone (distance toler- Custom setting ing can be set freely.
9 Near width
ance relative to target position). This setting type is suited for machining and
Specifies the next movement destination, or the next inspection systems.
10 Jump merge operation merge destination point No. follow-
positioner
axis Robot
Single-

ing positioning completion.

Specifies other information related to the posi-
11 Flag
tioning operation.
EP-01

Specifies the waiting time (delay) after position-

12 Timer
ing completion.

150
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
https://global.yamaha-motor.com/business/robot/ EP-01

Features
■ NPN type input / output wiring diagram

Controller

Basic model

Motor-less
Slider type
I/O(NPN)
DC24V
+COM I/O power + common

LBAS
POUT0
Point No. outputs
POUT 0 to 7
POUT7
L1
Control power input OUT0

Advanced model
N1 Control outputs

Motor-less
Slider type
OUT 0 to 3
OUT3
L
Main power input BUSY Operation-in-progress
N
END End-of-operation

LGXS
SAFETY /ALM Alarm
Internal power for ES+
“emergency stop” input SRV-S Servo status
“Emergency stop” contact 1 ES1
“Emergency stop” contact 2 ES2 PIN0

Basic model
PIN 0 to 7

Motor-less
Main power input DC24V MPRDY2

Rod type
Point No. selection
READY output contact MPRDY1 PIN7
JOG+ JOG movement (+)
“Emergency stop” READY signal ES-
JOG- JOG movement (-)

LBAR
TMODE Teaching mode
DC24V ORG Return-to-origin
+24V Interlock
Note. Mechanical brake power input /LOCK
0V START Start

Basic model

With motor
Note. When using a brake-equipped robot. RESET Reset

Slider type
SERVO Servo ON

-COM I/O power - common

ABAS
Advanced model

With motor
Slider type
■ Emergency stop circuit example ■ I/O Specifications

AGXS
Item Description
Controller EtherNet/IP TM
EtherNet/IP TM
adapter (2 ports)

Basic model
PROFINET PROFINET Slave 1 node

With motor
Rod type
L1
EtherCAT EtherCAT Slave 1 node
N1
Input 16 points, 24VDC +/-10%,
5.1mA/point, positive common
NPN
ABAR
Output 16 points, 24VDC +/-10%,
L
50mA/point, sink type
N CC-Link Ver.2.00 compatible,
Internal power CC-Link Remote station device (1 station
double setting)
Acceleration/Deceleration

External “emergency stop” ES+

Inertia Moment

ES1

ES2

MPRDY2
External 24V
MPRDY1

ES-

ES
Option

Status
COM1
Internal GND
positioner
axis Robot
Single-

Handy Terminal
EP-01

Note. Always connect a surge absorber unit to the coil on the electromagnetic contactor.

151
 EP-01
Features

■ I/O signals (NPN)

No. Signal Name Description No. Signal Name Description
A1 B1 POUT0
+COM I/O power input, positive common
A2 B2 POUT1
Basic model

Motor-less

A3 NC B3 POUT2
Slider type

No connection
A4 NC B4 POUT3
Point No. outputs
A5 PIN0 B5 POUT4
A6 PIN1 B6 POUT5
LBAS

A7 PIN2 B7 POUT6
A8 PIN3 B8 POUT7

Outputs
Point No. select
A9 PIN4 B9 OUT0 OUT0 to OUT3 assignments include:
A10 PIN5 B10 OUT1 • Zone output • Personal zone output
Advanced model

• Teaching mode status • Return-to-origin end status

Motor-less

A11 PIN6 B11 OUT2 • NEAR output • Movement-in-progress

Slider type

A12 PIN7 B12 OUT3 • Push status • Warning output

JOG+ SPD JOG movement
Inputs

A13 (A15: ON) (A15: OFF) (+ direction) Speed switching B13 BUSY Operation-in-progress
LGXS

A14 JOG- JOG movement (- direction) B14 END Operation-end

Teaching mode
A15 TMODE (ON: I/O teaching mode OFF: I/O positioning mode)
B15 /ALM Alarm
A16 ORG Return-to-origin B16 SRV-S Servo status
A17 /LOCK Interlock B17 NC
Basic model

Motor-less

No connection
A18 TEACH START Current position
Rod type

Start B18 NC
(A15: ON) (A15: OFF) teaching
A19 RESET Reset B19
-COM I/O power input, negative common
A20 SERVO Servo ON B20
LBAR

■ NPN type I/O circuit details

Input circuit Output circuit
Basic model

With motor
Slider type

+COM +COM

DC24V 4.7kΩ Output

ABAS

Input Logic Digital Internal Load

Internal Digital Logic
circuit isolator circuit
circuit isolator circuit
DC24V
-COM -COM
Advanced model

With motor

Type: DC input (plus common type) Type: NPN open collector output
Slider type

Digital isolator method (Minus common type)

Load: 24VDC +/- 10%, 5.1mA Digital isolator method
OFF voltage 19.2 Vmin (1.0 mA) Load: 24VDC, 50mA/point
AGXS

ON voltage 7.4 Vmax (3.4 mA)

■ Feedback pulse I/O signal table ■ Details of feedback pulse output circuit
Basic model

With motor

Basic specifications Output circuit

Rod type

Item Specification
Output signal ABZ-phase pulse
ABAR

Number of pulses per rotation Variably changed in a range of 4 to 16384 PA+

PA-
Maximum rotation speed 6000 rpm
Maximum operating frequency 2 Mbps PB+
PB-
Acceleration/Deceleration

Signal table
PZ+
Inertia Moment

Signal name Description Wire color Remarks

PZ-
GND Signal ground White
PA+ A-phase plus signal Yellow GND
Twist pair (1)
PA- A-phase minus signal White
PB+ B-phase plus signal Green FG
Twist pair (2)
PB- B-phase minus signal White
PZ+ Z-phase plus signal Red
Twist pair (3) Line driver (equivalent to AM26LV31)
Option

PZ- Z-phase minus signal White

Maximum output current: 30 mA
FG Frame ground (Shield)
positioner
axis Robot
Single-

■ Feedback pulse output cable

EP-01

Open cutout
60 Model KFX-M532M-00
1500

152
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
https://global.yamaha-motor.com/business/robot/ EP-01

Features
Accessories and part options

Basic model

Motor-less
Slider type
EP-01
■ Standard accessories The icons indicated at the right end show the controllers that each component can use.

LBAS
Power KFX-M5382-00
connector

Advanced model
● Power connector + Operation lever Model EP-01

Motor-less
Operation

Slider type
KEF-M657M-00
lever

LGXS
EP-01
● R
 egeneration unit short-circuit Model KEK-M4431-00 YHX
connector RCX320

Basic model

Motor-less
Rod type
EP-01

LBAR
● HT2 dummy connector Model KEK-M5869-00
YHX

Basic model

With motor
Slider type
EP-01
● SAFETY connector Model KEK-M4432-10
YHX

ABAS
● Brake power cable (1 m) Note Model KFX-M532K-10 EP-01

Advanced model
Note. Included in the robot with brake.

With motor
Slider type
AGXS
EP-01
TS-S2
● I/O cables (2 m/20-core×2) Note Model KCA-M4421-20 TS-SH
Note. Included in the robot with NPN specifications.
TS-X

Basic model

With motor
Rod type
TS-P

ABAR
EP-01
Connector Note. KCA-M4872-00 TS-S2
Model
● CC-Link connector Note Jump socket KCA-M4873-00 TS-SH
Acceleration/Deceleration

Note. Included in the robot with CC-Link specifications.

Note. This is a single connector type. (Insert two con- TS-X
Connector Jump socket nectors into a branching socket.)
Inertia Moment

TS-P

See next page for optional parts

Option
positioner
axis Robot
Single-
EP-01

153
 EP-01
Features

■ Options The icons indicated at the right end show the controllers that each component can use.

● Handy terminal
HT2/HT2-D HT2 HT2-D
Basic model

3.5m KFX-M5110-0E KFX-M5110-1E

Motor-less

Model
Slider type

10m KFX-M5110-2E KFX-M5110-3E EP-01

Enable switch – Available
CE marking Not supported Applicable
LBAS

● Support software Model KFX-M4990-00

EP-Manager
● EP-Manager environment
Advanced model

Motor-less
Slider type

EP-Manager OS Microsoft Windows 10 (32bit/64bit)

Exceeding the environment
CPU
recommended by the OS being used
Exceeding the environment
LGXS

Memory
recommended by the OS being used
EP-01
Download from website Ethernet port (100BASE-TX)
Communication port
Ethernet cable (category 5 or higher)
(member site)
1024×768 or higher resolution, 256
Display
colors or higher
Basic model

Motor-less

Applicable controllers EP-01

Rod type

Note. Windows is the registered trademark of US Microsoft Corporation in

U.S.A. and other countries.
Note. Ethernet is a registered trademark of the XEROX Corporation, USA.
LBAR

● Absolute battery
● Absolute battery basic specifications
Basic model

With motor

Item Absolute battery

Slider type

Model KFX-M53G0-00
Battery type Lithium metallic battery EP-01
Note. The absolute battery is subject to wear
Battery capacity 3.6V/2700 mAh and requires replacement.
Data holding time About 10 years
ABAS

Dimensions ϕ17 × L47 mm

Weight 20.3 g
Advanced model

With motor
Slider type

Model KFX-M53G7-00
● Battery holder kit Note. Set number containing the battery
EP-01
holder and two tie-up bands.
AGXS

EP-01
TS-S2
● CC-Link termination connector Model KCA-M4874-00 TS-SH
Basic model

With motor
Rod type

TS-X
TS-P
ABAR

● Feedback pulse output cable Model KFX-M532M-00 EP-01

Acceleration/Deceleration
Inertia Moment

● D
 aisy chain and gateway Model KFX-M532L-00 EP-01
connection cable
Option
positioner
axis Robot
Single-
EP-01

154