RCX320 - 2 tengelyes robotvezérlő

RCX320 1 to 2 axis controller

The newest addition to RCX3 series.

  •  Controllable robots: XY-X・FLIP-X・PHASER・YP-X
  •  CE marking:
  •  Field networks: Ethernet/IP, EtherCAT, CC-Link, DeviceNet, PROFINET, PROFIBUS
  •  Operating method: Programming / Remote command / Operation using RS-232C communication
  •  Points: 30,000Points
  •  Origin search method: Absolute / Incremental / Semi-absolute





Real-Time output function for Preventive Maintenance.



01 Industrial Ethernet option Real-Time output function Note1

When the industrial Ethernet option (Ethernet/IP, EtherCAT, or Profinet) is selected, the information necessary for the predictive maintenance such as error status, current position, current value, motor load factor, operation hours, and others can be output in real-time to contribute to achievement of the "non-stop production line".
Note 1: The 4-axis controller "RCX340" also supports this function.


Easy and user-friendly operation system



02 Economical solution for 6 axes robot setup.


By connecting RCX340 4-axis controller through YC Link/E, total of 6 robots can be operated.



03 PBX with USB port for backup.


Simple and easy operation for adding function or editing work. Storing backup data is a simple task.



04 The CPU processing capacity is increased approx. three times.


The CPU processing capacity is approximately three times faster than that of the conventional model RCX221/222. The control performance such as operation tracking or internal process time is improved greatly.


05 Convenient LED Display for Error Status.

7-segment LED display

The operation status is displayed on the "7-segment LED display" located on the front panel of the controller. If an error occurs, the relevant error message is displayed. The error status can visibly recognized without connecting the programming box.


06 RCX320 supports all 2-axis robots from small to large.


RCX320 is designed to operate Yamaha’s all 2-axis robot systems with AC servo motor or linear motor. Controls two Flip/Phaser axes or all XY 2-axis systems.


07 Ideal for dual synchronized robot systems.


The dual robot that performs the synchronous drive between two axes can be easily controlled by one RCX320 controller.



08 Up to 320 kg can be controlled by one RCX320 controller.


If two sliders of Phaser dual system are connected and synchronized, its total payload capacity will become 320 kg (MF75D system).



09 PC Programming Software “RCX-Studio Pro” (Common to the RCX340)


Both RCX340 and RCX320 run with RCX-Studio Pro. With an emulator function, writing programs or debugging can be done without connecting a controller.
Cycle time calculator between two points simplified a selection of the most suitable robot system. After startup, real-time trace and multi-tasking debug information is displayed simultaneously for monitoring status.




Robot operations like initial setup and maintenance tasks are easier than ever.


Model Selection StageReduces evaluation time before design stage.


  • Emulator function > The software can be debugged in the offline mode.
  • Cycle time calculator > Easy selection of the most suitable robot system.
Design StageReduced design workload


  • Easy-to-use operating controls



  • iVY2 editor provided

The component type can be registered without changing the software when the robot vision is used.


Startup and Operation StageVisualized information for easy monitoring.


  • Realtime trace

The internal information of the controller is output continuously.



  • Application debugging function

The debugging statuses of multiple tasks can be displayed simultaneously.


MaintenanceThe maintenance and service time is reduced greatly.


  • Data comparison tool

The specified two data is compared to visually display the difference. Comparison of all or by program “.all” files or comparison with online data can be selected.




More enhanced expandability



10 Enhanced field network support and option function


Six types of internal field networks such as EtherNet/IP, EtherCAT, CC-Link, DeviceNet, PROFINET, and PROFIBUS are supported. The RS-232C and Ethernet ports are installed as the standard ports and the option functions such as the gripper and vision system are also supported, allowing you to construct a system suitable for the needs.

11 Synchronized control of multi-axis robots

Use of the inter-controller communication "YC-Link/E" makes it possible to control multiple robots such as Cartesian robots and SCARA robots synchronously. The YC-Link/E can be executed by the program of only the master controller. This contributes to great reduction of the system startup time. The "RCX320" and "RCX340" controllers support both the master and slave specifications, allowing you to construct a system flexibly. Note. Up to four "RCX320" and "RCX340" controllers can be connected by the inter-controller communication "YC-Link/E".

Improvement of basic performance



The basic performance is greatly improved when compared to the conventional "RCX221/222" controllers.


Various data

Basic specifications
Applicable robots YAMAHA single-axis robots, linear single-axis robots, P&P robots
Connected motor capacity 1200W or less (in total for 2 axes)
Power capacity 2400VA
Dimensions W213 × H195 × D130mm (main unit only)
Weight 3.6kg (main unit only)
Input power supply Control power supply Single-phase 200 to 230V AC +/-10% 50/60Hz
Main power supply Single-phase 200 to 230V AC +/-10% 50/60Hz
Axis control
No. of controllable axes Max. 2 axes
Up to four units of the RCX320 and RCX340 can be connected using the inter-controller communication “YC-Link/E”.
Drive method AC full digital servo
Position detection method Resolver or magnetic linear scale
Control method PTP motion (point to point), ARCH motion, linear interpolation, circular interpolation
Program language YAMAHA BASIC II conforming to JIS B8439 (SLIM language)
Multi-task Max. 16 tasks
Sequence program 1 program
Memory capacity 2.1MB (Total of program and point data)
(Available capacity for program when the maximum number of points is used: 300KB)
Program 100 programs (maximum number of programs)
9999 lines (maximum number of lines per program)
Point 30000 points (maximum number of points)
Point teaching method MDI (coordinate data input), direct teaching, teaching playback, offline teaching (data input from external unit)
External I/O
SAFETY Input Emergency stop ready input, 2 systems
Auto mode input, 2 systems (Enabled only when the global specifications are used.)
Output Emergency stop contact output, 2 systems
Enable contact output, 2 systems (Enabled only when the PBX-E is used.)
Motor power ready output, 2 systems
Brake output Transistor output (PNP open collector)
External communications RS-232C: 1CH (D-SUB 9-pin (female))
Ethernet: 1CH (In conformity with IEEE802.3u/IEEE802.3)
100Mbps/10Mbps (100BASE-TX/10BASE-T)
Applicable to Auto Negotiation
RS-422: 1CH (Dedicated to PBX)
Option board Parallel I/O board Standard specifications Dedicated input 8 points, dedicated output 9 points
General-purpose input 16 points, general-purpose output 8 points
NPN/PNP specifications are selected. (maximum 1 board)
Expansion specifications General-purpose input 24 points, general-purpose output 16 points
NPN/PNP specifications are selected. (maximum 4 boards)
CC-Link board Ver1.1/2.0 Remote I/O Dedicated input/output: 16 points each
General-purpose input/output: 96 points each
DeviceNet™ board
EtherNet/IP™ board
PROFIBUS board Remote register Input/output: 16 words each
EtherCAT board
YC-Link/E board
Communication cycle: 1 ms, control cycle: minimum 1 ms / maximum 8 ms, maximum number of robot units: four units
Maximum number of control axes: total 14 axes (including two master controller axes), maximum 12 axes for slaves only
YRG (gripper) board Position detection method: optical rotary encoder, minimum setting distance: 0.01 mm
Speed setting: 20 to 100% relative to the maximum parameter speed, number of connected gripper units: maximum two units
Drive power: DC 24V +/-10%, 1.0A Max
Tracking board Number of connected encoders: maximum two units, supported encoders: 26LS31/26C31 equivalent line driver (RS422 compliant)
Encoder power supply: DC5V (2 counter (ch) total 500 mA or less) (supplied from controller)
iVY2 unit Camera pixels: maximum 5 million pixels, number of registered models: 254 models, number of connected cameras:maximum two units
Power supply: DC24V +/-10% 1.5A Max
Programming box PBX, PBX-E
Absolute battery 3.6V 2750mAH / axis Backup retention time: About 1 year
Support software for personal computer RCX-Studio Pro