RCX221 / RCX222 1 to 2 axis controller
Introduces the multi-axis controllers, RCX series.
01 Supports all YAMAHA robot models
The RCX series supports all YAMAHA robot models such as the PHASER, FLIP-X and XY-X. It makes most types of applications possible since single-axis (FLIP-X/PHASER) and Cartesian robot can be used in any desired combination (not including some small single-axis robots).
02 Complete absolute specs
The RCX uses complete absolute specifications so of course no origin return is needed when the power is turned on. It also supports incremental specifications on a completely identical system (The PHASER series utilizes a magnetic scale and supports semi-absolute or incremental specifications.)
03 Longer extended absolute data backup time
Making an energy-saving backup circuit has drastically extended the retention time for absolute position data with no power applied. Ordinary model backup time was a maximum of 1 month has now been boosted to 1 year. Current position information can now be monitored during long vacations, equipment storage, or even during transport, and origin return is not needed when power is restored. This allows quick and easy production startups.
04 Area check output function
05 Supports the robot vision "iVY System"
The RCX series also supports the YAMAHA robot vision "iVY System" capable of handling a vast range of applications yet is simple to setup. Installing the vision board inside the controller unit drastically simplifies the calibration task that up to now took a lot of time and trouble. Performing position offset at image recognition widens the device sphere of applications and makes it usable for general-purpose tasks (only supported on RCX240).
06 Dual-synchronous drive
Equipped with the dual drive function to control 2 axis in synchronization, which is of effective use for carrying heavy items and long stroke operation with the Cartesian robot. This function enables good use of high speed, acceleration/ deceleration features of the YAMAHA robots.
Note. For the dual drive function, custom order arrangement is required. For more information, contact YAMAHA.
07 Double-carrier anti-collision control function
Collisions between carriers when using double-carriages can be prevented by a control function within the controller. Former collision prevention measures such as zone judgments or external sensors are no longer needed so double-carriers are now easier to use than ever before.
08 3D circular interpolation control
2D and 3D linear and circular interpolation ARC control are possible, making the RCX141 controller ideal for sealing work, etc. (3-dimensional interpolation is only available on the RCX240)
09 Palletizing function
This function can easily define a maximum of 20 types of pallets by just entering the teaching points for the 4 corner positions on the pallet. Entering teaching points along the height allows handling cubic pallets. Specify the defined pallet No. and execute the movement command to perform palletizing. The program can execute various actions such as 1 point → pallet, pallet → 1 point, pallet → pallet, etc.
10 Hand definition
This function operates the robot based on coordinates when the tool tip has been installed in the tip of the robot shaft in an offset position. This is especially effective during tool rotation on SCARA robots and robots with rotating shafts.
11 Shift coordinates
A deviation or offset might occur in the coordinates during service tasks such as robot reinstallation or replacement. In those cases using the coordinates can be corrected by using the shift coordinate function so point data can be utilized without having to make changes and there is no need for reteaching.
12 Passing point output control
This function can turn general outputs ON or OFF at specified points so operation can continue with no stops along an axis during interpolation tasks. This outputs a spray ON or OFF signal while still operating on an axis during sealing to allow stable and smooth coating of sealant.
13 Torque limiting drive
The motor torque can be limited during grasping and press-fitting operations.
14 Multitask function
This function executes multiple tasks (up to eight tasks) Multiple tasks will switch with the timesharing method. However, a priority can be assigned to each task. This priority can also be changed while tasks are running. The multitask function simplifies the entire system control configuration and also improves the operation efficiency.
15 Multitask function
In addition to the standard tasks, a task to control input/output (parallel, serial, memory, timer) can be executed independently. As the sequence program is effective in the manual mode as well, it is usable to construct the safety system linked with the peripheral equipment.
16 2-robot control
Assigning 2 robot units as main and sub allows them to be simultaneously operated by 1 controller unit. Combining this with multi-tasking allows 1 controller unit to link 2 robot units in a smooth, sophisticated operation.
17 Additional axis function "YC-Link"
Using an optional YC-Link, the RCX series controller and SR1 series single axis controller can be linked easily. If necessary, by linking some controllers, it is possible to control up to 8 axes (Max. 6 axes for simultaneous control).
18 Full support software: VIP+
VIP+ is an easy to operate application software that makes it easy to visually understand tasks including robot operation, program writing and edit, and point teaching. The user interface has been vastly improved compared to previous support software VIP and is now extremely easy to use.
19 Can be used with a "YRG series" electric gripper
All functions of a gripper can be controlled from one RCX240 controller. Setup and startup are very easy since no signal exchange with a PLC or host device is required.
|Number of controllable axes||2 axes maximum|
|Controllable robots||Single-axis robot FLIP-X, Linear motor single-axis robot PHASER, Cartesian robot XY-X, Pick & place robot YP-X||Single-axis robot FLIP-X, Cartesian robot XY-X, Pick & place robot YP-X|
|Connected motor capacity||2 axes total: 800W or less||2 axes total: 900W to 1200W||2 axes total: 800W or less||2 axes total: 900W to 1200W|
|Maximum power consumption||1700VA||2400VA||1700VA||2400VA|
|Dimensions||W130 × H210 × D158mm|
|Weight||Approx. 2.9kg||Approx. 3.1kg||Approx. 2.9kg||Approx. 3.1kg|
|Input power supply||Control power supply||Single phase AC200 to 230V +/-10% maximum (50/60Hz)|
|Motor power||Single phase AC200 to 230V +/-10% maximum (50/60Hz)|
|Drive method||AC full-digital software servo|
|Position detection method||Resolver, Magnetic linear scale||Multi-turn resolver with data backup function|
|Operating method||PTP (Point to Point), Linear interpolation, Circular interpolation, Arch motion|
|Coordinate system||Joint coordinates, Cartesian coordinates|
|Position indication units||Pulses, mm (millimeters), deg (degrees)|
|Speed setting||1% to 100% (In units of 1%. However speed is in units of 0.01% during single-axis operation by DRIVE statement.)|
|Acceleration setting||1.Automatic acceleration setting based on robot model type and end mass parameter
2.Setting based on acceleration and deceleration parameter (Setting by 1% unit)
|Origin search method||Incremental / Semi-absolute||Absolute / Incremental|
|Program language||YAMAHA BASIC (Conforming to JIS B8439 SLIM Language)|
|Multitasks||8 tasks maximum|
|Sequence program||1 program|
|Point-data input method||Manual data input (coordinate value input), Direct teaching, Teaching playback|
|Memory capacity||364KB (total capacity of program and points) (available program capacity during use of maximum number of points is 84KB)|
|Programs||100 program 9,999: maximum lines per program 98KB: maximum capacity per program|
|Points||10,000 points : maximum numbers of points|
|Memory Backup battery||Lithium metallic battery (service life 4°C years at 0 to 40°C )|
|Internal flash memory||512KB (ALL data only)|
|STD.DIO||I/O input||Dedicated input 10 points, General input 16 points|
|I/O output||Dedicated Output12 points, General output 8 points|
|SAFETY||Emergency stop input (Relay contact), Service mode input (NPN/PNP specification is set according to STD. DIO setting)|
|Brake output||Relay contact|
|Origin sensor input||Connectable to DC 24V normally-closed contact sensor|
|External communications||RS232C: 1CH D-SUB9 (female) RS422 : 1CH (RPB)|
|Type||STD.DIO (NPN/PNP): Dedicated input 10 points / General input 16 points, Dedicated Output 12 points / General output 8 points|
|Optional input/output (NPN/PNP): General input 24 points / General output 16 points|
|CC-Link: Dedicated input 16 points, Dedicated Output 16 points, General input 96 points, General output 96 points (4 nodes occupied)|
|DeviceNet: Dedicated input 16 points, Dedicated Output 16 points, General input 96 points, General output 96 points|
|Profibus: Dedicated input 16 points, Dedicated Output16 points, General input 96 points, General output 96 points|
|Ethernet: IEEE802.3 10Mbps (10BASE-T)|
|Programming box||RPB, RPB-E (with enable switch)|
|Support software for PC||VIP+ / VIP|
|Operating temperature||0°C to 40°C|
|Storage temperature||-10°C to 65°C|
|Operating humidity||35% to 85%RH (non-condensing)|
|Absolute backup battery||-||Lithium metallic battery 3.6V 5400mAH (2700nAH × 2)|
|Absolute data backup period||-||1 year (in state with no power applied)|
|Noise immunity||IEC61000-4-4 Level3|