YHX univerzális robotvezérlő

Currently, the YHX controller is only available for the LCMR200 linear conveyor modules in Europe!

 

Outline: Universal Controller YHX series

YAMAHA's Advanced Robotics Automation Platform realizes cooperative motions and synchronized control among all the robots, peripheral units and devices that make up an automated line.

 

Universal Controller YHX series
 

Excellent expandability significantly saves space, reduces costs, and decreases setup man-hours.

 

PC Programming Software


YHX Studio download

*OS: Windows 7 SP1/8/8.1/10 (64-bit version only for all)
*Memory: 8 GB or larger

YHX Studio details

 

Example System of system configuration

 

 

Feature

 

01 Universal Control System  

“FA Universal Controller” that structure an automation production line Structure all robots and peripheral devices that support the Advanced Robotics Automation Platform with a common platform.

This enables to maximize the potential of production line.

Centralized and Integrated Control
The robot integration significantly reduces time-consuming work of automatization.

Integrating a high performance PLC function
One single YHX controller enables universal control.

Completely commonizing archtecture

 

02 Minimizing Cost  

System operation restricted to the labor cost of installation and setup. YHX controller provides more choices and options.

Stacking modular structure
No wiring between modules needed.

Space efficiency in control panel
One stop solution to problems with control panels

The remote IO unit wiring convenience
Reducing actual wiring lengths and simplifying wiring work

 

03 Commonizing Line Operation  

Same commands control all robots and peripheral devices
Enables to build up a improved production line in a short period of time

Unitized PLC control and robot control

 

04 Expandability  

Compatible with various field networks a flexible network
Enables to build up a improved production line in a short period of time

Need to control more axis?
Support a large scale system

 

 

Development environment software YHX Studio

 

The YHX Studio is a software program for programming and adjusting a YHX controller. Download the software program from the website for use. Note that a USB key (dongle) is necessary to run the program.
(If the USB key is not connected with the PC, the YHX Studio is unable to start.)

 
Model YHX-SW-STUDIO
Parts No. KEK-M4990-00
PC operating environment OS Windows 7 SP1/8/8.1/10 (64-bit version only for all)
CPU Equivalent to Intel Core (TM) i5-6200U 2.30 GHz or better.
Memory 8 GB or larger
Hard disc drive capacity 2 GB or more of empty space for destination of installing the YHX Studio.
Communications port Ethernet
Display 1920 × 1080 or higher resolution is recommended.
Other Ethernet cable (Category 5 or better)
USB port: One port (for USB key)
Applicable controllers YHX
Applicable robots Robots connectable to YHX

Microsoft, Windows and Windows 7 are the registered trademarks or the trademarks of Microsoft Corporation in the United States. Other firms’ names and product names appearing in this catalog are registered trademarks or the trademarks of the respective firms or products concerned.

 

Outline of programming

 

The YHX controller chooses the programming languages from the graphic language (LD) and text language (ST) that are defined by the International Electrotechnical Commission’s IEC61131-3. You can choose the optimal language that suits you purpose.

 

Ladder diagram (LD) Graphic language

This graphic language is configured by contacts and coils. Since it uses circuit diagram similar to those of relay sequence circuits, it is fit for I/O interlock processing or similar operations.

 

Ladder diagram (LD) Text language

This is a text language based on the general-purpose programming language “PASCAL”. In the same manner as the sophisticated language “C Language”, you can describe the control by syntax (a control syntax by conditional branch based on a conditional sentence and by loop statement). This is particularly powerful for arithmetic expressions and data processing.

  • A control syntax by conditional branch based on a conditional sentence and by loop statement
  • Equation using operators (such as * , /, +, -, <, >)
  • Calling up functions
  • Description of comments using full block characters (2 bytes) such as Kanji and Hiragana

 

 

 

Feature 1: Universal Control System

 

Universal Control System

“FA Universal Controller” that structure an automation production line Structure all robots and peripheral devices that support the Advanced Robotics Automation Platform with a common platform.
This enables to maximize the potential of production line.

 

Centralized and Integrated Control

 

The robot integration significantly reduces time-consuming work of automatization.

In addition to the robot control, various elements for automation such as communication among transport system control, peripheral I/O control, HMI and devices are integrated in one controller.

 

YQLink

The YQLink, which connects all YHX host controller, various motor drivers, power units, remote IO units and LCM-X modules, carries out high speed mutual data communication such as control commands and control status data among these units to enable high speed, high precision control over the robots and peripheral devices. This particular high speed network system between modules that YAMAHA has uniquely developed by its own has the high speed performance of 500 Mbps which is about 5 times as high as the conventional field networks. It enables synchronous operation of motors and units up to 255 axes without compromising their performances.

 

Integrating a high performance PLC function Real time motion PLC

 

 

One single YHX controller enables universal control.

With the YHX controller of completely shared unit, the whole production line can be controlled with one software.

 

 

 

 

 

Feature 2: Minimizing Cost : Universal Controller YHX series

 

Minimizing labor and control space

System operation restricted to the labor cost of installation and setup. YHX controller provides more choices and options.

 

Stacking modular structure

 

 

No wiring between modules needed.

Wrapping up a control power supply, motor drive power supply, high speed network communication, safety circuit into a stacking structure overwhelmingly saves the electrical wiring. This eliminates wiring between units, reducing conventional wiring cost and wiring man-hour to 30% to 50%. The stacking structure including host, power and driver is the very first in the industry.

 

 

Space efficiency in control panel

 

 

 

The remote IO unit wiring convenience

 

 

Reducing actual wiring lengths and simplifying wiring work

The remote IO unit controls the input and output of parallel IO. When having to lay out many wirings for pneumatic valves, sensors and switches, install a remote IO unit with the single dedicated YQLink cable near these devices. You can reduce actual wiring lengths.

 

 

 

 

 

Feature 3: Commonizing Line Operation : Universal Controller YHX series

 

Commonizing line operation

The YHX does not require a different controller, programming pendant box or software program for each robot. Communication settings between each controller and program generation become unnecessary, and it is possible to shorten the software production time significantly.

 

Same commands control all robots and peripheral devices

 

Enables to build up a improved production line in a short period of time

 

 

 

Feature 4: Expandability : Universal Controller YHX series

Flexible expandability and connectivity can support high performance requests from customers such as support for a large scale system and improvement of facility efficiency.

 

Expandability and connectivity

Flexible expandability and connectivity can support high performance requests from customers such as support for a large scale system and improvement of facility efficiency.

 

Need to control more axis?

 

 

Support a large scale system

Using the YQLink expansion unit enables further expansion where more than 16 robots are in operation.

 

Compatible with various field networks a flexible network

 

Flexible network configuration is possible

In addition to “EtherNet/IP”, “EtherCAT”, and “PROFINET”, supports “CC-Link”, and flexible network configuration is possible.


Specification ・ Dimension: Universal Controller YHX series

YAMAHA's Advanced Robotics Automation Platform realizes cooperative motions and synchronized control among all the robots, peripheral units and devices that make up an automated line.

 

Specification ・ Dimension

 

Host controller unit Model:YHX-HCU Parts No.:KEK-M4200-0A

 

 

Basic specifications

 

Power supply Control power supply Voltage: 21.6 to 26.4 VDC (24 V ±10%)
Current: 3.5 A (Including PoE)
Connector External I/F Giga bit Ethernet
· Compatible with PoE yet 1 port (23 W)
· Not compatible with PoE yet 1 port

Field network (Slave) Select one from the following 5 kinds.
· EtherCAT
· EtherNet/IP
· PROFINET
· CC-Link*
· DeviceNet*
* A separate adaptor is necessary.

USB
· USB 2.0 1 Port (Bus power 0.5 A)
· USB 3.0 1 port (Bus power 1.0 A)
HMI Connector for connecting programming pad
SAFETY Emergency stop contact output
Enable switch contact output
Emergency stop input
External automatic mode input
MODE Motor power ready output (MPRDY output)
Programming pad AUTO/MANUAL select key switch output
Indicator LCD 128 x 64 dots, Yellow
Dimensions 41.6×150×125 (mm)
Weight 750g
Protection structure /
Protection rating
IP20 / class 1
Dimensions

 

 

 

 

4-Axis Configuration Example Specification

 

4-Axis Configuration Example Universal Controller Configuration
(1 high-capacity power unit + 1 host control unit + 4 driver units)
Gateway Configuration
(Gateway unit + 4 driver units)
Controllable Robots Single-axis (AC servo/step)
Multiple axis (cartesian)
Linear conveyor module
Model mix compatible
Single-axis (AC servo/step)
Multiple axis (cartesian, [SCARA])
External Dimensions H150mm x W232.2mm x D125mm H150mm x W158.8mm x D125mm
Weight Approx. 4.5kg Approx. 3kg
Power Capacity Single-phase 3.4kVA/three-phase 6kVA Single-phase 2.2kVA/three-phase 4.4kVA
Allowable Motor Capacity Single-phase 1.6kW/three-phase 3kW Single-phase 1kW/three-phase 2.5kW
Maximum Number of Connected Axes 64 *1
Field Network Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)] Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)]
Functions PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
PLC functions [ladder/ST/etc.]
PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
Programing Pad Connectable Not connectable

 

*1 It may be different depending on the system configuration.
*2 Connection adapter required.

 

Gateway driver power unit Compatible with field networks Model:YHX-GDPU Parts No.:KEK-M5880-2A

 

Basic specifications

 

Power supply Control power supply Voltage: 21.6 to 26.4 VDC (24 V ±10%)
Current: 0.7A
Main power supply Input: Single phase / 3-phase 180 to 253 VAC / (200 to 230 VAC ±10%), 50/60 Hz
Power supply capacity: Single phase 2.6 kVA 3-phase 4.4 kVA
Connection motor capacity Single phase within 1.2 kW, 3-phase within 2.2kW / Driver unit within 16 units (16 axes)
Connector Regenerative Regenerative unit connector
External I/F Ethernet (100 Base)

Field network (Slave) Select one from the following 4 kinds.
· EtherCAT
· EtherNet/IP
· PROFINET
· CC-Link*
* A separate adaptor is necessary.
ABS Battery ABS Battery connector
Dimensions 31.6×150×125 (mm)
Weight 560g
Protection structure /
Protection rating
IP20 / class 1
Dimensions

 

 

 

4-Axis Configuration Example Specification

 

4-Axis Configuration Example Universal Controller Configuration
(1 high-capacity power unit + 1 host control unit + 4 driver units)
Gateway Configuration
(Gateway unit + 4 driver units)
Controllable Robots Single-axis (AC servo/step)
Multiple axis (cartesian)
Linear conveyor module
Model mix compatible
Single-axis (AC servo/step)
Multiple axis (cartesian, [SCARA])
External Dimensions H150mm x W232.2mm x D125mm H150mm x W158.8mm x D125mm
Weight Approx. 4.5kg Approx. 3kg
Power Capacity Single-phase 3.4kVA/three-phase 6kVA Single-phase 2.2kVA/three-phase 4.4kVA
Allowable Motor Capacity Single-phase 1.6kW/three-phase 3kW Single-phase 1kW/three-phase 2.5kW
Maximum Number of Connected Axes 64 *1
Field Network Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)] Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)]
Functions PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
PLC functions [ladder/ST/etc.]
PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
Programing Pad Connectable Not connectable

 

*1 It may be different depending on the system configuration.
*2 Connection adapter required.

 

Driver power unit Model:YHX-DPU Parts No.:KEK-M5880-0A

 

 

Basic specifications

 

Power supply Control power supply Voltage: 21.6 to 26.4 VDC (24 V ±10%)
Current: 0.5A
Main power supply Input: Single phase / 3-phase 180 to 253 VAC / (200 to 230 VAC ±10%), 50/60 Hz
Power supply capacity: Single phase 3.5 kVA 3-phase 6 kVA
Connection motor capacity Single phase within 1.6 kW, 3-phase within 3.0kW / Driver unit within 16 units (16 axes)
Connector Regenerative Regenerative unit connector
External I/F YQLink
ABS Battery ABS Battery connector
Dimensions 63.2×150×125 (mm)
Weight 1050g
Protection structure /
Protection rating
IP20 / class 1
Dimensions

 

 

 

4-Axis Configuration Example Specification

 

4-Axis Configuration Example Universal Controller Configuration
(1 high-capacity power unit + 1 host control unit + 4 driver units)
Gateway Configuration
(Gateway unit + 4 driver units)
Controllable Robots Single-axis (AC servo/step)
Multiple axis (cartesian)
Linear conveyor module
Model mix compatible
Single-axis (AC servo/step)
Multiple axis (cartesian, [SCARA])
External Dimensions H150mm x W232.2mm x D125mm H150mm x W158.8mm x D125mm
Weight Approx. 4.5kg Approx. 3kg
Power Capacity Single-phase 3.4kVA/three-phase 6kVA Single-phase 2.2kVA/three-phase 4.4kVA
Allowable Motor Capacity Single-phase 1.6kW/three-phase 3kW Single-phase 1kW/three-phase 2.5kW
Maximum Number of Connected Axes 64 *1
Field Network Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)] Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)]
Functions PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
PLC functions [ladder/ST/etc.]
PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
Programing Pad Connectable Not connectable

 

*1 It may be different depending on the system configuration.
*2 Connection adapter required.

 

Driver unit For servo motor…10A/30A For stepping motor…STEP

 

Driver unit (10A/30A)


 

10A Specifications Model:YHX-A10 Parts No.:KEK-M5800-0A

30A Specifications Model:YHX-A30 Parts No.:KEK-M5800-1A

 

Basic specifications

 

Power supply Control power supply Voltage: 21.6 to 26.4 VDC (24 V ±10%)
Current: 0.8A (Including brake unit power supply)
Connector ENC.A Encoder input
ENC.B Not used
STOP Gate off input, 2 points
Gate status output, 1 point
MOTOR Motor drive power supply output
Brake power supply output
ABS Battery ABS Battery connector
Fan unit connector Fan unit is connectable.
Brake unit connector Brake unit is connectable.
Dimensions 31.6×150×125 (mm)
Weight 10 A: 560 g / 30 A: 570 g
(Including attached fan unit)
Protection structure /
Protection rating
IP20 / class 1

 

10A Specifications Dimensions

 

 

30A Specifications Dimensions

 

 

 

Driver unit (STEP)


Model:YHX-AVS Parts No.:KEK-M5800-AA

 

Basic specifications

 

Power supply Control power supply Voltage: 21.6 to 26.4 VDC (24 V ±10%)
Current: 0.8A
Connector ENC.A Not used
ENC.B Not used
STOP Gate off input, 2 points
Gate status output, 1 point
MOTOR.A Encode input
Motor drive power supply output
MOTOR.B Origin sensor input
Brake power supply output
Dimensions 31.6×150×125 (mm)
Weight 550g
Protection structure /
Protection rating
IP20 / class 1
Dimensions

 

 

 

4-Axis Configuration Example Specification

 

4-Axis Configuration Example Universal Controller Configuration
(1 high-capacity power unit + 1 host control unit + 4 driver units)
Gateway Configuration
(Gateway unit + 4 driver units)
Controllable Robots Single-axis (AC servo/step)
Multiple axis (cartesian)
Linear conveyor module
Model mix compatible
Single-axis (AC servo/step)
Multiple axis (cartesian, [SCARA])
External Dimensions H150mm x W232.2mm x D125mm H150mm x W158.8mm x D125mm
Weight Approx. 4.5kg Approx. 3kg
Power Capacity Single-phase 3.4kVA/three-phase 6kVA Single-phase 2.2kVA/three-phase 4.4kVA
Allowable Motor Capacity Single-phase 1.6kW/three-phase 3kW Single-phase 1kW/three-phase 2.5kW
Maximum Number of Connected Axes 64 *1
Field Network Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)] Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)]
Functions PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
PLC functions [ladder/ST/etc.]
PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
Programing Pad Connectable Not connectable

 

*1 It may be different depending on the system configuration.
*2 Connection adapter required.

 

 

YQLink expansion unit Model:YHX-YQL Parts No.:KEK-M4406-0A

 

Basic specifications

 

Power supply Control power supply Voltage: 21.6 to 26.4 VDC (24 V ±10%)
Current: 0.3A
Connector External I/F YQLink
SAFETY Emergency stop input
Dimensions 31.6×150×125 (mm)
Weight 380g
Protection structure /
Protection rating
IP20 / class 1
Dimensions

 

 

 

4-Axis Configuration Example Specification

 

4-Axis Configuration Example Universal Controller Configuration
(1 high-capacity power unit + 1 host control unit + 4 driver units)
Gateway Configuration
(Gateway unit + 4 driver units)
Controllable Robots Single-axis (AC servo/step)
Multiple axis (cartesian)
Linear conveyor module
Model mix compatible
Single-axis (AC servo/step)
Multiple axis (cartesian, [SCARA])
External Dimensions H150mm x W232.2mm x D125mm H150mm x W158.8mm x D125mm
Weight Approx. 4.5kg Approx. 3kg
Power Capacity Single-phase 3.4kVA/three-phase 6kVA Single-phase 2.2kVA/three-phase 4.4kVA
Allowable Motor Capacity Single-phase 1.6kW/three-phase 3kW Single-phase 1kW/three-phase 2.5kW
Maximum Number of Connected Axes 64 *1
Field Network Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)] Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)]
Functions PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
PLC functions [ladder/ST/etc.]
PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
Programing Pad Connectable Not connectable

 

*1It may be different depending on the system configuration.
*2Connection adapter required.

 

Remote IO unit

 

Remote IO unit Model:YHX-IO Parts No.:KEK-M4400-0A

 

Basic specifications

 

Power supply Control power supply 21.6 to 26.4 VDC (24 V ±10%)
* Supplied via YQLink cable or power supply connector
Electric power consumption Remote IO unit 3W (24V 125mA) : Per 1 unit
* Capable of supplying electric power up to 6 .units
If connecting 7 units or more, it is necessary to supply control power separately.
Connector I/F IO Connector type: 713-1436/037-000 (Made by WAGO)×2 (Input/Output)
IO power supply Connector type: 733-362 (Made by WAGO)
IO Number of points Input: 16 points / Output: 16 points
Type Common to NPN and PNP (Switched over by power supply connection)
Current Input: 7 mA / Output: 100 mA
Protection circuit Poly-switch
Dimensions 28.5×150×102 (mm)
Weight 200g
Other Equipped with structure for installing on DIN rails

 

Remote IO unit Dimensions

 

 

4-Axis Configuration Example Specification

 

4-Axis Configuration Example Universal Controller Configuration
(1 high-capacity power unit + 1 host control unit + 4 driver units)
Gateway Configuration
(Gateway unit + 4 driver units)
Controllable Robots Single-axis (AC servo/step)
Multiple axis (cartesian)
Linear conveyor module
Model mix compatible
Single-axis (AC servo/step)
Multiple axis (cartesian, [SCARA])
External Dimensions H150mm x W232.2mm x D125mm H150mm x W158.8mm x D125mm
Weight Approx. 4.5kg Approx. 3kg
Power Capacity Single-phase 3.4kVA/three-phase 6kVA Single-phase 2.2kVA/three-phase 4.4kVA
Allowable Motor Capacity Single-phase 1.6kW/three-phase 3kW Single-phase 1kW/three-phase 2.5kW
Maximum Number of Connected Axes 64 *1
Field Network Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)] Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)]
Functions PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
PLC functions [ladder/ST/etc.]
PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
Programing Pad Connectable Not connectable

 

*1 It may be different depending on the system configuration.
*2 Connection adapter required.

 

Regenerative unit Model:YHX-RU Parts No.:KEK-M5850-0A

 

 

Basic specifications

 

Power supply Input 254 to 357 VDC (Controller DCBUS connected)
Connector Regenerative connector (For connecting regenerative unit/ For adding regenerative unit)
Dimensions 62.5×180×110 (mm)
Weight 1450g
Weight IP20 / class 1
Dimensions

 

 

 

4-Axis Configuration Example Specification

 

4-Axis Configuration Example Universal Controller Configuration
(1 high-capacity power unit + 1 host control unit + 4 driver units)
Gateway Configuration
(Gateway unit + 4 driver units)
Controllable Robots Single-axis (AC servo/step)
Multiple axis (cartesian)
Linear conveyor module
Model mix compatible
Single-axis (AC servo/step)
Multiple axis (cartesian, [SCARA])
External Dimensions H150mm x W232.2mm x D125mm H150mm x W158.8mm x D125mm
Weight Approx. 4.5kg Approx. 3kg
Power Capacity Single-phase 3.4kVA/three-phase 6kVA Single-phase 2.2kVA/three-phase 4.4kVA
Allowable Motor Capacity Single-phase 1.6kW/three-phase 3kW Single-phase 1kW/three-phase 2.5kW
Maximum Number of Connected Axes 64 *1
Field Network Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)] Slave [PROFINET⋅EtherNet/IPTM⋅EtherCAT⋅ (CC-Link*2)]
Functions PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
PLC functions [ladder/ST/etc.]
PTP/Press-in/Coupling
3-dimensional interpolation (straight line/arc)
Programing Pad Connectable Not connectable

 

*1 It may be different depending on the system configuration.
*2 Connection adapter required.