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Overview of YC-Link/E
Overview of YC-Link/E1.
Overview1.1
About YC-Link/E
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This YC-Link/E system is designed to control multiple RCX series controllers by connecting the multi-axis robot controller
RCX series.
Robot controllers that are connected using the YC-Link/E can be controlled in the same manner as the normal RCX series
robot axes. The user can add robots or axes to the RCX controller without notifying the number of controllers or
differences.
Use of the YC-Link/E makes it possible to expand the robot system with maximum four axes (both physical axes/logical
axes) using single RCX series controller into maximum six axes (logical and physical axes, 12 axes in total) per robot and
the overall system into maximum four robots and 16 axes (physical axes).
Control method
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The YC-Link/E adopts an EtherCAT
Note 1
base communication method for the communication among the controllers.
Therefore, there are one master and one or more slaves, and the master controls the slaves.
The slave is identified from the master using the station number that is set with the rotary switches on the YC-Link/E slave
board.
The master sends various data or commands to the slaves. A station number is written to this send data as send
destination. The slave processes the received data and sends the response. When the master receives the response from
the slave, to which the data was sent, the command process is completed. The master uses the synchronous control that
uses the distributed clock to periodically execute this send/receive process to each slave.
YC-Link/E compatible units
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The RCX series controller with the YC-Link/E master board installed becomes the master of the YC-Link/E and the
YC-Link/E slave board is installed in the RCX series controller that becomes the slave of the YC-Link/E. The units with
these interfaces are connected using the LAN cables through the multi-drop (daisy chain) to construct a network.
Features
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In the YC-Link/E system, all operations to the slave RCX series controllers are performed from the master. Therefore, the
program, point data, and parameter of the robot connected to each slave are changed by accessing the master. PC
applications or handy terminals cannot be connected to the slave controllers.
Compatible robots
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Robots that can be controlled using the YC-Link/E system are YAMAHA's robots applicable to the RCX series.
Note 1. EtherCAT® is registered trademark and patent technology, licensed by Beckhoff Automation Gmbh, Germany.
T-2
(36 pages)
(31 pages)
(36 pages)
(68 pages)
(68 pages)
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