Yamaha ERCX Specifications Page 66
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APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robots
FLIP-X
Linear motor
single-axis robots
PHASER
Cartesian
robots
XY-X
SCARA
robots
YK-XG
Pick & place
robots
YP-X CLEAN
CONTROLLER
INFORMATION
404
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
Basic specifi cations
Item Model RCX240
Basic specifi cations
Number of controllable axes 4 axes maximum (Control simultaneously: 4 axes)
Controllable robots
Single-axis robot FLIP-X, Linear motor single-axis robot PHASER, Cartesian robot XY-X,
SCARA robot YK-XG , Pick & place robot YP-X
Maximum power consumption 2500VA
Capacity of the connected motor 1600W
Dimensions W180 × H250 × D235mm
Weight 6.5kg
Input power
supply
Control power supply Single phase AC200 to 230V +/-10% maximum (50/60Hz)
Motor power supply Single phase AC200 to 230V +/-10% maximum (50/60Hz)
Axis control
Drive method AC full-digital software servo
Position detection method Multi-turn resolver with data backup function, Magnetic linear scale
Operating method PTP (Point to Point), Linear interpolation, Circular interpolation, ARCH
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)
Resolution 16384 P/rev, 1μm
Origin search method Incremental, Absolute, Semi-absolute
Program
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
Memory capacity
364KB (total capacity of program and points)
(available program capacity during use of maximum number of points is 84KB)
Programs 100 program (Max.) 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 years at 0°C to 40°C)
Internal fl ash memory 512KB (ALL data only)
External input/output
STD.DIO
I/O input General input 16 points, dedicated input 10 points (NPN / PNP specifi cations selectable)
I/O output General output 8 points, dedicated output 11 points
SAFETY
Emergency stop input (Relay contact), Service mode input (NPN/PNP specifi cation 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 (Dedicated RPB)
Options
Slots 4
Type
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
Profi bus: Dedicated input 16 points, Dedicated Output 16 points, General input 96 points, General
output 96 points
Ethernet: IEEE802.3 10Mbps (10BASE-T)
iVY: Camera input (2ch), camera trigger input, PC connection input
Tracking: AB phase input, lighting trigger input, lighting power supply input/output
Lighting control: lighting trigger input, lighting power supply input/output
Options
Programming box RPB, RPB-E (with enable switch)
Support software for PC VIP
+
/ VIP
General specifi cations
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 (2700mAH × 2)
Absolute data backup period 1 year (in state with no power applied)
Noise immunity IEC61000-4-4 Level 3
Protective structure IP10
RCX240
- CONTROLLERS 1
- Diverse command methods 2
- YC-LINK couples single-axis 3
- TS-X / TS-P 4
- RDX / RDP 4
- SR1-X / SR1-P 5
- Setting range 6
- Supply source 7
- SCARA robot 8
- RCX series 9
- Task scheduling 10
- CONTROLLERCONTROLLER 11
- SR1-X / SR1-P DRCX 12
- Single-axis 1 to 2 axis 12
- RDX / RDPTS-S TS-X / TS-P 12
- Single-axis 12
- 1 to 4 axis 13
- ERCD ERCX SRCP30 13
- TS-S/TS-X/TS-P 16
- Model Overview 17
- Ordering method 17
- Regenerative unit RGT 17
- TS-S part names 18
- TS-S dimensions 18
- TS-S basic specifi cations 18
- TS-X / TS-P part names 19
- TS-X / TS-P dimensions 19
- Data overview 20
- Point data 20
- I/O Specifi cations 22
- I/O signals (NPN / PNP) 22
- NPN type I/O circuit details 22
- PNP type I/O circuit details 22
- Accessories and part options 23
- TS-Manager 24
- Point data list 24
- Result display list 24
- Operation setting list 24
- HT1/HT1-D 25
- Applicable controllers 26
- TS-S TS-X TS-P 26
- Part names 28
- Dimensions 28
- Basic specifi cations 29
- (Note 1) 30
- Software for setup 31
- Part names / dimensions 32
- Standard accessories 32
- Connector I/O signals 34
- Pulse train input form 34
- Input / output wiring diagram 35
- Robot Language Table 35
- Compact and easy to use 36
- Absolute battery B1 / B2 38
- SR1-X/SR1-P 39
- SR1-X / SR1-P part names 40
- Regenerative unit RG1 40
- SR1-X / SR1-P 20 dimensions 40
- Input circuit 42
- Output circuit 42
- Pulse train input section 47
- Regenerative unit RGU-2 51
- CONTROLLER 54
- HPB/HPB-D 55
- RCX221/RCX222 57
- Regenerative unit RG2 58
- Specifi cation selection table 58
- Power capacity 59
- SAFETY connector signals 60
- Front Side 65
- Regenerative unit 68
- VIP PLUS function 73
- RPB/RPB-E 75
- RCX221 RCX222 RCX240 76
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