rcx340 - yrginc.com...ptp1 ptp2 ptp1 ptp2 time time example : 4-axis dispenser robot...

355

213

22.5 155 155

225

5.5

10.5

195

130

External view

Ordering method

AC IN

BAT2 BAT3 BAT4M1 M2 M3 M4

ENUSB

COM

ROB I/O3-4

ROB I/O1-2

SAFETY

1 3

2 4

PB

OPTION

1

2

3

4PWR

(PE) M1 BAT1

Controller options

OP.AOP.A

OP.COP.C

OP.BOP.BOP.B

OP.DOP.DOP.D

RCX340Safety

standardsController option A

(OP. A)Controller option B

(OP. B)

4 : 4axes

3 : 3axes E : CE

4 : 4 pcs.

2 : 2axes

NS : STD.DIO(NPN) 1 4 --- 3 --- 3 --- 3 VY: iVY without light 9

NE : EXP.DIO(NPN) 2 4 NE : EXP.DIO(NPN) 2 4 NE : EXP.DIO(NPN) 2 4 NE : EXP.DIO(NPN) 2 4 LC: iVY with light 9

PS : STD.DIO(PNP) 1 4 --- 3 --- 3 --- 3

PE : EXP.DIO(PNP) 2 4 PE : EXP.DIO(PNP) 2 4 PE : EXP.DIO(PNP) 2 4 PE : EXP.DIO(PNP) 2 4

GR: Gripper 8

TR : Tracking 5 9

YM : YC-Link/E master 6 11

YS : YC-Link/E slave 6

GR: Gripper 8

TR : Tracking 5 9

GR: Gripper 8

TR : Tracking 5 9

GR: Gripper 8

TR : Tracking 5 9

EP : Ethernet/IP 7 EP : Ethernet/IP 7 EP : Ethernet/IP 7 EP : Ethernet/IP 7

PB : Profibus 7 10 PB : Profibus 7 10 PB : Profibus 7 10 PB : Profibus 7 10

CC : CC-Link 7 CC : CC-Link 7 CC : CC-Link 7 CC : CC-Link 7

DN : DeviceNet 7 DN : DeviceNet 7 DN : DeviceNet 7 DN : DeviceNet 7

Please select desired selection items from the upper portion of the controller option A in order.

[STD.DIO] Parallel I/O board standard specificationsDedicated input 8 points, dedicated output 8 points, general-purpose input 16 points, general-purpose output8 points

Only one DIO STD specification board can be selected. Therefore, this board cannot be selected in OP.B to OP.D.Be careful not to mix NPN and PNP of DIO.Only one tracking board can be selected.

Select only one master or slave for YC-Link/E.Be careful not to mix field buses (CC/DN/PB/EP).Gripper : Planned to be available in July, 2014.Tracking and iVY : Planned to be available in August, 2014.Profibus : Planned to be available in September, 2014.YC-Link/E : Planned to be available in July, 2014.

Controller No. of controllable

axesN : Normal No entry Non-selection

Controller option D(OP. D)

Controller option C(OP. C)

Controller option E(OP. E)

3 : 3 pcs.

2 : 2 pcs.

1 : 1 pc.

0 : 0 pc.

[EXP.DIO] Parallel I/O board expansion specificationsGeneral-purpose input 24 points, general-purpose output 16 points

New Product information

Absolute battery

No entry Non-selection No entry Non-selection No entry Non-selection No entry Non-selection

RCX340 H1-4

201406-AE

Specifications and appearance are subject to change without prior notice.

IM Operations882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054, JapanTel 81-53-460-6103 Fax 81-53-460-6811

http://global.yamaha-motor.com/business/robot/URL E-mail [email protected]

32

13 years have passed since RCX40 that is also called “RCX controller zero (0) generation”

was sold in 2001.

RCX controller 3rd generation model “RCX340” is now put on the market by

reviewing all functions to further improve the functions of the

RCX controller.

M o r e a d v a n c e d YA M A H A’ s n e x t g e n e r a t i o n c o n t r o l l e r

Y A M A H A l a u n c h e s n e w c o n t r o l l e r R C X 340

Advanced functionality allowing high-level equipment construction

Feature

1

E n h a n c e d b a s i c performance2 More fulfi l led expandability3

YC-Link / ECommunication among controllers

Feature

Funct ional i ty improvements Multiple robots (up to 4 robots or 16 axes) can be operated

simultaneously through the communication among robots, “YC-LINK/E”.

Multiple robots can be controlled only with one master controller. Flexible axis configuration supports a wide variety of

applications. Smooth movement is achieved by greatly improving the

motion functions. More intuitive arch motion designation is possible.

Feature

Connect ion funct ion improvements RS-232C and Ethernet por ts are provided as

standard equipment. Various field buses are supported. (CC-Link, DeviceNet, EtherNet/IP, PROFIBUS) Multiple robots are controlled using the YC-Link/E. More flexible robot configuration can be constructed

by connecting to other company’s servo amplifiers.

RCX340 P2-3

Basic speci f icat ion improvementsUser memory capacity is increased.(Max. 30,000 points / Sequence program capacity is increased.)Program processing speed is increased by improving the CP performance.Support tools with improved visibility and operability-New programming box “PBX”(Color display and memory save function are added.)-New support software “RCX-Studio”(Programming s imu la to r and debugging environment are enhanced.)

32

13 years have passed since RCX40 that is also called “RCX controller zero (0) generation”

was sold in 2001.

RCX controller 3rd generation model “RCX340” is now put on the market by

reviewing all functions to further improve the functions of the

RCX controller.

M o r e a d v a n c e d YA M A H A’ s n e x t g e n e r a t i o n c o n t r o l l e r

Y A M A H A l a u n c h e s n e w c o n t r o l l e r R C X 340

Feature

1

E n h a n c e d b a s i c performance2 More fulfi l led expandability3

YC-Link / ECommunication among controllers

Feature

Funct ional i ty improvements Multiple robots (up to 4 robots or 16 axes) can be operated

simultaneously through the communication among robots, “YC-LINK/E”.

Multiple robots can be controlled only with one master controller. Flexible axis configuration supports a wide variety of

applications. Smooth movement is achieved by greatly improving the

motion functions. More intuitive arch motion designation is possible.

Feature

Connect ion funct ion improvements RS-232C and Ethernet por ts are provided as

standard equipment. Various field buses are supported. (CC-Link, DeviceNet, EtherNet/IP, PROFIBUS) Multiple robots are controlled using the YC-Link/E. More flexible robot configuration can be constructed

by connecting to other company’s servo amplifiers.

RCX340 P2-3

Basic speci f icat ion improvementsUser memory capacity is increased.(Max. 30,000 points / Sequence program capacity is increased.)Program processing speed is increased by improving the CP performance.Support tools with improved visibility and operability-New programming box “PBX”(Color display and memory save function are added.)-New support software “RCX-Studio”(Programming s imu la to r and debugging environment are enhanced.)

RCX340NEWNEW

Smooth movement is achieved by greatly improving the motion functions.

As a new servo motion engine is incorporated into the controller, various operations can be linked. Newly developed algorithms achieve reduction of the positioning time and improvement of the tracking accuracy.

Tracking accuracy is improved.

Visualization using the servo analysis functions and high response using the functions increase the followingness. This improves the tracking accuracy when compared to conventional models.

Flexible axis configuration supports a wide variety of applications.

The interpolation operation in the dual lane is possible by setting the multi-coordinate axes and making the CP commands applicable to the axis designation. This greatly shortens the cycle time of the robot with multiple axes having the same coordinate attribute.

More intuitive arch motion designation is possible.

As the arch motion route designation method is changed, the designation method is simplified and more intuitive designation is possible.

MOVE P,P1,CONT

MOVE P,P4

MOVE C, P2,P3,CONT

Link Link

The speed is made faster by liking dif ferent operations, such as PTP, interpolation operation, and conveyor tracking.

Use of linked PTP makes it possible to link all operations as much as possible.A s o p e r a t i o n s w i t h d i f f e r e n t acceleration/deceleration time are linked at the maximum level by giving priority to the operation t ime, the m ovement t ime can be grea t l y shortened.

When performing the continuous operation at a constant speed, such as sealing, the conventional PATH is used. When giv ing pr ior i t y to the movement time, the liked PTP is used. An optimal operation suitable for the application can be selected.

Example : PTP CP

PTP1/PTP2 operation patterns are calculated as the linking is considered as preconditions.

Greater effects are obtained as operations are linked at the maximum level regardless of kinds of operations to be linked.

Linked PTP operation

NEWNEW

PTP operation to make the movement time to the final target position shortest

PTP PTP

PTPLink

NEWNEW

RCX340NEWNEW

MOVE P,P1,CONT

MOVE P,P2,

Link

Operation starts without stopping.

CTMOVE

Multiple robots can be controlled only with one master controller.The RCX340 controller allows high-speed communication among the controllers. As the master controller sends operation commands to each slave controller, programs and points can be controlled only with the host master controller.Additionally, as the RCX340 controller flexibly supports multi tasks, the data exchanging using the PLC can be simplified. Simultaneous start and arrival of each robot can also be controlled freely.Complicated and precise robot system using many axes can be constructed more simply at low costs.

CP CP

CPLink Link

PATH

One PLC controls all controllers.

Program is set to each controller. The robots are operated while the programs are synchronized with each other through I/O.

Program 1 Program 2 Program 3 Program 4

RCX340

PLC

Master Slave Slave Slave

Controllers without setting programs.

Connectable with LAN cables.YC-Link/E

Master controls all programs and settings.

NEWNEW

PTP1

PTP2

PTP1

PTP2

TIME

Example : 4-axis dispenser robot A1-X/A2-Z/A3-Y/A4-Y

As A4 also becomes the designation axis, it cannot perform different operation and waits at the same target position.

Sealing

A2-Z

A2-ZA2-Z

A1-X

A1-XA1-X

A3-YA3-Y

A3-Y

A4-YA4-Y

A4-Y

Operation is impossible during A3 sealing.A3/A4 exchanging starts after completion of sealing.

Specify A1/A2/A3 to start the sealing.

A3 moves to the workpiece setting position in task 2.

A4 moves to the sealing position in task 2.

Specified using XYR parameters

Obstacle

1st operation (Z)

2nd operation (X&Y)

3rd operation (Z)

Specified using Z parameters Specified using Z parameters

Obstacle1st operation (Z)

2nd operation (X&Y)

3rd operation (Z)

RCX340NEWNEWConventional method

15 mm/sec. 500 mm/sec.

RCX240

Tracking deviation is reduced greatly.

RCX340NEWNEW

Multiple robots can be operated simultaneously through the high-speed communication.Use of link among controllers makes it possible to store programs into only one controller.Newly developed algorithms achieve reduction of the positioning time and improvement of the tracking accuracy.

Functionality improvements

4 5

Specified using Z parameters

Movement time is shortened!

Next operation starts during deceleration.

Next operation starts after completion of deceleration.

A4 sealing starts after completion of A3/A4 exchanging.

A4 sealing starts immediately after completion of movement to the A1/A2 sealing position.

Conventional method

Up to 4 robots or 16 axes can be controlled only with one master RCX340.Simultaneous start and arrival of each robot can also be controlled freely.

Expansion of CONT option functions Improvement of operation speed

Example : PTP Conveyor tracking

Proper use according to applications

Conventional method

Parameters need to be specified for all axes. Routes are difficult to adjust.

Only the target axis is specified for the sealing. Other axes can execute different operations in parallel in other tasks.

Example : Interpolation operation in dual lane

Conventional method

Interpolation operation to the final target position at specified speed

RCX340 4-5

RCX340NEWNEW

Smooth movement is achieved by greatly improving the motion functions.

As a new servo motion engine is incorporated into the controller, various operations can be linked. Newly developed algorithms achieve reduction of the positioning time and improvement of the tracking accuracy.

Tracking accuracy is improved.

Visualization using the servo analysis functions and high response using the functions increase the followingness. This improves the tracking accuracy when compared to conventional models.

Flexible axis configuration supports a wide variety of applications.

The interpolation operation in the dual lane is possible by setting the multi-coordinate axes and making the CP commands applicable to the axis designation. This greatly shortens the cycle time of the robot with multiple axes having the same coordinate attribute.

More intuitive arch motion designation is possible.

As the arch motion route designation method is changed, the designation method is simplified and more intuitive designation is possible.

MOVE P,P1,CONT

MOVE P,P4

MOVE C, P2,P3,CONT

Link Link

The speed is made faster by liking dif ferent operations, such as PTP, interpolation operation, and conveyor tracking.

Use of linked PTP makes it possible to link all operations as much as possible.A s o p e r a t i o n s w i t h d i f f e r e n t acceleration/deceleration time are linked at the maximum level by giving priority to the operation t ime, the m ovement t ime can be grea t l y shortened.

When performing the continuous operation at a constant speed, such as sealing, the conventional PATH is used. When giv ing pr ior i t y to the movement time, the liked PTP is used. An optimal operation suitable for the application can be selected.

Example : PTP CP

PTP1/PTP2 operation patterns are calculated as the linking is considered as preconditions.

Greater effects are obtained as operations are linked at the maximum level regardless of kinds of operations to be linked.

Linked PTP operation

NEWNEW

PTP operation to make the movement time to the final target position shortest

PTP PTP

PTPLink

NEWNEW

RCX340NEWNEW

MOVE P,P1,CONT

MOVE P,P2,

Link

Operation starts without stopping.

CTMOVE

Multiple robots can be controlled only with one master controller.The RCX340 controller allows high-speed communication among the controllers. As the master controller sends operation commands to each slave controller, programs and points can be controlled only with the host master controller.Additionally, as the RCX340 controller flexibly supports multi tasks, the data exchanging using the PLC can be simplified. Simultaneous start and arrival of each robot can also be controlled freely.Complicated and precise robot system using many axes can be constructed more simply at low costs.

CP CP

CPLink Link

PATH

One PLC controls all controllers.

Program is set to each controller. The robots are operated while the programs are synchronized with each other through I/O.

Program 1 Program 2 Program 3 Program 4

RCX340

PLC

Master Slave Slave Slave

Controllers without setting programs.

Connectable with LAN cables.YC-Link/E

Master controls all programs and settings.

NEWNEW

PTP1

PTP2

PTP1

PTP2

TIME

Example : 4-axis dispenser robot A1-X/A2-Z/A3-Y/A4-Y

As A4 also becomes the designation axis, it cannot perform different operation and waits at the same target position.

Sealing

A2-Z

A2-ZA2-Z

A1-X

A1-XA1-X

A3-YA3-Y

A3-Y

A4-YA4-Y

A4-Y

Operation is impossible during A3 sealing.A3/A4 exchanging starts after completion of sealing.

Specify A1/A2/A3 to start the sealing.

A3 moves to the workpiece setting position in task 2.

A4 moves to the sealing position in task 2.

Specified using XYR parameters

Obstacle

1st operation (Z)

2nd operation (X&Y)

3rd operation (Z)

Specified using Z parameters Specified using Z parameters

Obstacle1st operation (Z)

2nd operation (X&Y)

3rd operation (Z)

RCX340NEWNEWConventional method

RCX240

Tracking deviation is reduced greatly.

RCX340NEWNEW

Multiple robots can be operated simultaneously through the high-speed communication.Use of link among controllers makes it possible to store programs into only one controller.Newly developed algorithms achieve reduction of the positioning time and improvement of the tracking accuracy.

Functionality improvements

4 5

Specified using Z parameters

Movement time is shortened!

Next operation starts during deceleration.

Next operation starts after completion of deceleration.

A4 sealing starts after completion of A3/A4 exchanging.

A4 sealing starts immediately after completion of movement to the A1/A2 sealing position.

Conventional method

Up to 4 robots or 16 axes can be controlled only with one master RCX340.Simultaneous start and arrival of each robot can also be controlled freely.

Expansion of CONT option functions Improvement of operation speed

Example : PTP Conveyor tracking

Proper use according to applications

Conventional method

Parameters need to be specified for all axes. Routes are difficult to adjust.

Only the target axis is specified for the sealing. Other axes can execute different operations in parallel in other tasks.

Example : Interpolation operation in dual lane

Conventional method

Interpolation operation to the final target position at specified speed

RCX340 4-5

Connecting to other company’s servo amplifier allows more flexible robot configuration.

As other company’s servo amplifier is used instead of the RCX340 controller, it can be operated as a robot axis.Additionally, the conventional models have the restrictions on the robot configuration as follows. Axis allocation needs to be selected from the fixed patterns or XYZR coordinate attribute is fixed inside the controller.However, the RCX340 controller allows you to feely set the coordinate attribute so as to support various robot configurations.

A wide variety of field buses are supported./Up to four controllers are connected to perform the centralized control of multiple robots.

Improvement of cycle time

The speed is made faster with the YK-XG series.

User memory capacity is increased.

This programming box supports three languages, “Japanese”, “English”, and “Chinese”. Use of color display greatly improves the visibility.Funct ion add i t ion and ed i t opera t ions become easy to a l low even a nov ice opera tor w i th less programming skill to operate the programming box.A function to save the controller data into a USB memory is also incorporated into this programming box.

RS-232C and Ethernet ports are provided as standard equipment. In addition to CC-Link and DeviceNet, a wide variety of high-speed and large capacity field networks, such as EtherNet/IP are supported as options.It is also easy to link to other company’s controller or other company’s vision system. Thus, the RCX340 is called “exactly connectable controller”.

More fulfilled expandability

Connection function improvements

Functions, such as robot languages, multi tasks, sequence functions, communications,

and field buses are improved to make them easier to use.

Enhanced basic performance

Motion optimization

To bring out the robot performance at its maximum level, the motion optimization corresponding to the operation pattern is further strengthened.Robot operations with excellent quality, such as shortening of the operation time or suppression of vibrat ions at stop are achieved.

Basic specification improvements

RCX340RCX240

Mov

emen

t tim

e (s

ec.)

Arm rotation angle (°)

800

600

400

200

00 30 60 90 120 150 180

Acceleration/deceleration motion that operates at a high speed while suppressing the vibration is generated.

Data table is added.

RCX340

Compact design

The outside dimensions are approx. 355 mm (W) x 195 mm (H) x 130 mm (D). The volume ratio is reduced approx. 85% when compared to the conventional 4-axis controller to achieve the compact design and make the installation inside the control panel easy.

RCX240

Downsized approx. 15% when compared to RCX240.

New support software “RCX-Studio” with improved visibility and operability

The program debugging funct ions are enhanced to suppor t mul t i tasks. The quick setup is possible wi th easy-to-use operabil ity and program input support function.

Easier to use and quicker setup when compared to YAMAHA robots/Effective maintenance

Candidates after command and how to use are displayed.

List of operation items and data

Debugging information on multi tasks are displayed at the same time.

Changing various monitor panel layouts and floating display are also possible.

Various editors

Applicable robots Connectedmotor capacity

Power capacity

Dimensions

Weight

Power supply voltage

No. of controllable

axes

Drive method

Position detection method

Control method

Coordinate systems

Position display units

Speed setting

Acceleration

/deceleration setting

Program language

Multi-task

Sequence program

Memory capacity

Program

PointPoint teaching method

System backup(Internal memory backup)

Operating temperature 0 to 40°C

Storage temperature -10 to 65°C

Operating humidity 35 to 85% RH (no condensation)

Noise immunity Conforms to IEC61000-4-4 Level 3

Protective structure IP10

CC-Link board4 stations occupied, Ver. 2.0

Option slot

EtherNet/IP board

DeviceNet board

4 slotsDedicated input 8 points, dedicated output 9 pointsGeneral-purpose input 16 points, general-purpose output 8 points(Max. 1 board when NPN/PNP specifications are selected.)General-purpose input 24 points, general-purpose output 16 points(Max. 4 boards when NPN/PNP specifications are selected.)

Dedicated input 16 points, dedicated output 16 pointsGeneral-purpose input 96 points,general-purpose output 96 points

Standard specifications

Expansion specifications

ParallelI/O board

External I/O

Basic specifications

Axis control

Program

ming

General specifications

Options

Op

tion board

s

6 7

Example : YK400XG

RCX240

364KB

RCX340

2.1MB

RS-232C and Ethernet ports are provided as standard equipment.In addition, fulfilled field buses, such as CC-Link, EtherNet/IP, DeviceNet, and Profibus *1 are supported to allow connection and control of a wide variety of devices. For 5 axes or more, up to four RCX340 controllers can be connected using YC-Link/E to perform the centralized control of multiple robots.

Standard equipment, Ethernet

Centralized program control

YC-Link / E

Up to four RCX340 controllers (16 axes) can be connected.

YC-Link / E Centralized control of multiple robotsMore flexible robot configuration

Up to four RCX340 controllers (maximum number of controllable axes is 16) can be connected.

General-purpose motor

3-times increase!

RCX240

10,000 points

30,000 points

RCX340

Optimal acceleration/deceleration motion

Standard cycle time operation 0.49 sec. � 0.45 sec.

Total capacity of programs and points

The number of points is greatly increased.

Easy to use operation system Program debugging functions are enhanced to support multi tasks.

Program input support function

New programming box PBX

Communication among controllers

YAMAHA single-axis robots, linear single-axis robots,Cartesian robots,SCARA robots (except for YK120X and YK150X), P&P robots1600W or less (in total for 4 axes)

2500VA

W355 x H195 x D130 mm (main unit only)

6.5kg (main unit only)

Single-phase 200 to 230V AC ±10%, 50/60Hz

Max. 4 axes (simultaneous control: 6 axes)

This can be expanded to up to 16 axes (4 robots) using the controller link.

AC full digital servo

Resolver or magnetic linear scale

PTP motion (point to point), ARCH motion, linear interpolation, circular interpolation

Joint coordinates, Cartesian coordinates

Pulses, mm (1/1000 steps), degree (1/1000 steps)

1 to 100% (1% steps, This setting can be made even by programming.)Automatic acceleration setting by robot model and tip weight parameterSetting by acceleration coefficient and deceleration rate parameters (1% steps)* Can be changed by programming.Zone control(Only the SCARA robot can set an optimum speed corresponding to the arm position.)

YAMAHA BASIC II conforming to JIS B8439 (SLIM language)

Max. 16 tasks

1 program

2.1MB (Total of program and point data)(Available capacity for program when the maximum number of points is used: 300KB)

100 programs (maximum number of programs)9999 lines (maximum number of lines per program)

30000 points (maximum number of points)

MDI (coordinate data input), direct teaching, teaching playback, offline teaching (data input from external unit)

Lithium battery (service life about 4 years at 0 to 40°C)

SAFETY Input Emergency stop ready input, 2 systemsAuto 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)

Origin sensor input Connectable to 24V DC B-contact (normally closed) sensor

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 USB: 1CH (B type) RS-422: 1CH (Dedicated to PBX)

Programming box PBX, PBX-E

Support software for personal computer RCX Studio

Absolute battery 3.6V 2750mAH/axis Backup retention time: About 1 year

General-purpose servo amplifier

*1.

RCX340 4-5

*1. Planned to be available in September, 2014.

*1. For further information on applicable modes, contact YAMAHA.

Connecting to other company’s servo amplifier allows more flexible robot configuration.

As other company’s servo amplifier is used instead of the RCX340 controller, it can be operated as a robot axis.Additionally, the conventional models have the restrictions on the robot configuration as follows. Axis allocation needs to be selected from the fixed patterns or XYZR coordinate attribute is fixed inside the controller.However, the RCX340 controller allows you to feely set the coordinate attribute so as to support various robot configurations.

A wide variety of field buses are supported./Up to four controllers are connected to perform the centralized control of multiple robots.

Improvement of cycle time

The speed is made faster with the YK-XG series.

User memory capacity is increased.

This programming box supports three languages, “Japanese”, “English”, and “Chinese”. Use of color display greatly improves the visibility.Funct ion add i t ion and ed i t opera t ions become easy to a l low even a nov ice opera tor w i th less programming skill to operate the programming box.A function to save the controller data into a USB memory is also incorporated into this programming box.

RS-232C and Ethernet ports are provided as standard equipment. In addition to CC-Link and DeviceNet, a wide variety of high-speed and large capacity field networks, such as EtherNet/IP are supported as options.It is also easy to link to other company’s controller or other company’s vision system. Thus, the RCX340 is called “exactly connectable controller”.

More fulfilled expandability

Connection function improvements

Functions, such as robot languages, multi tasks, sequence functions, communications,

and field buses are improved to make them easier to use.

Enhanced basic performance

Motion optimization

To bring out the robot performance at its maximum level, the motion optimization corresponding to the operation pattern is further strengthened.Robot operations with excellent quality, such as shortening of the operation time or suppression of vibrat ions at stop are achieved.

Basic specification improvements

RCX340RCX240

Mov

emen

t tim

e (s

ec.)

Arm rotation angle (°)

800

600

400

200

00 30 60 90 120 150 180

Acceleration/deceleration motion that operates at a high speed while suppressing the vibration is generated.

Data table is added.

RCX340

Compact design

The outside dimensions are approx. 355 mm (W) x 195 mm (H) x 130 mm (D). The volume ratio is reduced approx. 85% when compared to the conventional 4-axis controller to achieve the compact design and make the installation inside the control panel easy.

RCX240

Downsized approx. 15% when compared to RCX240.

New support software “RCX-Studio” with improved visibility and operability

The program debugging funct ions are enhanced to suppor t mul t i tasks. The quick setup is possible wi th easy-to-use operabil ity and program input support function.

Easier to use and quicker setup when compared to YAMAHA robots/Effective maintenance

Candidates after command and how to use are displayed.

List of operation items and data

Debugging information on multi tasks are displayed at the same time.

Changing various monitor panel layouts and floating display are also possible.

Various editors

Applicable robots Connectedmotor capacity

Power capacity

Dimensions

Weight

Power supply voltage

No. of controllable

axes

Drive method

Position detection method

Control method

Coordinate systems

Position display units

Speed setting

Acceleration

/deceleration setting

Program language

Multi-task

Sequence program

Memory capacity

Program

PointPoint teaching method

System backup(Internal memory backup)

Operating temperature 0 to 40°C

Storage temperature -10 to 65°C

Operating humidity 35 to 85% RH (no condensation)

Noise immunity Conforms to IEC61000-4-4 Level 3

Protective structure IP10

CC-Link board4 stations occupied, Ver. 2.0

Option slot

EtherNet/IP board

DeviceNet board

4 slotsDedicated input 8 points, dedicated output 9 pointsGeneral-purpose input 16 points, general-purpose output 8 points(Max. 1 board when NPN/PNP specifications are selected.)General-purpose input 24 points, general-purpose output 16 points(Max. 4 boards when NPN/PNP specifications are selected.)

Dedicated input 16 points, dedicated output 16 pointsGeneral-purpose input 96 points,general-purpose output 96 points

Standard specifications

Expansion specifications

ParallelI/O board

External I/O

Axis control

Program

ming

General specifications

Options

Op

tion board

s

6 7

Example : YK400XG

RCX240

364KB

RCX340

2.1MB

RS-232C and Ethernet ports are provided as standard equipment.In addition, fulfilled field buses, such as CC-Link, EtherNet/IP, DeviceNet, and Profibus *1 are supported to allow connection and control of a wide variety of devices. For 5 axes or more, up to four RCX340 controllers can be connected using YC-Link/E to perform the centralized control of multiple robots.

Standard equipment, Ethernet

Centralized program control

YC-Link / E

Up to four RCX340 controllers (16 axes) can be connected.

YC-Link / E Centralized control of multiple robotsMore flexible robot configuration

Up to four RCX340 controllers (maximum number of controllable axes is 16) can be connected.

General-purpose motor

3-times increase!

RCX240

10,000 points

30,000 points

RCX340

Optimal acceleration/deceleration motion

Standard cycle time operation 0.49 sec. � 0.45 sec.

Total capacity of programs and points

The number of points is greatly increased.

Easy to use operation system Program debugging functions are enhanced to support multi tasks.

Program input support function

New programming box PBX

Communication among controllers

YAMAHA single-axis robots, linear single-axis robots,Cartesian robots,SCARA robots (except for YK120X and YK150X), P&P robots1600W or less (in total for 4 axes)

2500VA

W355 x H195 x D130 mm (main unit only)

6.5kg (main unit only)

Single-phase 200 to 230V AC ±10%, 50/60Hz

Max. 4 axes (simultaneous control: 6 axes)

This can be expanded to up to 16 axes (4 robots) using the controller link.

AC full digital servo

Resolver or magnetic linear scale

PTP motion (point to point), ARCH motion, linear interpolation, circular interpolation

Joint coordinates, Cartesian coordinates

Pulses, mm (1/1000 steps), degree (1/1000 steps)

1 to 100% (1% steps, This setting can be made even by programming.)Automatic acceleration setting by robot model and tip weight parameterSetting by acceleration coefficient and deceleration rate parameters (1% steps)* Can be changed by programming.Zone control(Only the SCARA robot can set an optimum speed corresponding to the arm position.)

YAMAHA BASIC II conforming to JIS B8439 (SLIM language)

Max. 16 tasks

1 program

2.1MB (Total of program and point data)(Available capacity for program when the maximum number of points is used: 300KB)

100 programs (maximum number of programs)9999 lines (maximum number of lines per program)

30000 points (maximum number of points)

MDI (coordinate data input), direct teaching, teaching playback, offline teaching (data input from external unit)

Lithium battery (service life about 4 years at 0 to 40°C)

SAFETY Input Emergency stop ready input, 2 systemsAuto 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)

Origin sensor input Connectable to 24V DC B-contact (normally closed) sensor

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 USB: 1CH (B type) RS-422: 1CH (Dedicated to PBX)

Programming box PBX, PBX-E

Support software for personal computer RCX Studio

Absolute battery 3.6V 2750mAH/axis Backup retention time: About 1 year

General-purpose servo amplifier

*1.

RCX340 4-5

*1. Planned to be available in September, 2014.

*1. For further information on applicable modes, contact YAMAHA.

355

213

22.5 155 155

225

5.5

10.5

195

130

External view

Ordering method

AC IN

BAT2 BAT3 BAT4M1 M2 M3 M4

ENUSB

COM

ROB I/O3-4

ROB I/O1-2

SAFETY

1 3

2 4

PB

OPTION

1

2

3

4PWR

(PE) M1 BAT1

Controller options

OP.AOP.A

OP.COP.C

OP.BOP.BOP.B

OP.DOP.DOP.D

RCX340Safety

standardsController option A

(OP. A)Controller option B

(OP. B)

4 : 4axes

3 : 3axes E : CE

4 : 4 pcs.

2 : 2axes

NS : STD.DIO(NPN) 1 4 --- 3 --- 3 --- 3 VY: iVY without light 9

NE : EXP.DIO(NPN) 2 4 NE : EXP.DIO(NPN) 2 4 NE : EXP.DIO(NPN) 2 4 NE : EXP.DIO(NPN) 2 4 LC: iVY with light 9

PS : STD.DIO(PNP) 1 4 --- 3 --- 3 --- 3

PE : EXP.DIO(PNP) 2 4 PE : EXP.DIO(PNP) 2 4 PE : EXP.DIO(PNP) 2 4 PE : EXP.DIO(PNP) 2 4

GR: Gripper 8

TR : Tracking 5 9

GR: Gripper 8

TR : Tracking 5 9

GR: Gripper 8

TR : Tracking 5 9

GR: Gripper 8

TR : Tracking 5 9

EP : Ethernet/IP 7 EP : Ethernet/IP 7 EP : Ethernet/IP 7 EP : Ethernet/IP 7

PB : Profibus 7 10 PB : Profibus 7 10 PB : Profibus 7 10 PB : Profibus 7 10

CC : CC-Link 7 CC : CC-Link 7 CC : CC-Link 7 CC : CC-Link 7

DN : DeviceNet 7 DN : DeviceNet 7 DN : DeviceNet 7 DN : DeviceNet 7

Please select desired selection items from the upper portion of the controller option A in order.

[STD.DIO] Parallel I/O board standard specificationsDedicated input 8 points, dedicated output 8 points, general-purpose input 16 points, general-purpose output8 points

Only one DIO STD specification board can be selected. Therefore, this board cannot be selected in OP.B to OP.D.Be careful not to mix NPN and PNP of DIO.Only one tracking board can be selected.

Select only one master or slave for YC-Link/E.Be careful not to mix field buses (CC/DN/PB/EP).Gripper : Planned to be available in July, 2014.Tracking and iVY : Planned to be available in August, 2014.Profibus : Planned to be available in September, 2014.YC-Link/E : Planned to be available in July, 2014.

Controller No. of controllable

axesN : Normal No entry Non-selection

Controller option D(OP. D)

Controller option C(OP. C)

Controller option E(OP. E)

3 : 3 pcs.

2 : 2 pcs.

1 : 1 pc.

0 : 0 pc.

[EXP.DIO] Parallel I/O board expansion specificationsGeneral-purpose input 24 points, general-purpose output 16 points

New Product information

Absolute battery

No entry Non-selection No entry Non-selection No entry Non-selection No entry Non-selection

RCX340 H1-4

201406-AE

Specifications and appearance are subject to change without prior notice.

IM Operations882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054, JapanTel 81-53-460-6103 Fax 81-53-460-6811

http://global.yamaha-motor.com/business/robot/URL E-mail [email protected]

rcx340 - yrginc.com...ptp1 ptp2 ptp1 ptp2 time time example : 4-axis dispenser robot...

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