RCX221/RCX222 - Yamaha Robotics
Contents
1. ooo 00 IM ooo 00 JM b FH d PI i a peo o cele E il gilo o Et e eooo jer 4 E Regenerative unit RG2 Status indicator Basic specifications Regenerative unit connector Item RG2 5 KAS M4130 00 a a ql ena Modol including cable supplied with unit connector ergg Robot I O connector Blo g pp Connector for Battery for lal ol Dimensions W35 x H210 x D158mm awe A absolute data backup isso Weight 0 8kg RPB RPB E connector ren loll ih Regenerative Safety connector hag Approx 420V or more connector ral FS voltage pp Parallel I O network board k He R WO Io egenerative stop around fel e Approx 380V or less terminal COM connector uUi e Lailell Cable for connection with r Accessory Z come controller 300mm SD memory connector u wd Note Installs on the right side of the RCX221 HP RCX222 HP i C t be installed t it Note Photograph shows RCX222 The component names on the Note Depth D is 158mm Seo Pog oot SERATA UNI m RCX221 are the same but it does not come with an absolute Installs on the right side of the RCX221 HP RCX222 HP m backup battery Cannot be installed as a separate unit E Specification selection table The r2. PNP specification E SAFETY connector signals Terminal se ate I O No Name 1 DI COM Dedicated input common 2 INTERLOCK Interlock signal 3 SERVICE SERVICE mode input 4 DO COM Dedicated output common 5 MPRDY Main power supply ready 6 SERVO OUT Servo on state output 7 NC No connection 8 KEY1 RPB key switch contact 9 KEY2 RPB key switch contact 10 24VGND EMG 24V GND 11 EMG24V Power supply for emergency stop input 12 EMGRDY Emergency stop ready signal 13 EMGIN1 Emergency stop input 1 14 EMGIN2 Emergency stop input 2 15 EMGIN3 Emergency stop input 3 16 EMGIN4 Emergency stop input 4 17 LCKIN1 Enable switch input 1 18 LCKIN2 Enable switch input 2 19 LCKIN3 Enable switch input 3 20 ILCKIN4 Enable switch input 4 6 53 A gt O0 og 2 47 7 E RCX221 RCX222 E Standard I O connector name STD DIOJ signal table E Option I O connector name OP DIO signal table Terminal Signal Name Terminal Signal None number name RCX221 RCX222 number name 1 DI01 Servo ON 1 Spare 2 DI10 Sequence program control 2 DI40 General input 3 DIO3 Step r
3. Language Function CHANGE Switches the hand of the main robot HAND Defines the hand of the main robot RIGHTY Selects whether the main robot will be right handed or left handed when moving to a point specified on a PERD Cartesian coordinate system SHIFT Sets the shift coordinates for the main robot by using the shift data specified by a shift variable Condition change Language Function ACCEL Changes the acceleration coefficient parameter of the main group ARCH Changes the arch position parameter of the main group ASPEED Changes the automatic movement speed of the main group AXWGHT Changes the axis tip weight parameter of the main group DECEL Changes the deceleration rate parameter of the main group ORGORD Sets the axis sequence parameter to perform return to origin and absolute search in the main group OUTPOS Changes the OUT position parameter of the main group PDEF Defines the pallet used to execute a pallet movement command SPEED Changes the program speed for the main group TOLE Changes the tolerance parameter of the main group WEIGHT Changes the tip weight parameter of the main robot Language Function ONLINE Changes communication mode and initialize the OFFLINE communication port SEND Sends the read file data into a write file Screen control Language Function PRINT Displays the value of specified variable on the MPB RPB screen Key control Lan
4. PATH control Language Function PATH Sets the PATH motion on the main robot axis PATH END Terminates the path setting for PATH motion PATH SET Starts the path setting for PATH motion PATH START Starts the PATH motion Torque control Language Function DRIVE Executes an absolute movement command on each axis with torque limit option in the main group TORQUE Changes the maximum torque instruction for the specified main group axis Sets the current limit time out period on the specified TRQTIME main group axis when using a torque limit setting option in the DRIVE statement Sets the current limit time out period on the specified TRQTIME main group axis when using a torque limit setting option in the DRIVE statement 479 E aR Z pmr 7 Pri z 9 e o D RCX221 RCX222 Accessories and part options Standard accessories Power connector wiring connection lever Safety connector Model KAS M5382 00 Model KAS M5370 00 Note Jointly used by SR1 P SR1 X RCX240 Standard I O STD DIO connector Model KAS M533G 00 Model KAS M533G 10 Absolute battery for RCX222 only Battery for absolute data back up Option I O OP DIO connector Absolute battery basic specifications RPB terminator dummy connector Attach this to the RPB connector during operation with the programming box RPB removed Model KAS M5
5. specifications Volume 1 Release2 0 Volume 2 Release2 0 Device Profile Name Generic Device device number 0 Number of occupied CH Normal Input output 24ch each Compact Input output 2ch each MAC ID setting 0 to 63 Transmission speed setting 500Kbps 250Kbps 125Kbps set using DIP switch on board Normal General input 96 points General output 96 points Dedicated input 16 DeviceNet points Dedicated output 16 points Oss eae General input 16 points General output 16 points Dedicated input 16 E points Dedicated output 16 points The master module and up to four ports can be controlled regardless Note3 Parallel external I O of the robot program by using the pseudoserialization function naik Overall length 100m 500Kbps 250m 250Kbps 500m 125Kbps length Branch length eng Overall branch length 6m max 39m max 6m max 78m max 6m max 156m max Monitor LED MS Module Status NS Network Status Note1 Use the robot parameter to select Normal or Compact However with the controllers earlier than Ver 9 08 of RCX221 222 this selection is not available and the setting remains the same as Normal Note2 Controller I Os are updated every 10ms Note3 With RCX221 222 the exclusive input of the parallel I O cannot be used The interlock input terminal is located on the SAFETY connector side Note4 These values apply when a thick cable is used The distance is less w
6. Applicable robot controllers Note Microsoft and Windows are registered trademarks of Microsoft Corporation Note ADOBE and ADOBE READER are registered trademarks of Adobe Systems Incorporated Note Ethernet is a registered trademark of Xerox Corporation ms 480 RCX221 RCX222 RCX141 RCX142 RCX240 RCX240S P 489 Support software for PC Windows V l l Visual Integurated Programming E Applicable controllers gt COZI LOFA COA EETA Breer CEZ VIPt is an easy to operate application software that makes tasks such as robot operation writing editing programs and point teaching easy to visually understand Features New support software VIP with improved ease of use KJ GUI updated for enhanced usability J Input the data in the work sheet form Parameter Point data It is also possible to copy and paste the data from the other spread sheet chart calculation software The user interface has been improved with the VIP Windows function kept as it is so as to achieve more ease of use oa 22 ef ibisiis sithiibetiticn titipi er eee ee Le When reserved words character FA Data displayed in the tree view form string reserved as the robot agp Hated j language are inputted they are vara a The data included in the controller is displayed legibly colored automatically making them yeh noted at one glance for easier i ee program editing P btaa heka Tae oe SPEED 1 WEF P
7. 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 a Slots 2 inc STD DIO 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 x Options CC Link Dedicated input 16 points Dedicated Output 16 points General input 96 points General Type 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 E Programming box RPB RPB E with enable switch amp 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 S Absolute backup battery Lithium metallic battery 3 6V 5400mAH 2700nAH x 2 T Absolute data backup period 1 year in state with no power applied Noise immunity IEC61000 4 4 Level3 5 Protecting structure IP10 P3 e oO fe un E installation conditions e Install
8. 05 700 200W 10 i perpendicular axis is 200W 10 10 900 400W or more 20 e perpendicular axis is 100W and stroke is 20 05 1500 Note w of the B14H is 200W but the current ha a aaar axes at 100W 20 10 1700 l j and includes leads of 5mm 20 20 2000 B14H which maximum speed exceeds ee ees 2400 HP 1250mm per second Note Even if axial current sensor values for each axis are interchanged no problem will occur 4 5 E RCX221 RCX222 Item Model RCX221 RCX221HP RCX222 RCX222HP Number of controllable axes 2 axes maximum 2 inode selene UE Single axis robot FLIP X Cartesian robot XY X Controllable robots Linear motor single axis robot PHASER Pick amp place robot YP X j Cartesian robot XY X Pick amp 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 D Maximum power consumption 1700VA 2400VA 1700VA 2400VA Dimensions W130 x H210 x D158mm a Weight Approx 2 9kg Approx 3 1kg Approx 2 9kg Approx 3 1kg a Input power Control power supply Single phase AC200 to 230V 10 maximum 50 60Hz supply 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 interpolatio
9. Ber T Pea epay e praa Ep Fi ea i he iui Peer E g raasta B Fh een E som pa j ma paa I aeann e re he pee ae jp aaas e E EE rannan p E f J Harian moann E nanne ent Rae aae jan meran aaa E mses on Suva oe pee ETA mip r os oes ova Bata A r VEET i i La th tees a T Be fhe coe ae Ee at Gi rm av a at a II Pas baie m wx aer n gt n H zes Cd a i e Bri ae one a ta ECNIN PE PF PT Select the data to be stored Drag the selected data to the document window and drop it there Specify the file name and this completes the storage procedure 489 EEE VIP E VIP PLUS function Ei Easy to use EJ Robot operation With a number of robot operation items provided on one screen any operator can operate easily without memorizing the menu construction By connecting PC and controller with communication cable robot operation will be available by the on line command FJ Programming editing 6 Rell suiting Connecting a PC and the controller with a communication cable enable The program point eae pig n to edit data from robot controllers just as with RPB RPB E parameter shift and hand Ste ene can be edited on the PC a E kat alone Equipped with the function selector having the command searching function which enables to input the robot language with ease a3 ri 5 EERTE EERE HEHE e gt ii Data c
10. program lines Robot operation Language Function ABSRST Performs return to origin along robot absolute motor axes DRIVE Performs an absolute movement of each axis in the main group DRIVE Performs a relative movement of each axis in the main group MOVE Performs an absolute movement of the main robot axes MOVEI Performs a relative movement of the main robot axes ORIGIN Performs return to origin onan incremental mode axis or absolute search on a semi absolute mode axis PMOVE Performs a pallet movement of the main robot axes Controls the servo ON OFF of the specified axes in the main group SERVO or all axes in main group and sub group I O control Language Function DELAY Waits for the specified length of time ms DO Outputs the specified value to the DO ports LO Outputs the specified value to the LO port to prohibit axis movement or permit axis movement MO Outputs the specified value to the MO ports OUT Turns ON the bits of the specified output ports and the command statement ends RESET Turns OFF the bits of the specified output ports SET Turns ON the bits of the specified output ports SO Outputs the specified value to the SO port TO Outputs the specified value to the TO port 1 Waits until the condition in DI DO conditional WAIT expression are met within the tolerance range 2 Waits until positioning on the robot axes is complete Coordinate control
11. the RCX221 RCX222 inside the control panel e Install the RCX221 RCX222 on a flat level surface e Install the RCX221 RCX222 in a well ventilated location with space on all sides of the RCX221 RCX222 See fig at right e Do not block the heat sink on the side panel 9 fe o Oo RCX221 50mm or more e Do not block the fan on the bottom of the controller e Ambient temperature 0 to 40 C e Ambient humidity 35 to 85 RH no condensation Provide the same space dimensions for RCX222 ms 476 Instruction manuals can be downloaded from our company website Please use the following for more detailed information http global yamaha motor com business robot Example of input signal connection NPN specification PNP specification E Emergency input signal connections Connection when using the standard RPB with an external emergency stop circuit 1 113 EMG1 RPB connector 14 EMG2 Ed External emergency stopcircuit SAFETY DC24V connector intemal Map power gupp cou Control signal _ circul detection circuit I Connection when using the standard RPB with an external emergency stop circuit 2 External service mode stop circuit External 24V N J power supply SAFETY connector External emergency stopcircuit Internal control circuit Motor drive rcuit circul RCX221 RCX222 Example of output signal connection NPN specification
12. 1 to 2 axis RCX221 RCX222 yj t Robot controller with advanced functions A 2 axis robot controller with a full range of advanced functions in a compact space saving size Very easy to use Features Ki Compact Lightweight and compact design with main unit weight of 2 8kg and height of 210mm FA Same price as predecessor DRCX RCON fe i e YAMAHA W i OYAMAHA RCX221 RCX222 Main functions gt P52 Eq Anti collision control function Internal function in controller acts to prevent carriage collisions when using double carriages al Applicable to various peripheral equipments Freely select I O boards as needed Supports parallel I O NPN PNP CC Link DeviceNet PROFIBUS and Ethernet Delivers high performance along with sophisticated functions yet is the same price as the prior DRCX EK The absolute position data hold time 1 year The current position information is monitored even during a long vacation while the controller is kept unused and while it is transported so that the return to the origin process is not required when the controller is activated again RCX222 RCX222HP Capable of using additional function of YC Link for additional axis Linking the RCX series controller with the SR1 series single axis controller allows controlling a maximum of 8 axes synchronous control of 6 axes E Simultaneous control of PHASER and FLIP X Offers mixed control
13. 163 30 Note Jointly used by RCX240 L type stay for installing front side rear side Use to install the controller Model KAS M410H 00 Note Model No is for a single bracket L type stay Two are required to install one controller Battery case This is the absolute battery holder Item Absolute battery Model KAS M53G0 11 Battery type Lithium metallic battery Battery capacity 3 6V 2 750mAh Data holding time About 1 year in state with no power applied Note1 Model KBG M5395 00 Dimensions 617 x L53mm Absolute battery installation conditions Mmaxer O ERI EN m Weight 22g Note Jointly used by SR1 X RCX240 power Note1 When using 2 batteries Note2 Weight of battery itself Note The absolute battery is subject to wear and requires replacement If trouble occurs with the memory then remaining battery life is low so replace the absolute battery The battery replacement period depends on usage conditions But generally you should replace the battery after about 1 year counting the total time after connecting to the controller and left without turning on the 1 to 2 batteries are required for each 2 axes 1 battery Data storage time of approximately 6 months with no power applied 2 batteries Data storage time of approximately 1 year with no power applied Note Absolute battery is not required for either of the 2 axes if using i
14. IEEE802 3 Connector specification RJ 45 connector 8 pole modular connector 1 port Baud rate 10Mbps 10BASE T Capable of making an easy access from the TELNET terminal to the robot controller As the command system is the same as that by the RS 232C communication even first time users can use it easily Windows PCs have a built in TELNET terminal called TELNET EXE as a standard equipment With a number of controllers connected in the network it is possible to perform integrated information control over robots even at a distance from the work site Communication mode Half Duplex Half duplex Network protocol Application layer TELNET Transport layer TCP IP Network layer IP ICMP ARP Data link layer CSMA CD Physical layer 1OBASE T Number of simultaneous log inputs 1 Setting of IP address etc Monitor LED Set from RPB Run Collision Link Transmit Receive
15. al safety g g circuit so that releasing the enable switch or Cable length 5m Standard 12m Options pressing it inwards set the robot to emergency stop 491 EE A Z j md je rr Pri wd J9 01 U09 joqoy Field network system with minimal wiring NETWORK E CC Link Option unit with networking functions that can be incorporated in YAMAHA robot controllers RCX221 RCX222 RCX240 RCX240S As connection of the robot system and the sequencer requires only one 4 wire dedicated cable it is possible to save wiring of the entire system which contributes to efficient wiring work reduction of installation and maintenance costs etc 96 general use inputs outputs 16 dedicated inputs outputs 4 nodes occupied Capable of simulating serial operation of parallel I O With this function set properly it is possible to control various I O units connected to the parallel I O of the robot controller such as sensor and relay from the sequencer side without using the robot program as if they are I Os of the CC Link system E DeviceNet QD je Z 7 i i Pri A 1 01 U09 mm 492 Option unit with networking functions that can be incorporated in YAMAHA robot controllers RCX221 RCX222 RCX240 RCX240S As connection of the robot system and the sequencer requires only one 5 wire dedicated cable it is possible to reduce wiring of the entire system whi
16. bsite Please use the following for more detailed information http global yamaha motor com business robot RCX221 RCX222 E Robot Language Table Communication control General commands Language Function DECLARE Declares that a label or sub procedure is in an external program DEF FN Defines a function that is available to the user DIM Declares the name of an array variable and the number of elements EXIT FOR Terminates a FOR statement to NEXT statement loop FOR to NEXT Controls repetitive operations GOSUB to Jumps to a subroutine with the label specified by a RETURN GOSUB statement and executes the subroutine GOTO Unconditionally jumps to the line specified by a label HALT Stops a program and resets it HOLD Pauses a program IF Allows control flow to branch according to conditions LET Executes a specified assignment statement ONt Jumps to a subroutine with each label specified by a GOSUB o GOSU me statement according to conditions and executes the subroutine ON to GOTO Jumps to each line specified by a label according to conditions REM All characters that follow REM or an apostrophe are viewed as comments e Allows control flow to branch according to conditions SWI Switches the currently executed program to a specified WHILE to WEND program and executes from the first line after compiling Controls repetitive operations Label statement Defines labels in
17. ch contributes to efficient wiring work reduction of installation and maintenance costs etc Capable of simulating serial operation of parallel I O With this function set properly it is possible to control various I O units connected to the parallel I O of the robot controller such as sensor and relay from the sequencer side without using the robot program as if they are I Os of the DeviceNet system E PROFIBUS Option unit used to connect a YAMAHA robot controllers RCX221 RCX222 RCX240 RCX240S to PROFIBUS Optimum for high speed data communication and complicated communication processing Communication is made available among devices of multiple number of manufacturers Capable of simulating serial operation of parallel I O With this function set properly it is possible to control various I O units connected to the parallel I O of the robot controller such as sensor and relay from the sequencer side without using the robot program as if they are I Os of the PROFIBUS system E Ethernet Option unit used to connect a YAMAHA robot controller to Ethernet which can be incorporated in YAMAHA robot controllers RCX221 RCX222 RCX240 RCX240S Connection of this unit to the network operation by the TCP IP protocol with a 1OBASE T cable makes data exchange with a robots easy RCX221 RCX222 RCX240 RCX240S E Applicable controllers Basic specifications for network modules CC Link Item Network m
18. eries controller is required Applicable robot controllers RCX221 RCX222 RCX141 RCX142 RCX240 RCX240S Note Microsoft and Windows are registered trademarks of Microsoft Corporation Note ADOBE and ADOBE READER are registered trademarks of Adobe Systems Incorporated Note Ethernet is a registered trademark of Xerox Corporation DPELCEZ LI LEE CLL WE Controller and data cable connection diagrams Communication cable for VIPTt Select from USB cable or D sub cable Converter USB connector RCX221 222 RCX40 KBG M538E 00 RCX141 142 USB RCX240 240S 9Pin KAS M538F 10 D Sub USB USB type 5m Controller Model D Sub type Qpin 9pin 5m KAS M538F 10 Note Data cable jointly used for POPCOM POPCOMt VIP VIP Note USB driver for communication cable can also be downloaded from our website driver supports VIP POPCOM and TS Manager Programming box Customers using the RCX141 RCX142 is controllers should use the connector E Applicable controllers gt COZZA CAZA AZI OLY SOT RIT All operations can be performed from this device including manual robot operation programming entry and editing teaching and setting parameters The display works interactively with the operator so even an absolute beginner can easily learn how to use programming box E RPB RPB E basic specifications E Part names and function Name RPB RPB E Display screen Liquid crystal displa
19. guage Function INPUT Assigns a value to the variable specified from the MPB RPB Procedure Language Function CALL Calls up sub procedures defined by the SUB and END SUB statements EXIT SUB SHARED Terminates the sub procedure defined by the SUB and END SUB statements Does not permit variables declared with a program written outside a subprocedure SUB to END SUB to be passed on as dummy arguments but allows them to be referred to with a sub procedure SUB to END SUB Defines a sub procedure Task control Language Function CHGPRI Changes the priority of the specified task CUT Terminates a task currently being executed or temporarily stopped EXIT TASK Terminates its own task currently being executed RESTART Restarts a task that is temporarily stopped START Sets the task number and priority of the specified task and starts that task SUSPEND Temporarily stops another task being executed Error control Language Function If an error occurs during program execution this command ON ERROR _ fallows the program to jump to the error processing routine GOTO specified by the label without stopping the program or stops the program and displays the error message RESUME Resumes the program execution after recovery from an error This command is used in the error processing routine ERL Gives the line number where an error occurred ERR Gives the error code number when an error occurred
20. heck function Provided with the equivalent data check function to that of a robot controller it is possible to correct data errors before s i operation Creating point data There are three methods available for creating the point data MDI Manual Data Input teaching The numeric keyboard is used to enter position coordinate data directly a Z wae je m Pri A EJ Help function When more information is needed during operation press the F1 or HELP key and the help screen will appear Remote teaching The robot arm is actually moved to the target position using the keys for point data registration Direct teaching The robot arm is manually moved to the target position with the servo motors off for point data registration J9 01 U09 Environment Ordering method gt P491 ms 490 Instruction manuals can be downloaded from our company website Please use the following for more detailed information V j P http global yamaha motor com business robot E Support software for PC VIP Os Microsoft Windows 2000 XP Vista 32bit 64Bit 7 32bit 64Bit Processor that meets or exceeds the suggested requirements CPU for the OS being used Memory Suggested amount of memory or more for the OS being used Hard disk 40MB of available space required on installation drive Model KX0 M4966 00 Communication method Aaea AEA Ethernet unit for RCX s
21. hen a fine cable is used or when thick and fine cables are mixed in use Basic specifications for network modules PROFIBUS Item Network modules PROFIBUS Applicable controllers RCX221 RCX222 RCX240 RCX240S Communication profile PROFIBUS DP slave Number of occupied nodes 1 node Setting of station address 1 to 99 set using Rotary switch on board Setting of communication 9 6Kbps 19 2Kbps 93 75Kbps 187 5Kbps 500Kbps 1 5Mbps speed 3Mbps 6Mbps 12Mbps automatic recognition Note1 General input 96 points General output 96 points Dedicated intput 16 PROFIBUS I O points Dedicated output 16 points The master module and up to four ports can be controlled regardless Note2 Parallel external I O of the robot program by using the pseudoserialization function 100m 3M 6M 12Mbps 200m 1 5Mbps 400m 500Kbps Overall length 4000m 187 5Kbps 1200m 9 6K 19 2K 93 75Kbps Monitor LED RUN ERR SD RD DATA EX Note 1 The shortest I O update interval of the controller is 10ms but the actual I O update time varies depending on the update time with the master station Note 2 With RCX221 222 the exclusive input of the parallel I O cannot be used The interlock input terminal is located on the SAFETY connector side Basic specifications for network modules Ethernet Item Network modules Ethernet Applicable controllers RCX221 RCX222 RCX240 RCX240S Network specification As specified for Ethernet
22. i EH0 0 WELD OPE i WEF Fa Beda en is b Bifil bh iii a kE i a hi The step being performed during the R program execution can be monitored Thus it ispossible to check which step is SEISA 2a T FOIFLEAM Rnt m 3 G mna Fully equipped tool bar CE LELOX ANLO Each of vaioustunotone igh Wb EE performed wihou 7 ov ne tLe a a al stopping the program one click on the tool bar LJ D oO B E s c Yo fey eigen of mmo joj the program is made a much easier Joncas oo EJ Expanded monitor function The I O conditions and variables in the controller can be monitored at real time In the advanced mode itis also possible to attach any label Note to general purpose input output and others RR a i e j a CEE EEEE F4 af J ALLEEL seeeceee BELIEGE It is possible to create the system restoration point at any timing By doing so at important points in the system constructing process when for example something faulty is found after the system was changed the system can be returned to the state before such change easily GR25 EESE8R5E E HIH 7 i Note The label is stored in PC Ei Data operation using the new drag amp drop function The data can be stored easily by using the drag amp drop function Likewise the stored data can be restored to the controller by operating the mouse only J9 01 U09 jyOoqoYy 2
23. n Circular interpolation Arch motion Coordinate system Joint coordinates Cartesian coordinates 5 Position indication units Pulses mm millimeters deg degrees 2 Speed setting 1 to 100 In units of 1 However speed is in units of 0 01 during single axis operation by DRIVE statement a 1 Automatic acceleration setting based on robot model type and end mass parameter Acceleration setting 2 Setting based on acceleration and deceleration parameter Setting by 1 unit Resolution 1um 16384 P rev Origin search method Incremental Semi absolute Absolute Incremental Program language YAMAHA BASIC Conforming to JIS B8439 SLIM Language E Multitasks 8 tasks maximum O Sequence program 1 program A 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 T Programs 100 program 9 999 maximum lines per program 98KB maximum capacity per program E Points 10 000 points maximum numbers of points S Memory Backup battery Lithium metallic battery service life 4 years at OC to 40C 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
24. ncremental or semi absolute specifications Programming box RPB RPB E This device can perform all operations such as manual robot operation program entry and edit teaching and parameter settings visually understand 3 VIPA e ita Q RPB RPB E Model KBK M5110 10 KBK M5110 00 D Enable T ET 3 position CE marking Not supported Applicable Environment CD OS Support software for PC VIPt VIP is a simple to use application software that makes tasks such as robot operation writing editing programs and point teaching easy to VIP software model KX0 M4966 00 Data cables Communication cable for VIPt Select from USB cable or D sub cable D Sub USB type 5m Model D Sub type 9pin Ypin 5m Note Data cable jointly used for POPCOM POPCOM VIP VIP Note USB driver for communication cable can also be downloaded from our website driver supports VIP POPCOM POPCOM and TS Manager KBG M538F 00 KAS M538F 10 Microsoft Windows 2000 XP Vista 32bit 64Bit 7 32bit 64Bit CPU Processor that meets or exceeds the suggested requirements for the OS being used Memory Suggested amount of memory or more for the OS being used Hard disk 40MB of available space required on installation drive Communication method RS 232C Ethernet Note For Ethernet communication Ethernet unit for RCX series controller is required
25. nput 33 DI31 General input 31 33 DI61 General input 34 DI32 General input 32 34 DI62 General input 35 DI33 General input 33 35 DI63 General input 36 DI34 General input 34 36 DI64 General input oC DI35 General input 35 37 DI65 General input 38 DI386 General input 36 38 DI66 General input 39 DI37 General input 37 39 DI67 General input 40 CHK2_ Check input 2 40 Spare 41 DOO2 Servo on state 41 Spare 42 DO03 Alarm 42 Spare 43 DO20 General output 20 43 DO40 General output 44 DO21 General output 21 44 DO41 General output 45 DO22 General output 22 45 DO42 General output 46 DO23 General output 23 46 DO43 General output 47 DO24 General output 24 47 DO44 General output 48 DO25 General output 25 48 DO45 General output 49 j DO26 General output 26 49 j DO46 General output 50 DO27 General output 27 50 DO47_ General output P3 e oO fe n 2 e o Oo specifications Note 4 Set origin return on axes using absolute specifications Note 1 Use of DIO6 DIO7 is prohibited Note 2 DO15 is a memory backup battery voltage drop alarm output Note 3 Set origin return for axes using incremental specifications and axes using semi absolute Area check output can be assigned to DO20 to D0157 Area check output assignment differs depending on the controller software version See the user s manual for details ms 478 Instruction manuals can be downloaded from our company we
26. obot type automatically determines the normal specifications or HP specifications RCX221 RCX221HP RCX222 RCX222HP PHASER XY X FLIP X Arm type Gantry type XZ tvpe YP X Clean Moving arm type Pole type yP alaaa Area S h SINI SIN O MOTM mw OIN 4 OC L LL LL L LL LL Y 7 z N rs m i eaa mlx 8 x18 x xo x 1S a e x mlx amp RCX221 ee ee ala x s x 5 S KS kiz x k SIS amp Regenerative No entry None mats 2 AXes pa lee AXES unit R RG2 eieele RCX222 Applicable RCX222HP e O Regenerative No entry None unit R RG2 S D Applicable Select per conditions E Power capacity Conditions where regenerative Required power supply capacity varies according to the robot type and number of axes Prepare a unit is needed on multi robots power supply using the following table as a general guide Motor capacity exceeds a total of 450W When connected to 2 axes Cartesian robot or multi axis robot Motor capacity vs current sensor table Motor capacity for perpendicular axis Axial current sensor value Connected motor exceeds a total of 240W X axis Y axis Power capacity VA capacity Current sensor The following conditions apply when 05 05 500 100W or less 05 perpendicular axis capacity is 240W or less 10
27. odules CC Link Applicable controllers RCX221 RCX222 RCX240 RCX240S Version supporting CC Link Ver 1 10 Remote station type Remote device node Number of occupied stations Fixed to 4 stations Station number setting 1 to 61 set from the Rotary swich on board 10Mbps 5Mbps 2 5Mbps 625Kbps 156Kbps set from the Rotary Communication speed setting swich on board General input 96 points General output 96 points Note1 No of CC Link I O Dedicated input 16 points Dedicated output16 points A function that simulates serial communication enables individual control of the various points from a master sequencer regardless of the robot program Parallel external I O Shortest distance between nae 0 2 m or more 100m 10Mbps 150m 5Mbps 200m 2 5Mbps 600m 625Kbps Overall lengt 1200m 156Kbps h Note3 Monitor LED RUN ERR SD RD Note 1 Controller I Os are updated every 10ms Note 2 With RCX 141 142 the exclusive input of the parallel I O cannot be used other than the interlock input With RCX221 222 the exclusive input of the parallel I O cannot be used The interlock input terminal is located on the SAFETY connector side Note 3 These values apply when a cable that supports CC Link Ver 1 10 is used Basic specifications for network modules DeviceNet Item Network modules DeviceNet Applicable controllers RCX221 RCX222 RCX240 RCX240S Applicable DeviceNet
28. of linear motor single axis robot PHASER series along with 200 VAC motor single axis robot FLIP X series RCX221 RCX221HP E Model Overview RCX221 RCX221HP RCX222 RCX222HP Single phase AC200V to 230V 10 maximum 50 60HZz Programming Remote command Operation using RS 232C communication 2 axes maximum Name Power Operating method Maximum number of controllable axes Position detection method Incremental Semi absolute Absolute Incremental Cartesian robot XY X Single axis robot FLIP X i Linear motor single axis robot PHASER Cartesian robot XY X Single axis robot FLIP X Pick amp place robot YP X A a RPB RPB E with enable switch JD Controllable robot Programming box Support software for PC VIP GLEE VIP Ordering method p S RCX221 RCX221HP RCX222 RCX222HP QO e mh S 2 Sa o E JJ Usable for CE FM Regenerative unit T a Input Output Selection 2 Oo Ea J Usable for CE EEATT a T Input Output Selection 2 RCX221 No entry Standard No entry None N NPN No entry None RCX222 No entry Standard No entry None N NPN No entry None RCX221HP E CE marking R RG2 P PNP N1 OP DIO24 16 NPN RCX222HP E CE marking R RG2 P PNP N1 OP DIO24 16 NPN CC CC Link P1 OP DIO24 16 PNP CC CC Link P1 OP DIO24 17 PNP DN DeviceNet EN Ethe
29. rnet Note4 DN DeviceNet EN Ethernet Note4 PB PROFIBUS PB PROFIBUS EN Ethernet YC YC Link Noes EN Ethernet YC YC Link No Note 1 Driver selection and regenerative unit selection depends on the robot type See Specification selection table on following page Note 1 Driver selection and regenerative unit selection depends on the robot type See Specification selection table on following page Note 2 The regenerative unit option is required when operating a model designated by YAMAHA or a load with a large inertia Note 3 Available only for the master Note 4 Only when you have selected CC DN or PB for Input Output selection 1 you can select EN for Input Output selection 2 ms 474 Note 2 The regenerative unit option is required when operating a model designated by YAMAHA or a load with a large inertia Note 3 Available only for the master Note 4 Only when you have selected CC DN or PB for Input Output selection 1 you can select EN for Input Output selection 2 Instruction manuals can be downloaded from our company website Please use the following for more detailed information R X 2 2 1 R http global yamaha motor com business robot E Part names dimensions RCX221 Dimensions RCX221HP Dimensions ooo 00 A ooo 00 JO lel ooo 000 MEM 1 beoeo cM
30. un 3 Spare 4 CHK1 Check input 1 4 DI41 General input 5 DIO5 I O command run 5 Spare 6 DIO6 Spare 6 E Spare 7 DIO7 Spare a Spare 8 DI20 General input 20 8 DI50 General input 9 DI21 General input 21 9 DI51 General input 10 DI22 General input 22 10 DI52 General input 11 DI23 General input 23 11 DI53 General input 12 DI24 General input 24 12 DI54 General input 13 DI25 General input 25 13 DI55 General input 14 DI26 General input 26 14 DI56 General input 15 DI27 General input 27 15 DI57 General input 16 DOOO EMG monitor emergency stop monitor 16 Spare 17 DO01 CPU OK 17 Spare 18 DO10 AUTO mode 18 DO30 General output 19 DO11 Return to origin complete 19 DO31 General output 20 DO12 Sequence program in progress 20 DO32 General output 21 DO13 Auto operation in progress 21 DO33 General output 22 DO14 Program reset output 22 DO34 General output 23 DO15 Battery alarm output 23 DO35 General output 24 DO16 END 24 DO36 General output 25 DO17 BUSY 25 DO37 General output 26 DI12 Auto operation start 26 D142 General input 27 DI13 AUTO mode switching 27 D143 General input 28 DI14 _ ABS reset Not in use normally RReturn to origin 28 DI44 General input 29 DI15 Program reset 29 DI45 General input 30 DI16 MANUAL mode 30 DI46 General input 31 DI17 Return to origin In use normally ABS reset 4 31 D147 General input 32 DI30 General input 30 32 DI60 General i
31. y mas Emergency stop button FOD Shows Caeni Pressing this button during P robot operation sets the naonn 8 lines x 40 characters p robot to emergency stop These are B contact type gt Contrast is adjustable C15 S19 tl CC CEOS Perra External view i HRF z Sheet keys switches These are key switches for operating the robot or entering programs etc These are broadly grouped into 3 blocks consisting of function keys control keys and RPB connector RCX221 RCX222 RCX240 dala keys Applicable controllers RCX240S This is a connector for connecting the RPB to Model KBK M5110 10 KBK M5110 00 a the controller Display LCD 40characters 8 lines Normally closed contact point Emergency stop button y p E RPB E Rear side with lock function Enable switch 3 position T 3 position enable switch only on RPB E CE marking Not supported Applicable y This switch is usable as part of an external remote ratin mperatur o 40 safety circuit he au gte pa ellen 0 sa z Pressing this switch inwards or releasing it cuts off the Operating humidity 35 to 85 RH non condensing RPB robot circuit However that circuit is operable Di W180 x H250 x D50mm Strap holder when this switch is in middle position mEDSICNS emergency stop button not included This enable switch is usually operable in service Weight 600 mode It functions as part of an extern
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