Yamaha ERCX Spezifikationen Seite 76
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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
414
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
Option unit with networking functions that can
be incorporated in YAMAHA robot controllers,
RCX221 / RCX222 / RCX240.
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 effi cient 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.
Option unit with networking functions that can
be incorporated in YAMAHA robot controllers,
RCX221 / RCX222 / RC240.
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, which contr butes to effi cient 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
poss ble 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.
Option unit used to connect a YAMAHA robot
controllers RCX221 / RCX222 / RCX240 to Profi bus.
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
poss ble 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 Profi bus system.
Option unit used to connect a YAMAHA robot controller
to Ethernet, which can be incorporated in YAMAHA robot
controllers, RCX221 / RCX222 / RCX240. Connection of
this unit to the network operation by the TCP/IP protocol
with a 10BASE-T cable makes data exchange with a
robots easy.
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
fi rst-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.
Basic specifi cations for network modules CC-Link
tem Network modules CC-Link
Applicable controllers RCX221 / RCX222 / RCX240
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)
Communication speed setting
10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps (set from the Rotary swich on board)
No. of CC-Link I/O
Note1
General input 96 points, General output 96 points,
Dedicated input 16 points, Dedicated output16 points
Parallel external I/O
Note2
A function that simulates serial communication enables individual control of the
various points from a master sequencer, regardless of the robot program.
Shortest distance
between nodes
Note3
0.2 m or more
Overall length
Note3
100m/10Mbps, 150m/5Mbps, 200m/2 5Mbps, 600m/625Kbps, 1200m/156Kbps
Monitor LED RUN, ERR, SD, RD
Controller I/Os are uNote 1. pdated every 10ms.
With RCX 141/142, the exclusive input of the parallel I/O cannot be used other than the interlock input.With RCX221 / 222, the Note 2.
exclusive input of the parallel I/O cannot be used. (The interlock input terminal is located on the SAFETY connector side.)
These values apply when a cable that supports CC-Link Ver.1.10 is used.Note 3.
Basic specifi cations for network modules DeviceNet
Item Network modules DeviceNet
Applicable controllers RCX221 / RCX222 / RCX240
Applicable DeviceNet specifi cations Volume 1 Release2 0 / Volume 2 Release2.0
Device Profi le Name Generic Device (device number 0)
Number of occupied CH
Note1
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)
DeviceNet
I/O
Note2
Normal
General input 96 points, General output 96 points, Dedicated input 16 points,
Dedicated output 16 points
Compact
General input 16 points, General output 16 points, Dedicated input 16 points,
Dedicated output 16 points
Parallel external I/O
Note3
The master module and up to four ports can be controlled regardless of the
robot program by using the pseudoserialization function.
Network
length
Overall length
Note
100m/500Kbps, 250m/250Kbps, 500m/125Kbps
Branch length /
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 when a fi ne cable is used or when thick and fi ne cables are mixed in use.
Basic specifi cations for network modules Profi bus
Item Network modules Profi bus
Applicable controllers
RCX221 / RCX222 / RCX240
Communication profi le Profi bus-DP slave
Number of occupied nodes 1 node
Setting of station address 1 to 99 (set using Rotary switch on board)
Setting of communication speed
9 6Kbps, 19.2Kbps, 93.75Kbps, 187.5Kbps, 500Kbps, 1.5Mbps, 3Mbps,
6Mbps, 12Mbps (automatic recognition)
Profi bus I/O
Note1
General input 96 points, General output 96 points, Dedicated intput 16 points,
Dedicated output 16 points
Parallel external I/O
Note2
The master module and up to four ports can be controlled regardless of the
robot program by using the pseudoserialization function.
Overall length
100m/3M 6M 12Mbps, 200m/1.5Mbps, 400m/500Kbps, 1000m/187.5Kbps,
1200m/9 6K 19.2K 93.75Kbps
Monitor LED RUN, ERR, SD, RD, DATA-EX
The shortest I/O update interval of the controller is 10ms but the actual I/O update time varies depending on the update time Note 1.
with the master station.
With RCX221 / 222, the exclusive input of the parallel I/O cannot be used. (The interlock input terminal is located on the Note 2.
SAFETY connector side.)
Basic specifi cations for network modules Ethernet
Item Network modules Ethernet
Applicable controllers RCX221 / RCX222 / RCX240
Network specifi cation As specifi ed for Ethernet (IEEE802.3)
Connector specifi cation RJ-45 connector (8-pole modular connector) 1 port
Baud rate 10Mbps (10BASE-T)
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: 10BASE-T
Number of simultaneous log inputs 1
Setting of IP address, etc. Set from RPB
Monitor LED Run, Collision, Link, Transmit, Receive
Network modules CC-Link
Network modules DeviceNet
Network modules Profi bus
Network modules Ethernet
Field network system with minimal wiring
NETWORK
Applicable controllers
RCX221 RCX222 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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