Multi-Axis RCX221/222

Multi-Axis RCX221/222
Dual-synchronous
Drive
Area Check
Function
Supports
"iVY System"
Anti-collision
control


Features

01 Supports all YAMAHA robot models

The RCX series supports all YAMAHA robot models such as the PHASER, FLIP-X and XY-X. It makes most types of applications possible since single-axis (FLIP-X/PHASER) and Cartesian robot can be used in any desired combination (not including some small single-axis robots).

02 Complete absolute specs

The RCX uses complete absolute specifications so of course no origin return is needed when the power is turned on. It also supports incremental specifications on a completely identical system (The PHASER series utilizes a magnetic scale and supports semi-absolute or incremental specifications.)

03 Longer extended absolute data backup time

Making an energy-saving backup circuit has drastically extended the retention time for absolute position data with no power applied. Ordinary model backup time was a maximum of 1 month has now been boosted to 1 year. Current position information can now be monitored during long vacations, equipment storage, or even during transport, and origin return is not needed when power is restored. This allows quick and easy production startups.

04 Area check output function

This function provides an output signal when the robot enters a preset area. Up to four areas can be specified

05 Supports the robot vision "iVY System"

The RCX series also supports the YAMAHA robot vision "iVY System" capable of handling a vast range of applications yet is simple to setup. Installing the vision board inside the controller unit drastically simplifies the calibration task that up to now took a lot of time and trouble. Performing position offset at image recognition widens the device sphere of applications and makes it usable for general-purpose tasks (only supported on RCX240).

06 Dual-synchronous drive

Equipped with the dual drive function to control 2 axis in synchronization, which is of effective use for carrying heavy items and long stroke operation with the Cartesian robot. This function enables good use of high speed, acceleration/ deceleration features of the YAMAHA robots.

Note. For the dual drive function, custom order arrangement is required. For more information, contact YAMAHA.

07 Double-carrier anti-collision control function

Collisions between carriers when using double-carriages can be prevented by a control function within the controller. Former collision prevention measures such as zone judgments or external sensors are no longer needed so double-carriers are now easier to use than ever before.

08 3D circular interpolation control

2D and 3D linear and circular interpolation ARC control are possible, making the RCX141 controller ideal for sealing work, etc. (3-dimensional interpolation is only available on the RCX240)

09 Palletizing function

This function can easily define a maximum of 20 types of pallets by just entering the teaching points for the 4 corner positions on the pallet. Entering teaching points along the height allows handling cubic pallets. Specify the defined pallet No. and execute the movement command to perform palletizing. The program can execute various actions such as 1 point → pallet, pallet → 1 point, pallet → pallet, etc.

10 Hand definition

This function operates the robot based on coordinates when the tool tip has been installed in the tip of the robot shaft in an offset position. This is especially effective during tool rotation on SCARA robots and robots with rotating shafts.

11 Shift coordinates

A deviation or offset might occur in the coordinates during service tasks such as robot re-installation or replacement. In those cases using the coordinates can be corrected by using the shift coordinate function so point data can be utilized without having to make changes and there is no need for reteaching.

12 Passing point output control

This function can turn general outputs ON or OFF at specified points so operation can continue with no stops along an axis during interpolation tasks. This outputs a spray ON or OFF signal while still operating on an axis during sealing to allow stable and smooth coating of sealant.

13 Torque limiting drive

The motor torque can be limited during grasping and press-fitting operations.

14 Multitask function

This function executes multiple tasks (up to eight tasks) Multiple tasks will switch with the timesharing method. However, a priority can be assigned to each task. This priority can also be changed while tasks are running. The multitask function simplifies the entire system窶冱 control configuration and also improves the operation efficiency.

15 Sequence program

In addition to the standard tasks, a task to control input/output (parallel, serial, memory, timer) can be executed independently. As the sequence program is effective in the manual mode as well, it is usable to construct the safety system linked with the peripheral equipment.

16 2-robot control

In addition to the standard tasks, a task to control input/output (parallel, serial, memory, timer) can be executed independently. As the sequence program is effective in the manual mode as well, it is usable to construct the safety system linked with the peripheral equipment.

17 Additional axis function "YC-Link"

Using an optional YC-Link, the RCX series controller and SR1 series single axis controller can be linked easily. If necessary, by linking some controllers, it is possible to control up to 8 axes (Max. 6 axes for simultaneous control).

18 Full support software: VIP+

Using an optional YC-Link, the RCX series controller and SR1 series single axis controller can be linked easily. If necessary, by linking some controllers, it is possible to control up to 8 axes (Max. 6 axes for simultaneous control).

19 Can be used with a "YRG series" electric gripper

All functions of a gripper can be controlled from one RCX240 controller. Setup and startup are very easy since no signal exchange with a PLC or host device is required.


Specifications

Model RCX221 RCX221HP RCX222 RCX222HP
Basic specifications
Number of controllable axes 2 axes maximum
Controllable robots Single-axis robot FLIP-X, Linear motor single-axis robot PHASER, Cartesian robot XY-X, Pick & place robot YP-X Single-axis robot FLIP-X, Cartesian robot XY-X, Pick & 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
Maximum power consumption 1700VA 2400VA 1700VA 2400VA
Dimensions W130 × H210 × D158mm
Weight Approx. 2.9kg Approx. 3.1kg Approx. 2.9kg Approx. 3.1kg
Input power supply Control power supply Single phase AC200 to 230V +/-10% maximum (50/60Hz)
Motor power Single phase AC200 to 230V +/-10% maximum (50/60Hz)
Axis control
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 interpolation, Circular interpolation, Arch motion
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 1µm 16384 P/rev
Origin search method Incremental / Semi-absolute Absolute / Incremental
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 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°C years at 0 to 40°C )
Internal flash memory 512KB (ALL data only)
External input/output
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), 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)
Options Slots 2 (inc.STD.DIO)
Type 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
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
Profibus: Dedicated input 16 points, Dedicated Output16 points, General input 96 points, General output 96 points
Ethernet: IEEE802.3 10Mbps (10BASE-T)
Options
Programming box RPB, RPB-E (with enable switch)
Support software for PC VIP+ / VIP
General specifications
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 (2700nAH × 2)
Absolute data backup period - 1 year (in state with no power applied)
Noise immunity IEC61000-4-4 Level3
Protecting structure IP10