CONTROLLERS Product Lineup Controllers Select the ideal controller from various command input formats. Servo parameters and acceleration patterns optimized for each robot are pre-stored, so you can start operating the robot right away without making troublesome setups. YAMAHA's line up Robot positioner I/O point trace Remote command TS-S Program TS-SD I/O point trace 1 axis Remote command Pulse train input RDP SR1-X 3/4 axes SR1-P RCX221 5 to 8 axes RCX240/RCX240S P.408 RDX P.
Point 1 Optimal setup Setting the parameters is simple Robot controllers are designed in-house for YAMAHA robots. Optimal values for servo parameters required for operating the robot such as gain are stored beforehand in the robot. Setting acceleration/deceleration is easy The acceleration/deceleration is a critical factor in determining the machine service life.
Product Lineup Controllers Point 3 Diverse command methods YAMAHA controllers allow the user to select from an ample array of control methods including programming, point trace and pulse train to match the customer’s application. Program entry MOVA 1 , 100 YAMAHA SRC language Move to point No. 1 at 100% of speed. DO 1 , 1 Turn general-purpose output No. 1 to ON. WAIT 2 , 1 Wait until general purpose input No. 2 turns ON.
Control method classification table TRANSERVO Stepping motor 1 axis FLIP-X [ T4L/ T5L/ YMS ] Small servo (24V / 30W) PHASER General-purpose servo (30 to 600W) P Linear motor P P I/O point trace TS-S/ TS-X/TS-P Remote command P.396 TS-X TS-S D TS-P D D Pulse train TS-SD P.408 RDX/RDP P.412 C TS-SD ERCD RDX ERCD RDP P.417 Program (YAMAHA SRC language) C C SR1-X/SR1-P I/O point trace P.
Controllers Product Lineup TS-X/TS-P P.396 FLIP-X PHASER TS-S P.
RDX/RDP FLIP-X P.412 PHASER [Robot driver] Easy tuning RDX RDP Operation method : Pulse train Input power : Main power 3-phase AC200V Control power Single phase AC200V Position detection : RDX Absolute Incremental RDP Incremental Special pulse string control driver These are dedicated pulse train input robot drivers for the YAMAHA single-axis robot FLIP-X series and the PHASER series.
Controllers Product Lineup SR1-X/SR1-P FLIP-X P.421 PHASER [Single-axis robot controllers] SR1-X Operation method : Program Point trace Remote command Online command Points : 1000 points Input power : AC100V / AC200V Position detection : SR1-X Absolute Incremental SR1-P Incremental Semi-absolute SR1-P Diverse command methods Select an optimal method from the different command methods including program operation, point trace, remote command, and on-line command.
Handy YAMAHA SRC language functions Multitask function Function to make conditional stop during movement This function enables to execute up to 4 tasks of peripheral equipment of the robot at the same time. With the multitask function combined with the JMPP command, it is possible to have I/O output when the specified point is passed during movement. The arm can be decelerated and stopped, using I/O conditions of the MOVF command while it is moving.
Product Lineup Controllers Supports the robot vision “iVY System” Hand definition 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.
Multitask function Additional axis function “YC-Link” 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’s control configuration and also improves the operation efficiency. Using an optional YC-Link, the RCX series controller and SR1 series single axis controller can be linked easily.
Compact single-axis robots APPLICATION TRANSERVO FLIP-X Single-axis robots PHASER Linear motor single-axis robots XY-X SCARA robots YK-XG CONTROLLER Cartesian robots YAMAHA ROBOT CONTROLLERS Pick & place robots YP-X RCX221/RCX222····································431 TS-S/TS-X/TS-P ··································· 396 RCX240/RCX240S································ 438 ●●LCD Monitor option TS-Monitor······································· 405 ●●Handy terminal HT1/HT1-D····················
Compact single-axis robots APPLICATION TRANSERVO CONTROLLER FEATURE DESCRIPTION Single-axis TS-S TS-X / TS-P Robot positioner TS-SD Robot positioner FLIP-X Single-axis robots Dedicated compact single-axis TRANSERVO Robot driver Single-axis robot FLIP-X Linear motor single-axis PHASER Dedicated compact single-axis TRANSERVO PHASER Linear motor single-axis robots XY-X Cartesian robots SCARA robots YK-XG P.396 P.
APPLICATION TRANSERVO RCX221 / RCX221HP Compact single-axis robots 1 to 2 axis RCX222 / RCX222HP Robot controller with advanced functions Robot controller with advanced functions Single-axis robot FLIP-X Cartesian robot XY-X Pick & place YP-X FLIP-X Single-axis robots Single-axis robot FLIP-X Linear motor single-axis PHASER Cartesian robot XY-X Pick & place YP-X PHASER Linear motor single-axis robots Cartesian robots XY-X Programming / Remote command / Operation using RS-232C communication 10000
Compact single-axis robots APPLICATION TRANSERVO CONTROLLER SPECIFICATION SHEET Category Robot positioner Name TS-S Robot driver TS-X TS-P TS-SD RDX RDP FLIP-X Single-axis robots External view PHASER Linear motor single-axis robots I/O point tracing / Remote command / Operation using RS-232C communication Operating method XY-X Cartesian robots SCARA robots YK-XG Main power supply / Main power Control power supply supply DC24V +/-10% AC100V specifications maximum Single phase 100 to 115
SR1-X SR1-P RCX221 RCX221HP RCX222 RCX222HP RCX240 RCX240S Compact single-axis robots ERCD APPLICATION TRANSERVO Robot controller FLIP-X Single-axis robots PHASER Programming / I/O point tracing / Remote command / Operation using RS-232C communication Linear motor single-axis robots Programming / Remote command / Operation using RS-232C communication XY-X Cartesian robots Pulse train control / Programming / I/O point tracing / Remote command / Operation using RS-232C communication Main pow
Compact single-axis robots APPLICATION TRANSERVO Single axis TS-S/TS-X/TS-P Robot positioner TS series CE compliance FLIP-X Single-axis robots TS series are positioner type controllers that only performs point trace. No program is needed. Operation is simple. After setting point data, specify the point number and enter a START signal from host controller such as a PLC. Positioning or pushing operation then begins.
7 Daisy chain function TS-X TS-P This function allows monitoring the various data design and operation status of any controller connected via daisy chain from one PC or handy terminal. Compact single-axis robots TS-S APPLICATION TRANSERVO TS-S/TS-X/TS-P Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. http://www.yamaha-motor.co.
APPLICATION TRANSERVO TS-S/TS-X/TS-P TS-S basic specifications Axis control Points PHASER Linear motor single-axis robots XY-X Cartesian robots SCARA robots YK-XG External input/output FLIP-X Single-axis robots YP-X Pick & place robots General specifications Options Compact single-axis robots Basic specifications Item Model Number of controllable axes Controllable robots Power capacity Dimensions Weight Control power supply Input power supply Motor power supply Control method TS-S Single-
TS-S part names TS-S / TS-X / TS-P dimensions Status indicator lamps (PWR, ERR) The controller status is indicated by LED lamps. 5 TS-S (70) 30 82 Compact single-axis robots Controller Communication connector 2 (COM2) Connector for the daisy-chain connection cable. ϕ4.5 25 152 162 FLIP-X Robot I/O connector (ROB I/O) Dedicated connector for robot I/O signals such as position signals and origin sensor signals, etc. Single-axis robots 152 Serial No.
APPLICATION TRANSERVO TS-S/TS-X/TS-P Data overview Compact single-axis robots Point data and parameter data settings must be specified in order to operate a robot from a TS series controller. Point data FLIP-X Single-axis robots The point data used in positioning operations includes items such as the “RUN type”, “Position”, and “Speed”, etc. Up to 255 points (P1 to P255) can be registered.
Emergency stop circuit example TS-S TS-S (power connector and host unit connection example) Compact single-axis robots NPN type input / output wiring diagram Controller I/O(NPN) +COM Power supply 0V Frame ground 0V FG Operation-in-progress End-of-operation Alarm Servo status PIN0 Handy Terminal External "emergency stop" External 24V ES1 PIN 0 to 7 Point No.
APPLICATION TRANSERVO TS-S/TS-X/TS-P I/O signals (NPN / PNP) Compact single-axis robots No. Signal Name A1 I/O power input, positive common (24VDC +/-10%) +COM A2 Single-axis robots FLIP-X A3 Description NC No. Signal Name B1 POUT0 B2 POUT1 B3 POUT2 Description No connection A4 NC B4 POUT3 A5 PIN0 B5 POUT4 A6 PIN1 B6 POUT5 A7 PIN2 B7 POUT6 A8 PIN3 B8 POUT7 PHASER Linear motor single-axis robots Outputs Point No. outputs Point No.
Accessories and part options Power connector Power connector (AC200V specifications) TS-X TS-X TS-SD TS-P TS-P KCC-M4421-00 Model Model I/O cables (2m) PHASER Dummy connector KAS-M5382-00 Linear motor single-axis robots EXT connector KCA-M5382-00 FLIP-X TS-S Single-axis robots Model Power connector (AC100V specifications) Compact single-axis robots Standard accessories APPLICATION TRANSERVO TS-S/TS-X/TS-P Instruction manuals can be downloaded from our company website.
APPLICATION TRANSERVO TS-S/TS-X/TS-P Options Compact single-axis robots DIN rail mounting bracket KCC-M499A-00 TS-S FLIP-X Single-axis robots 82 81 162 PHASER Linear motor single-axis robots For TS-S KCC-M499A-00 30 (81) Model 12.5 XY-X Cartesian robots SCARA robots YK-XG TS-X KCA-M499A-00 YP-X 131 167 (86) For TS-X / TS-P KCA-M499A-00 58 81 CONTROLLER INFORMATION TS-X(P)220 TS-X(P)205, TS-X(P)210 TS-X(P)105, TS-X(P)110 25.5 70 58 167 (86) 131 81 (35) CLEAN Model 25.
TS-Monitor TS-X TS-P FLIP-X The TS Monitor Advantage Before installing TS Monitor After installing TS-Monitor Shows basic info / 3 $ 326 PP Simple status display : ON / : OFF Run mode (1&2'(5 (5525 Current position '%* 6 6 2 ( / 3 $ Alarm occurs. Error or warning alarm number Alarm name 326 PP Shows I/O status I/O screen Displays input/output bit states.
APPLICATION TRANSERVO Handy terminal HT1/HT1-D Compact single-axis robots Applicable controllers TS-S TS-X TS-P This Handy Terminal is a device that can perform any operation such as robot manual operation, point data edit, teaching, and parameter setting, etc. Has graphic LCD display with backlight for easy viewing.
GP4000 Series Free download of the program file from the Pro-face home page http://www.proface.com TS-S TS-X TS-P Connecting GP4000 Series made by Pro-face to Robot Positioner, TS-S,TS-X,TS-P enables you to use a lot of functions as well as basic operations on Touch Operator Interface. FLIP-X Single-axis robots Features Compact single-axis robots Applicable controllers APPLICATION TRANSERVO Touch operator interface 1 Can easily check a state and change settings.
Compact single-axis robots APPLICATION TRANSERVO Single axis TS-SD Robot driver Only for pulse train control CE compliance Dedicated for TRANSERVO The TS-SD is a high-performance robot driver specifically designed for the TRANSERVO series that supports pulse train command input.
Axis control Options External input/output 11 10 9 8 7 6 5 4 3 2 1 Pick & place robots 13 12 YP-X Protective functions 15 14 SCARA robots Anti-vibration 16 YK-XG Atmosphere I/O connector 0°C to 40°C -10°C to 65°C 35% to 85%RH (non-condensing) 10% to 85%RH (non-condensing) Indoor location not exposed to direct sunlight. No corrosive , flammable gases, oil mist, or dust particles All XYZ directions 10 to 57Hz unidirectional amplitude 0.075mm 57 to 150Hz 9.
APPLICATION TRANSERVO TS-SD Daisy chain function Compact single-axis robots Connecting two or more TS series controllers and drivers in a daisy chain allows editing data on any one unit from a PC. • Up to 16 units connectable • Requires daisy chain coupler cables.
APPLICATION TRANSERVO Support software for PC TS-Manager 6XSSRUW 6RIWZDUH TS-Manager 76 0DQDJHU 9HU 0DQXDO 9HU 86% 'ULYHU 9HU <$0$+$ 5RERW 6XSSRUW 6RIWZDUH 76 0DQDJHU 76 0DQDJHU LQVWDOODWLRQ GLVN 76 0DQDJHU 6RIWZDUH 76 0DQDJHU 8VHU¶V 0DQXDO >3') '$7$@ 'HYLFH 'ULYHU IRU 86% 6HULDO &DEOH &RS\ULJKW & <$0$+$ 02725 &2 /7' $OO ULJKWV UHVHUYHG <$0$+$ 02725 &2 /7' TS-S TS-X TS-P TS-SD Compact single-axis robots Applicable controllers FLIP-X Single-axis robots Besid
Compact single-axis robots APPLICATION TRANSERVO Single axis RDX/RDP Robot driver Only for pulse train control As the size is small and weight is light, it is easy to include in the automated unit. FLIP-X Single-axis robots Main functions P.
Dimensions 65 56 ϕ6 (9) (75) ϕ6 130 (75) 170 (5) (16) (5) 6 6 PHASER 6 Linear motor single-axis robots (16) 160 150±0.5 160 150±0.5 FLIP-X 160 150±0.5 70 56 Single-axis robots (5) (14) (16) 130 5 (75) RDP-25 5 57 52 5 ϕ6 (5) RDX-20 RDP-20 Compact single-axis robots RDX-05/10 RDP-05/10 APPLICATION TRANSERVO RDX/RDP Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. http://www.yamaha-motor.co.
APPLICATION TRANSERVO RDX/RDP Basic specifications PHASER Linear motor single-axis robots Axis control Basic specifications FLIP-X Single-axis robots XY-X Cartesian robots SCARA robots YK-XG CONTROLLER INFORMATION Internal function CLEAN Robot positioner General specifications Options YP-X Pick & place robots Input/output related function Compact single-axis robots Item Driver model Number of controllable axes Controllable robots Model RDX RDX-05 RDX-10 Single-axis Single-axis robot FLIP-
Input / output signal connection diagram List of RDP / RDX terminal functions Robot driver OAP 21 Position sensor OAN 22 Phase A signal output 15 PLSP 150Ω 16 PLSN 41 SIGN Position sensor OBN 47 Phase B signal output 8 ORL 4.7kΩ OZ 48 Servo ON Return-to-origin Interface power common 20 4 TL 4.7kΩ L Logic ground SRD 35 28 FOT 4.7kΩ SRDE 42 ALM 11 29 ROT 4.7kΩ ALME 34 INP 12 32 ORG 4.7kΩ 33 PEN 4.7kΩ 9 CER 4.
APPLICATION TRANSERVO RDX/RDP Support software for PC Compact single-axis robots TOP Software for setup FLIP-X Single-axis robots This software is intended exclusively for RDP/RDX.Using the Windows operating computer, it is possible to set parameters, to monitor the position, speed and torque and to have graphics displayed, assuring pleasant and easy operation in the Windows® 95/98/ME, Windows NT®, Windows® 2000 or Windows® XP environment.
APPLICATION TRANSERVO Single axis Robot controller Compact single-axis robots ERCD Dedicated for T4L / T5L / C4L / C5L / YMS Single-axis robots Low price and compact in size. In addition to the conventional functions, a pulse train function is added for a wider application range. FLIP-X Main functions P.35 4 Zone output function 24V power connector (for EXT.
APPLICATION TRANSERVO ERCD Basic specifications Basic specifications FLIP-X Single-axis robots PHASER Linear motor single-axis robots Axis control Compact single-axis robots Item Model Number of controllable axes Controllable robots Capacity of the connected motor Dimensions Weight Memory SCARA robots YK-XG Program XY-X Cartesian robots CONTROLLER INFORMATION Robot positioner Pulse string driver General specifications Options CLEAN External input/output I/O interface YP-X Pick & place r
Connector I/O signals Function Function PHASER Cartesian robots XY-X SCARA robots YK-XG Pick & place robots YP-X CLEAN CONTROLLER INFORMATION Reserved (use inhibited) Reserved (use inhibited) Reserved (use inhibited) Differential clear input Return to the origin input Alarm reset input Servo-ON input Command pulse inhibition input General input 0 General input 1 General input 2 General input 3 General input 4 General input 5 Reserved (use inhibited) General output 5 General output 0 General output
APPLICATION TRANSERVO ERCD Input / output wiring diagram Robot Language Table Compact single-axis robots Command MOVA MOVI MOVF JMP ROB I/O. CN Sequence input Single-axis robots PB ABS-PT A1 FLIP-X JMPF INC-PT B1 AUTO-R A2 JMPB STEP-R B2 ORG-S A3 RESET B3 L SERVO A4 PHASER Linear motor single-axis robots RS232C communication control LOCK B4 DI0 A5 DI1 B5 DI2 A6 DI3 B6 DI4 A7 DI5 B7 CALL DO WAIT (SVCE) A8 XY-X Cartesian robots TIMR I/O. CN Sequence output I/O.
APPLICATION TRANSERVO Single axis Compact single-axis robots SR1-X/SR1-P Robot controller with advanced functions 5 Current position output function These controllers can output the current position as feedback pulse or binary data. This allows the upstream device to know the robot position in real-time. Pick & place robots Offers monitor functions of different types including input/output status monitoring, duty monitoring, and analog monitoring, etc.
APPLICATION TRANSERVO SR1-X/SR1-P Driver / regenerative unit selection table FLIP-X T4LH/ T5LH/ T6L/ C4LH C5LH C6L FLIP-X Single-axis robots 05 Driver SR1-X 10 selection 20 No entry Regenera- (None) tive unit R (RG1) PHASER Linear motor single-axis robots (1) (2) (3) (4) (5) F8LH/ F10 T9H F8/C8 F8L/ C8L C8LH C10 T9 F14/ F14H/ F17/ F17L/ F20/ F20N N15/ N18/ B10 C14 C14H C17 C17L C20 N15D N18D B14 B14H (1) (2) (1) (1) (2) (3) (3) (4) (5) (1) (2) (1) (1) (2) (3) (3) (4) (5) R5 R
SR1-X/SR1-P Basic specifications CLEAN CONTROLLER INFORMATION Basic specifications Axis control Memory Program External input/output Pick & place robots Robot positioner Pulse string driver Robot controller iVY Electric gripper 20mm or more YP-X : 35 to 85% RH (no condensation) SCARA robots • Ambient humidity YK-XG • Ambient temperature : 0 to 40˚C Cartesian robots 20mm or more • Install the SR1-X/SR1-P in a well ventilated location, with space on all sides of the SR1-X/SR1-P (See fig.
APPLICATION TRANSERVO SR1-X/SR1-P [NPN, PNP type] Input/Output list Compact single-axis robots FLIP-X Single-axis robots PHASER Linear motor single-axis robots XY-X Cartesian robots SCARA robots YK-XG YP-X Pick & place robots CLEAN CONTROLLER INFORMATION Robot positioner Terminal number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Signal name DI.
Robot Language Table WAIT IN OUT Robot positioner LET CONTROLLER INFORMATION SHFT CLEAN CSEL C C+ CD D+ D- Pick & place robots JMPD YP-X JMPC SCARA robots MAT MSEL MOVM YK-XG JMPP XY-X P P+ PSRVO STOP ORGN TON TOFF Cartesian robots TIMR PHASER CALL DO Linear motor single-axis robots L FLIP-X JMPB Single-axis robots JMPF Description Moves to a point data position. Moves from current position by amount of point data. Moves until a specified DI input is received.
APPLICATION TRANSERVO SR1-X/SR1-P Accessories and part options Compact single-axis robots Standard accessories Power connector + wiring connection lever Safety connector HPB dummy connector Attach this to the HPB connector during operation with the programming box HPB removed. FLIP-X Single-axis robots PHASER Linear motor single-axis robots Model KAS-M5382-00 Connector plug model KBG-M4424-00 Connector cover model KBG-M4425-00 Note. Jointly used by RCX221 / 222, RCX240.
POPCOM ERCD ERCX SR1-X SR1-P DRCX POPCOM is an easy to operate application software that makes tasks such as robot operation, writing-editing programs, and point teaching easy to visually understand. FLIP-X Single-axis robots Features 1 Easy to use 6 Creating point data MDI (Manual Data Input) teaching The numeric keyboard is used to enter position coordinate data directly. PHASER There are three methods available for creating the point data.
APPLICATION TRANSERVO PC supporting software POPCOM Environment Microsoft Windows 3.1/95/98/Me/NT/2000/XP Compact single-axis robots OS Note. The 64 bit version is not subject to the operation warranty.
HPB/HPB-D ERCD ERCX SR1-X SR1-P DRCX 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.
APPLICATION TRANSERVO Field network system with minimal wiring NETWORK Applicable controllers Compact single-axis robots CC-Link Option unit with networking functions that can be incorporated in YAMAHA robot controllers, ERCX / SR1-P / SR1-X / DRCX.
APPLICATION TRANSERVO 1 to 2 axis Compact single-axis robots RCX221/RCX222 Robot controller with advanced functions FLIP-X RCX221 Single-axis robots A 2-axis robot controller with a full range of advanced functions in a compact, space-saving size! Very easy to use. RCX222 Main functions P.37 PHASER 1 Compact Linear motor single-axis robots Features 5 Anti-collision control function Lightweight and compact design with main unit weight of 2.8kg and height of 210mm.
APPLICATION TRANSERVO RCX221/RCX222 Part names / dimensions RCX221HP Dimensions (22) 28 14 FLIP-X Single-axis robots PHASER Linear motor single-axis robots 17 6.3 210 130 100 5.5 5.5 250 225 158 130 100 14 250 225 184.5 Compact single-axis robots RCX221 Dimensions 44 4 60 60 4 RCX222 Dimensions 60 RCX222HP Dimensions 14 48 28 14 5.5 250 225 184.5 66 250 225 66 XY-X Cartesian robots 6.3 210 130 100 65.6 5.5 65.
CONTROLLER INFORMATION Axis control Program Memory External input/output CLEAN Robot positioner Pulse string driver Robot controller General specifications Options Pick & place robots YP-X iVY OP.1 RGEN RCX221 SRV ERR RDY E-STOP MOTOR Electric gripper XM TEMP ROB I/O 50mm or more 50mm or more ACIN L N RPB OP.2 N1 YM ! SAFETY EXT.E-STOP PIN11-12 17mm or more SD/COM * Provide the same space dimensions for RCX222.
APPLICATION TRANSERVO RCX221/RCX222 Example of input signal connection Compact single-axis robots PNP specification DC24V DC24V DI DI DI DI GND GND NPN specification PNP specification DC24V DC24V DO DO FLIP-X Single-axis robots NPN specification Example of output signal connection PHASER Linear motor single-axis robots XY-X Cartesian robots Emergency input signal connections Connection when using the standard RPB with an external emergency stop circuit (1) RPB YK-XG SCARA robots
Standard I/O [connector name: STD.
APPLICATION TRANSERVO RCX221/RCX222 Robot Language Table Compact single-axis robots General commands FLIP-X Single-axis robots Language DECLARE DEF FN DIM EXIT FOR FOR to NEXT GOSUB to RETURN GOTO HALT HOLD IF LET PHASER Linear motor single-axis robots ON to GOSU ON to GOTO REM Function Declares that a label or sub-procedure is in an external program. Defines a function that is available to the user. Declares the name of an array variable and the number of elements.
Accessories and part options Compact single-axis robots Standard accessories Power connector + wiring connection lever Safety connector APPLICATION TRANSERVO RCX221/RCX222 Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. http://www.yamaha-motor.co.jp/global/industrial/robot/ RPB terminator (dummy connector) Attach this to the RPB connector during operation with the programming box RPB removed.
Compact single-axis robots APPLICATION TRANSERVO 1 to 4 axis RCX240/RCX240S Robot controller with advanced functions FLIP-X Single-axis robots An advanced multi-axial controller newly developed based on long years of actual results! Along with a full range of functions, great engineering also makes it extremely easy to use! RCX240 RCX240S Main functions P.
RCX240/RCX240S Ordering method Controller Note1 Usable for CE No entry: Standard E: CE marking Regenerative unit Option I/O Note2 Network Option N, P: Standard I/O 16/8 N1, P1: 40/24 points N2, P2: 64/40 points N3, P3: 88/56 points N4, P4: 112/72 points No entry: None CC: CC-Link DN: DeviceNet PB: Profibus EN: Ethernet EP: EtherNet/IP YC: YC-Link Note5 iVY System Option board No entry: None VY: iVY (Vision) TR: iVY+Light+Tracking LC: iVY+Light Gripper No entry: None GR: Gripper Battery No entry:
APPLICATION TRANSERVO RCX240/RCX240S Basic specifications Basic specifications FLIP-X Single-axis robots Maximum power consumption RCX240 / RCX240S 4 axes maximum (Control simultaneously: 4 axes) Single-axis robot FLIP-X, Linear motor single-axis robot PHASER, Cartesian robot XY-X, SCARA robot YK-XG, Pick & place robot YP-X 2500VA (RCX240) / 1500VA (RCX240S) Capacity of the connected motor 1600W Dimensions W180 × H250 × D235mm Number of controllable axes PHASER Linear motor single-axis robots S
Dimensions 10.5 Compact single-axis robots 15.5 102 FLIP-X Single-axis robots 204 15.5 Upper APPLICATION TRANSERVO RCX240/RCX240S Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. http://www.yamaha-motor.co.jp/global/industrial/robot/ 69.75 235 15.5 180 30 For installation to the side (option) Stay for installation Side to the front (20) Installable to the back PHASER Front 139.5 5.
APPLICATION TRANSERVO RCX240/RCX240S Regenerative unit RGU-2 basic specifications 242.5 235 Upper FLIP-X Single-axis robots 157 Compact single-axis robots Upper Item RGU-2 Model KX0-M4107-20 (including cable supplied with unit) Dimensions W40 × H250 × D157mm Weight 0.9kg Regenerative voltage Approx. 380V or more Regenerative stop voltage Approx. 360V or less Cable for connection with controller (300mm) Accessory Note.
RCX240/RCX240S Connector input / output signals Note GND (N.COMDI) Transistor output› ‹NPN specification or PNP specification Maximum capacity of each terminal (resistance load) : 0.1A +Common terminal : DC+24V - Common terminal : GND External power supply input SCARA robots GND › YK-XG DC+24V (P.COMDI) ‹ Relay output Maximum capacity of each terminal (resistance load) : DC 24V 0.
APPLICATION TRANSERVO RCX240/RCX240S Robot Language Table Compact single-axis robots General commands FLIP-X Single-axis robots Language DECLARE DEF FN DIM EXIT FOR FOR to NEXT GOSUB to RETURN GOTO HALT HOLD IF LET PHASER Linear motor single-axis robots ON to GOSU ON to GOTO REM Function Declares that a label or sub-procedure is in an external program. Defines a function that is available to the user. Declares the name of an array variable and the number of elements.
RCX240/RCX240S Accessories and part options Compact single-axis robots Standard accessories Power connector + wiring connection lever Safety connector APPLICATION TRANSERVO Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. http://www.yamaha-motor.co.jp/global/industrial/robot/ RPB terminator (dummy connector) Attach this to the RPB connector during operation with the programming box RPB removed.
VIP+ Compact single-axis robots APPLICATION TRANSERVO Support software for PC Applicable controllers RCX221 RCX222 RCX141 RCX142 RCX240 RCX240S VIP+ is an easy to operate application software that makes tasks such as robot operation, writing-editing programs, and point teaching easy to visually understand.
VIP+ VIP PLUS function By connecting PC and controller with communication cable, robot operation will be available by the on-line command. FLIP-X Single-axis robots With a number of robot operation items provided on one screen, any operator can operate easily without memorizing the menu construction. 5 Robot operation Compact single-axis robots 1 Easy to use APPLICATION TRANSERVO Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
APPLICATION TRANSERVO VIP+ Support software for PC VIP+ Environment Compact single-axis robots OS CPU FLIP-X Single-axis robots Memory Hard disk Model Communication method KX0-M4966-00 Microsoft Windows 2000 / XP / Vista (32bit / 64Bit) / 7 (32bit / 64Bit) Processor that meets or exceeds the suggested requirements for the OS being used. Suggested amount of memory or more for the OS being used. 40MB of available space required on installation drive. RS-232C, Ethernet Note.
NETWORK Applicable controllers APPLICATION TRANSERVO Field network system with minimal wiring RCX221 RCX222 RCX240 RCX240S Option unit with networking functions that can be incorporated in YAMAHA robot controllers, RCX221 / RCX222 / RCX240 / RCX240S. Basic specifications for network modules CC-Link Communication speed setting DeviceNet Compact Parallel external I/O Note3 Overall length Note4 Branch length / Overall branch length 6m max./39m max., 6m max./78m max., 6m max./156m max.
APPLICATION TRANSERVO Field network system with minimal wiring NETWORK Applicable controllers RCX240 RCX240S Compact single-axis robots EtherNet/IP Option unit with networking functions that can be incorporated in YAMAHA robot controllers, RC240 / RCX240S. FLIP-X Single-axis robots High-speed transfer of massive data to and from peripheral devices at 100Mbps.
