Specifications

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
433
Robot
positioner
Pulse string
driver
Robot
controller iVY
Option
Electric
gripper
Basic specications
Item Model RCX221 RCX221HP RCX222 RCX222HP
Basic specications
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 years at 0
to 40 )
Internal ash 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 specication 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
Probus: 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 specications
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
RCX221/RCX222
Installation conditions
• Install the RCX221/RCX222 inside the control panel.
• Install the RCX221/RCX222 on a at, level surface.
• Install the RCX221/RCX222 in a well ventilated location,
with space on all sides of the RCX221/RCX222
(See g. at right.).
• Do not block the heat-sink on the side panel.
• Do not block the fan on the bottom of the controller.
• Ambient temperature : 0 to 40˚C
• Ambient humidity : 35 to 85% RH (no condensation)
RCX221
50mm or more
50mm
or more
50mm
or more
* Provide the same space
dimensions for RCX222.
XM
YM
MOTOR
RGEN
TEMP
ACIN
N
L
L1
N1
SAFETY
RPB
ROB
I/O
SD/COM
E-STOP
PIN11-12
EXT.E-STOP
OP.1
OP.2
!
RCX221
SRV
ERR
RDY
17mm
or more
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/