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
449
Robot
positioner
Pulse string
driver
Robot
controller iVY
Option
Electric
gripper
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 ef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 / 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, which contributes to
ef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
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.
Option unit used to connect a YAMAHA robot
controllers RCX221 / RCX222 / RCX240 /
RCX240S to Pro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
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 Probus system.
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 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 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 specications for network modules CC-Link
Item Network modules 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)
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
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 specications for network modules DeviceNet
Item Network modules DeviceNet
Applicable controllers RCX221 / RCX222 / RCX240 / RCX240S
Applicable DeviceNet specications Volume 1 Release2.0 / Volume 2 Release2.0
Device Pro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
Note4
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 ne cable is used or when thick and ne cables are mixed in use.
Basic specications for network modules Probus
Item Network modules Probus
Applicable controllers RCX221 / RCX222 / RCX240 / RCX240S
Communication prole Pro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)
Pro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
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 specications for network modules Ethernet
Item Network modules Ethernet
Applicable controllers RCX221 / RCX222 / RCX240 / RCX240S
Network specication As specied for Ethernet (IEEE802.3)
Connector speci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
CC-Link
DeviceNet
Profibus
Ethernet
Field network system with minimal wiring
NETWORK
Applicable controllers RCX221 RCX222
RCX240 RCX240S