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
450
Robot
positioner
Pulse string
driver
Robot
controller iVY
Option
Electric
gripper
Option unit with networking functions that can
be incorporated in YAMAHA robot controllers,
RC240 / RCX240S.
High-speed transfer of massive data to and
from peripheral devices at 100Mbps.
As connection of the robot system and
the sequencer requires only 100-Base TX
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 EtherNet/IP system.
Minimal equipment wiring streamlines wiring
tasks and helps cut equipment installation and
maintenance costs.
Function
Function Supported Note
SIO
Remote command
I/O command
Online command
Connect to COM port
(RS-232C) or add
an EtherNet board
(telnet).
Connection to
VIP+
Basic specications for network modules EtherNet/IP
Model
Spec. Item
EtherNet/IP compatible module
Controller model RCX240/RCX240S
Software version
HOST : Ver.10.64 or higher
VIP+ : Ver.2.5.0 or higher
Network specifications Conforms to Ethernet (IEEE 802.3).
Applicable EtherNet/IP
specifications
Volume 1 : Common Industrial protocol (CIP
TM
) Edition 3.8
Volume 2 : EtherNet/IP Adaptation Edition 1.9
Device type Generic Device (Device No. 43)
Data size 48 bytes each for input/output
Transmission speed 10 Mbps/100 Mbps
Connector specifications RJ-45 connector (8-pole modular connector) 1 port
Cable specifications Refer to “4.1. LAN cable” in Chapter 2 of this guide.
Max. cable length 100 m
EtherNet/IP input/output
points
Note
Input
(48 bytes in
total)
byte 0-3
byte 4-31
Dedicated word input : 2 words
General purpose word input : 14 words
byte 32-33
byte 34-47
Dedicated bit input : 16 points
General-purpose bit input : 96 points
Output
(48 bytes in
total)
byte 0-3
byte 4-31
Dedicated word output : 2 words
General-purpose word output : 14 words
byte 32-33
byte 34-47
Dedicated bit output : 16 points
General-purpose bit output : 96 points
Parallel external input
Regardless of the robot program, the master module and up to four
ports can be controlled using the emulated serialization function.
Settings, such as IP address
The settings are made with the programming box (RPB) or VIP+
(via a COM port or telnet).
Monitor LEDs Activity, Network Status, Link, Module Status
CPU BOARD ASSY
KX0-M4210-2XX (Refer to “3. Installing into the robot controller” in
Chapter 1 of this guide.)
Note. Controller’s I/O update intervals are 10 ms at shortest, but actual I/O update intervals may vary depending on the update time
for the master station.
EtherNet/IP
Field network system with minimal wiring
NETWORK
Applicable controllers RCX240 RCX240S