Yamaha ERCX Specifications

Product Lineup / Selection Guide
Controllers
CONTROLLERS
Robot positioner
Robot driver
TS-P
TS-S
TS-X
RDP
RDX
Robot controllers
1axis
ERCD
2 axes
ERCX
SR1-X
3 / 4 axes
SR1-P
5 to 8 axes
RCX221
RCX222
DRCX
YC-LINK couples single-axis controllers to a 4-axis controller
RCX240
This is why the YAMAHA controllers is terrific!
1 Simple and optimal setups
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. This task is easy and does not require special knowledge or experience
or difficult setups.
Setting acceleration/deceleration is easy
The acceleration/deceleration is a critical factor in determining the machine service life. Setting the acceleration too high
will shorten the machine service life, while setting it too low will prevent effective use of motor power and lower
the tact time. The acceleration/deceleration on YAMAHA robot controllers is determined to a fine degree for each model by
the payload. Just entering the payload parameter will automatically set an optimal acceleration/deceleration that takes into
account the robot service life and motor performance. Detailed robot knowledge from YAMAHA is what makes this possible.
Moreover, SCARA robots are also equipped with zone control function that constantly delivers maximum performance that
takes into account fluctuations in inertia due to the state of the arm (folded/extended).
(Note. On pulse train input types the acceleration/deceleration must be set by the customer )
030
2
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
YAMAHA
SRC language
<examples> MOVA 1, 100
DO 1, 1
WAIT 2, 1
YAMAHA
<examples> IF DO(10)=1 THEN *END
BASIC language
MOVE P, P2, STOPON DI(1) =1
WAIT ARM
P3=WHERE
*END :
HOLD
Move to point No. 1 at 100% of speed.
Turn general purpose output No. 1 to ON.
Wait until general purpose input No. 2 turns ON.
Jump to *END if general purpose input No. 10 is ON. If not ON,
then proceed to next line.
Move to point No. 2. Stop if general purpose input No. 1 is ON during movement.
Wait until robot arm operation ends.
Write the current position in point No. 3.
Define the label with the “END” name.
Pause the program.
Single axis robot controllers use the YAMAHA SRC language Note which is simple yet contains all required functions such as I/O outputs and conditional
branching, etc. The multi axis controller RCX series uses the YAMAHA BASIC language capable of more sophisticated programs and includes all types of
arithmetic computations, flexible setting of variables and various conditional branching, etc. Both are easy to use robot language conforming to BASIC. These
match all manner of needs from simple beginning operations to sophisticated expert user tasks. Note. The 2-axis controller DRCX also uses YAMAHA SRC language.
Specify point No.
I/O point trace
Remote command
Point data
DI 1 (20) ON
DI 2 (21) OFF
DI 3 (22) ON
P5
0000 0064 007 B 0109
CC-LINK DeviceNet
Controller
PLC
Start signal
PLC
PLC word function
Specified No.
Parallel I/O
Field bus CC-Link DeviceNet
Controller
The host device specified a point No. in binary and the robot moves to
that point No. when a start signal is input. The controller can operate
just by teaching the point data and does not need a program.
This uses CC Link or DeviceNet word functions to issue various data
or commands to the robot. It makes full use of word function
expandability ranging from simple operation instructions to writing of
point data and other sophisticated instructions and allows fully and
flexibly using robot controller functions from a host device.
Note. These functions are operable when selecting the option network board.
Online instructions
Pulse train
Pulse train
@MOVA1,100 c/r I/f
Positioning unit
Controller
A pulse train sent from the positioning unit controls the robot. The
controller does not have to handle programs or point data.
This control method is convenient when one wants to concentrate
control in a host or upstream device.
3
PC
Controller
A PC connected via RS232C or Ethernet Note can be used to issue
various commands and data directly to the robot controller or receive
data and status. All operations performed from a teaching pendant
can be executed from a PC.
Note. Ethernet is operable by selecting the option network board.
Multi-functions and expandability
Multi-axis controllers support up to 10,000 points, and single-axis controllers up to 1,000 points (255 points on the TS
series). Up to 100 programs can be made on either type controller.
Supports various field networks including CC-Link, DeviceNet, Profibus, Ethernet Note.
Note. Some models do not support all networks.
The TS series, RD series, SR1 series, and RCX series utilize a dual power supply system where the control power supply
and (main) power supply are separate.
Controllers support CE markings for EU (European) safety standards and so can also be used with confidence overseas.
The TS series (except for TS-S), SR1 series, and RCX series can support safety category 4.
To view detailed information on each controller’s functions see the controller specification pages from P.349.
031
Product Lineup / Selection Guide
Control method classification table
TRANSERVO
Stepping
motor
FLIP-X
T4 / T5 / YMS
Small servo
(24V / 30W)
PHASER
General-purpose
servo
(30 to 600W)
Linear
motor
TS S /
TS X / TS P
P.354
I/O point trace
TS-X
TS-S
TS-P
RDX / RDP
1 axis
P.365
Pulse train
ERCD
RDX
RDP
Program
(YAMAHA SRC language)
ERCD
P.370
ERCX
P.374
I/O point trace
SR1 X / SR1 P
Remote command
Online instructions
P.377
ERCX
SR1-X
SR1-P
Program
(YAMAHA BASIC language)
2 axes
RCX221 /
RCX222
I/O point trace
P.395
Remote command
Online instructions
RCX222
Program
(YAMAHA BASIC language)
3, 4
axes
5 to 8
axes
032
RCX240
I/O point trace
P.402
Remote command
Online instructions
YC-LINK couples single-axis
controllers to a 4-axis controller
RCX221
RCX240
<Robot positioner>
TS-X / TS-P
TS-X
TS-P
P.354
FLIP-X PHASER
Operation method: Point trace
Points: 255 points
Input power: AC100V / AC200V
Position detection:
TS-X Absolute
Incremental
TS-P Incremental
Semi-absolute
P.354
TRANSERVO
5. Maximum acceleration auto setting
TS-S
Operation method: Point trace
Points: 255 points
Input power: DC24V
Position detection : Incremental
1. Simple operation only by specifying point number data
The TS series are robot positioners that operate just by specifying a
point No. and entering a START signal. These can do positioning or
push operations without having to write a program. Speed changes can
be made during movement by carrying out linked operation.
2. Low price
Costs were drastically cut compared to prior robot controllers by limiting the
point trace func ions and meticulously reviewing the circuit design. These
helped achieve a price approximately 50% lower than the SR-1 series.
3. Completely applicable to absolute system
TS-X is completely applicable to the absolute system. No origin return
operation is needed.Additionally, the backup battery is stored into the
main unit. This tidies the inside of the electric component box. The
backup battery can be replaced only by opening the front cover of the
main unit. (Backup period is 1 year.)
4.
TS-S
Two pushing operation patterns
Two pushing operation patterns are incorporated. In addition to a normal
mode, in which the pushing operation is performed at a low speed with
a set pressing load, a “pushing after deceleration” mode is incorporated,
in which the pushing operation is started after the robot has moved to a
portion close to the target position and decelerated properly.
The acceleration is a critical parameter that determines how long
the robot can continue operating (or ser vice life). The maximum
acceleration is automatically set by taking the service life by model
or transfer weight into consideration. In the custom setting of the TS
series, acceleration or speed can be input in the SI unit system. At
this time, the upper limit value is automatically set. This eliminates any
worry about setting the acceleration too high by mistake.
6. Free speed change even during movement
Incorporating of a merge operation function makes it possible to easily
change the speed parameters (acceleration and/or deceleration) even
during movement.Additionally, when multiple points are merged and the
same speed is set for each point, the signal can be output to the host
controller every time the robot passes through each point.
7. Powerful support software: TS-Manager
The low-cost and high-performance TS-Manager was newly developed
for the TS series. This single software performs all operations such as
point data settings, editing, backup and teaching tasks. It also comes
loaded with real-time trace functions such as current values, speed,
load factors, current values, and voltage values.
8. LCD monitor showing easy-to-understand operation status display
On the TS-X/P, an LCD monitor integrated into the unit
is available as option. It allows finding values such as
the operation status, current position, speed and load
factor at a glance.
<Robot driver>
RDX / RDP
RDX
P.365
RDP
FLIP-X PHASER
Operation method: Pulse string
Input power:
Main power 3-phase AC200V
Control power Single phase AC200V
Position detection:
RDX Absolute
Incremental
RDP Incremental
1. 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. Using
dedicated pulse train control allows eliminating operation via robot
language so this can be easily assembled into automated units as a
control device for compact and low-priced robot mechanisms.
2.
Low price
By rationalizing functions and using the structure with reduction of parts
and ease of assembly taken into consideration, the cost is reduced by
35% as compared with YAMAHA’s conventional product.
3. Easy tuning
YAMAHA offers optimal parameters for each particular robot model.
This c ompletely eliminates having to make bothersome ser vo
positioning such as needed when building up systems that use generalpurpose servo drivers. Due to the unique features of pulse train input,
the acceleration/deceleration settings are entrusted to the customer
however YAMAHA supplies material with each machine model for use
as a general guide when making acceleration settings.
4. Origin return function
As a special origin return input function is provided, returning to
the origin is executed automatically without making a complicated
sequence. (Customer can also enter a sequence.)
5. Analog output function
Analog monitor output terminals for 2 channels are provided.
This function can be used to select parameters for speed detection
values, torque command values, speed command values, speed
deviation, position deviation, electrical current values, command pulse
frequency, and the regenerative braking usage rate.
6. Compact
Compact design of H160 × W57 × D130mm. The size reduction to 65%
of the YAMAHA’s conventional product in volume has as been achieved.
It saves space in the control panel.
7. Easy operation environment
Use of the special PC software “TOP” enables pleasant and easy
operation by means of GUI.
033
Product Lineup / Selection Guide
<Single-axis robot controllers>
SR1-X / SR1-P
SR1-P
SR1-X
P.377
FLIP-X PHASER
3. Supports complete absolute specifications
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
The SR1-X supports complete absolute specifications. No origin point
return is needed (backup period with no power supplied is 1 year).
4. Current position output function
1. Diverse command methods
Select an optimal method from the dif ferent command methods
including program operation, point trace, remote command, and online command. Program uses the YAMAHA SRC language resembling
BASIC. Use it to execute a variety of operations ranging from simple
tasks to I/O output and conditional branching, etc.
2. I/O assignment function
Besides the usual program operation, changing the I/O assignment
allows selecting operations such as point trace, point teaching, and
trace operation by specifying coordinates. In point teaching mode
Jog can be performed via the I/O so a host device can perform point
teaching even without an HPB.
These controllers can output the position data as feedback pulses or
binary data. This allows the host device to find the current robot position
in real-time. These are also loaded with functions such as point zone
output that outputs the zone or a point No. in its vicinity.
5. Torque limiter
This function limits the maximum torque command value to an optional
timing and so is effective in operations such as grip and press-fit.
Besides using parameter data values for torque limiting, analog input
voltages can also be used to limit the torque.
<Single-axis robot controllers>
ERCD
P.370
ERCD
T4/T5 YMS
Operation method: Program
Point trace
Remote command
Online command
Pulse string
Points: 1000 points
Input power: DC24V
Position detection: Incremental
4. Torque restriction control
1. 5 command formats
Select from 5 command formats including program operation that
allows using diverse commands, or point trace operation that works just
by specifying a point No., or remote commands, on-line commands, and
pulse train input.
2. Compact design
Along with sophisticated functions, the
ERCD also has a compact box shape of
W44 × H142 × D117. It is compact, only
taking up about 62% of the area used
by the prior YAMAHA ERCX model.
This allows greater freedom for use of
installation space.
ERC
D
25
14
2
0m
m
mm
3. Diverse input/output functions
The ERCD includes a feedback pulse output function that allows easily
controlling the current position from a host control device. Moreover,
movement point numbers can be easily output in binary during point
trace so operation points are easy to check. Teaching functions can
also be added by way of I/O, and there is more freedom in building
up the system and it is easier to use. This output is also effective for
program and point trace operation, and the number of outputs can be
changed as needed by a divider setting.
034
5. Zone output function
It is possible to set ON / OFF of the
general purpose output between
any points by using the parameter
set ting. Also, the axis position
can be judged easily by using an
external equipment as positive
logic / negative logic settings can
be made. Settings are acceptable
up to 4 patterns.
X
ERC
As the torque restriction can be
controlled using the program
command, the axis can be stopped
with the torque applied. This function
is usable for continuous positioning
of works of different sizes, pressf i t t i n g w o r k a n d w o r k r et a i n i n g
operation.
e
g rang
Settin
SR1-X / SR1-P / ERCD Diverse functions
1. Position data output function
2. Torque limiting drive
It is possible to perform such actions as pressing and gripping the work
by restricting the torque during operation.
Zone output
O utputs whether the robot
position is within the specified
range or not.
DO0 = OFF
DO0 = ON
DO0 = OFF
General idea
Features
CW
Position
P900
Torque
limiting
value 1
P901
It is possible to reverse the output logic.
Elect
curre
TLM
Torque
limiting
value 2
Point zone output
Outputs the number of the
point near the robot position in
the binary output.
DO (7)
(0)
0000 0011
DO (7)
(0)
0111 1111
P3
P127
CCW
SR1
Control over limit timing at the
upper level by TLM input.
Grasp of limit condition by torque
limit condition output (TLON).
Selection of torque limit value by
input (up to 4 patterns).
Allows torque limiting with the
program command.
Limit of the torque by analog
input (0 to +10V/12bit).
ERCD
Limits the torque by using the T
program command.
Position
It is also possible to limit to the moving point only.
3. Changing movement data function
Binary output
Possible to change the moving speed and programmed position while
moving. (This function is SR1 only )
DO (15)
(0)
0011 1111 1100 0000
Outputs current robot position
by 16bits binary.
(This function is only available
on the SR1)
General idea
Inputs 1 Inputs 2
163.20 [mm]
Inputs 3
Speed
Position
Features
It is possible to adjust the unit of the output position data
by using parameters.
Position
Feedback pulse output
A
phase
Outputs the current position
c o u nte r va l u e of t h e r o b ot
through the A/B phase line driver.
Upper level device
(Counter)
B
phase
Control over movement change
t i m i n g at t h e u p p e r l eve l by
movement command input.
The movement command is either
A BS - P T (absolute movement
command) or ABS - BN (Binar y
specification movement command).
Selection of speed specification
is 1 to 100% (up to 4 patterns).
Change in the deceleration range
is invalid.
4. Point instruction
It is possible to execute jog movement of the robot and point teaching
from the upper level device.
It is possible to monitor at real time by using the upper level device.
A division function is installed.
General idea
Robot is moved to the position
where teaching is to be done by
the JOG+/JOG-command.
The current position is registered
to the number of the point specified
by PSET input.
PSET
JOG0
JOG+
Position
0
Current position
Position
Handy YAMAHA SRC language functions
1. Multitask function
This function enables to
exe c ute up to 4 t a s ks of
peripheral equipment of
the robot at the same time.
With the multitask function
c ombined with the J M PP
command, it is possible to
have I/O output when the
specif ied point is passed
during movement.
2. Function to make conditional stop during movement
range
Setting
P0
The arm can be decelerated and stopped, using I/O conditions of
the MOVF command while it is moving. This function is useful when
searching the target position with a sensor.
P3
P2
I/O condition
P1
P2
Stop
P1
035
Product Lineup / Selection Guide
<Single-axis robot controllers>
ERCX
P.374
T4 / T5 YMS
ERCX
1.
Operation method: Program
Point trace
Remote command
Online command
Pulse string
Points: 1000 points
Input power: DC24V
Position detection: Absolute
Incremental
Diverse command methods
Select an optimal method from the dif ferent command methods
including program operation, point trace, remote command, and online command. Program uses the YAMAHA SRC language resembling
Basic. Use it to execute a variety of operations ranging from simple
tasks to I/O output and conditional branching, etc.
2. Totally absolute
Resolvers serve as the absolute position detectors. The ERCX includes
a backup function for multi-rotation data, achieving total absolute
specifications (backup period is a maximum of about 2 weeks).
3. Ultra-thin type
Using a 1 board design attained ultra-thin dimensions of 30mm. The
height and depth dimensions are the same as the SRCX/DRCX and it
easily fits within a control panel.
4. Ample data capacity
A maximum of 1,000 points, and maximum of 100 programs can be set.
Contains general input/output points to a maximum of 16/13 points.
<MF100 dedicated controller>
SRCP30
P.383
SRCP30
Dedicated MF100
Operation method : Program
Point trace
Remote command
Online command
Pulse string
Points : 1000 points
Input power :
Main power 3-phase AC200V
Control power Single phase AC200V
Position detection : Incremental
This is a large capacity controller exclusively for the MF100
large size linear single axis robot having a payload of 100kg.
1. 5 command formats
Select from 5 command formats including program operation that
allows using diverse commands, or point trace operation that works just
by specifying a point No., or remote commands, on-line commands, and
pulse train input.
<2 axes robot controllers>
DRCX
P.387
DRCX
XY-X FLIP-X YP-X
Operation method: Program
Point trace
Remote command
Online command
Points: 1000 points
Input power: AC100V / AC200V
Position detection: Absolute
Incremental
4. Two-dimensional linear and circular interpolation control function
Capable of controlling two-dimensional linear and circular interpolation
ARC (XY plane).
1. Diverse command methods
Select an optimal method from the dif ferent command methods
including program operation, point trace, remote command, and online command. Program uses the YAMAHA SRC language resembling
BASIC. Use it to execute a variety of operations ranging from simple
tasks to I/O output and conditional branching, etc.
2. Completely absolute
Compatible with absolute position detector resolvers. A function to
backup the multi-rotation amount data is provided thereby realizing a
completely absolute model. (Back up period is a maximum of about
2weeks.)
3. Arch motion function
This function enables movement with the direction changed before
reaching the intermediate target position so that the pick & place
operation in air is executed quickly. The direction changing point can be
set freely by using a parameter.
Intermediate target point
Direction
changing
point
036
Intermediate target point
Direction
changing
point
5. Palletizing function
Only by inputting 4 corner
positions on the pallet as
teaching points, it is possible
to define up to 32 types of
pallets easily. For palletizing
operation, specify the defined
pallet No. and execute the
matrix movement command.
Teaching points,
A, B, C, D
D
C
9
10
11
12
5
6
7
8
1
2
3
4
B
A
Supply source
<Multi-axis controller>
RCX240
The YAMAHA controller RCX240 is usable on all models (except some small single-axis robots).
[Typical robot configurations]
2 axes robot
Single-axis robot
(FLIP-X series)
2 axes robot
2 axes robot
3 axes robot
Single-axis robot
(PHASER series)
SCARA robot
The RCX240 supports all YAMAHA robot models
The 4-axis robot controller RCX240 supports all robot models including single-axis, Cartesian, SCARA, and Pick & Place.
It can also control a mix of models including the FLIP-X ball screw type and PHASER linear motor type which allows a high
degree of freedom when assembling systems to match your application.
This 1 unit is all you need to service multiple robot units. By just changing its settings you can operate any model.
037
Product Lineup / Selection Guide
<Multi-axis controller>
RCX series (RCX221 / 222)
RCX221
Operation method:
Program
Operation via communication commands
Points: 1000 points
Input power: AC200V
Position detection: Incremental
Semi-absolute
RCX222
P.395
Operation method:
Program
Operation via communication commands
Points: 1000 points
Input power: AC200V
Position detection: Absolute
Incremental
(RCX240)
P.402
Supports all models
6. 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.)
Dual-synchronous drive example.
RCX240
Operation method:
Program
Operation via communication commands
Points: 1000 points
Input power: AC200V
Position detection: Absolute
Incremental
1. 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 singleaxis robots).
2. 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.)
3. Big boost 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.
4. Area check output function
This function provides an output signal when
the robot enters a preset area. Up to four
areas can be specified.
P1
7. 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.
8. 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)
P23
P22
P20
P21
9. Palletizing function
This function can easily define a
24
23
22
20
19
21
maximum of 20 types of pallets
17
16
18
P [5]
by just entering the teaching
15
13
14
points for the 4 corner positions
P [3]
P [4]
NZ
12
on the pallet. Entering teaching
10
NY
8 11
9
7
points along the height allows
5
4
6
handling cubic pallets. Specify
3
2
1
P [2]
t h e d e f i n e d p a l l e t N o . a n d P [1]
NX
execute the movement command
to perform palletizing. The program can execute various actions such as
1 point pallet, pallet 1 point, pallet pallet, etc.
OFF
OFF
ON
P2
5. 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).
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.
Y
Y
Moves while centered
on coordinates for
robot tip
Moves while centered
on coordinates for
hand tip
X
X
iVY board
No hand definition
Lighting
control board
Tracking
board
038
Hand definition
11. Shift coordinates
15. Sequence program
A deviation or offset might occur in the coordinates during service tasks
such as robot reinstallation 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.
Y
Y
Y
X
X
Original coordinates
Coordinates after
reinstalling
X
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
Assigning 2 robot units as main and sub allows them to be simultaneously
operated by 1 controller unit. Combining this with multi-tasking allows 1
controller unit to link 2 robot units in a smooth, sophisticated operation.
Correction with
shift coordinates
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 a x is dur ing
interpolation tasks.
T his out put s a spray
ON or OFF signal while
still operating on an
axis during sealing to
allow stable and smooth
coating of sealant.
P10
ON
P11
OFF
START
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).
13. Torque limiting drive
The motor torque can be limited during
grasping and press-fitting operations.
Press-fit
RPB
YC-Link option
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’s control
configuration and also improves the operation efficiency.
Task scheduling
The head of the task with the highest
priority shifts to the RUN state.
Priority
18.Full support software: VIP+
VIP+ is an easy to operate application software that makes it easy to
visually understand tasks including robot operation, program writing
and edit, and point teaching.
The user interface has been vastly improved compared to previous
support software VIP and is now extremely easy to use.
Task 1
1
Task 1
Task 3
2
Task 5
Task 8
Task 2
Task 6
3
Task 4
Task 7
Order in which READY state is attained
039
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
CONTROLLER
OLLER
POSITIONER
● Support software for PC
TS-Manager ···································· 362
● Handy terminal
HT1/HT1-D······································· 363
● Field network system with minimal
wiring NETWORK ··························· 364
DRIVER
RCX240 ················································· 402
● Support software for PC
VIP+ ·················································410
CONTROLLER INFORMATION
TS-S/TS-X/TS-P ·································· 354
CLEAN
CONTENTS
Compact
single-axis robots
APPLICATION TRANSERVO
YAMAHA ROBOT CONTROLLERS
● Programming box
RPB/RPB-E ······································ 413
● Field network system with minimal
wiring NETWORK ···························· 414
ROBOT VISION iVY SYSTEM
iVY System·············································415
Robot
positioner
RDX/RDP ·············································· 365
● Support software for PC
TOP ················································· 369
Pulse string
driver
CONTROLLER
ERCD ·····················································370
Robot
controller
ERCX······················································374
SR1-X/SR1-P ·········································377
SRCP30 ················································ 383
DRCX ·····················································387
iVY
● Support software for PC
POPCOM··········································391
● Programming box
Option
HPB/HPB-D····································· 393
● Field network system with minimal
wiring NETWORK ··························· 394
RCX221/RCX222 ·································· 395
Main functions P.030
349
Compact
single-axis robots
APPLICATION TRANSERVO
CONTROLLER FEATURE DESCRIPTION
Single-axis
TS-S
TS-X / TS-P
Robot positioner
RDX / RDP
Robot positioner
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
Dedicated compact single-axis
TRANSERVO
Single-axis robot FLIP-X
Linear motor single-axis PHASER
P.354
YP-X
Pick & place
robots
Operating method
:
Points
:
Input power
:
Position detection method :
Field networks
:
I/O point tracing
255 points
DC24V
Incremental
CC-Link, DeviceNet
Robot driver
Only for pulse train control
P.354
CLEAN
Operating method
: I/O point tracing
Points
: 255 points
Input power
: AC100V / AC200V
Position detection method :
• TS-X Absolute / Incremental
• TS-P Incremental / Semi-absolute
Field networks
: CC-Link, DeviceNet
CONTROLLER INFORMATION
Single-axis
P.365
Operating method
: Pulse train control
Input power
:
• Main power supply
3-phase AC200V
• Control power supply single phase AC200V
Position detection method : Incremental
Field networks
: Not supported
1 to 2 axis
SR1-X / SR1-P
DRCX
Robot controller
Robot controller
Single-axis robot FLIP-X
Linear motor single-axis PHASER
Single-axis robot FLIP-X
Cartesian robot XY-X
Pick & place YP-X
Robot
positioner
Pulse string
driver
Robot
controller
iVY
P.377
Operating method
Option
: Programming / I/O point tracing /
Remote command /
Operation using RS-232C communication
Points
: 1000 points
Input power
: AC100V / AC200V
Position detection method : SR1-X Absolute / Incremental
SR1-P Incremental / Semi-absolute
Field networks
: CC-Link, DeviceNet, Profibus
350
P.387
Operating me hod
: Programming / I/O point tracing /
Remote command /
Operation using RS-232C communica ion
Points
: 1000 points
Input power
: AC100V / AC200V
Position detection method : Absolute / Incremental
Field networks
: CC-Link, DeviceNet, Profibus, Ethernet
Robot controller
SRCP30
Robot controller
Robot controller with advanced functions
Single-axis robot FLIP-X
Cartesian robot XY-X
Pick & place YP-X
Single-axis robot FLIP-X
Linear motor single-axis PHASER
Cartesian robot XY-X
SCARA robot YK-XG
Pick & place YP-X
CONTROLLER INFORMATION
Robot controller with advanced functions
Single-axis robot FLIP-X
Linear motor single-axis PHASER
Cartesian robot XY-X
Pick & place YP-X
CLEAN
Robot controller with advanced functions
Pick & place
robots
RCX240
YP-X
RCX222 / RCX222HP
SCARA
robots
RCX221 / RCX221HP
YK-XG
1 to 4 axis
Cartesian
robots
Operating method
:
Pulse train control / Programming /
I/O point tracing / Remote command /
Operation using RS-232C communication
Points
: 1000 points
Input power
:
• Main power supply
3-phase AC200V
• Control power supply single phase AC200V
Position detection method : Incremental
Field networks
: CC-Link, DeviceNet
Profibus, Ethernet
XY-X
Operating method
:
Programming / I/O point tracing /
Remote command /
Operation using RS-232C communica ion
Points
: 1000 points
Input power
: DC24V
Position detection method : Absolute / Incremental
Field networks
:
CC-Link, DeviceNet, Profibus, Ethernet
P.383
PHASER
Operating method
:
Pulse train control / Programming /
I/O point tracing / Remote command /
Operation using RS-232C communication
Points
: 1000 points
Input power
: DC24V
Position detection method : Incremental
Field networks
: Not supported
P.374
Linear motor
single-axis robots
P.370
Dedicated Linear motor single-axis
MF100
FLIP-X
Single-axis robot T4 / T5
Clean single-axis C4 / C5
Rod type YMS
Single-axis robots
Single-axis robot T4 / T5
Clean single-axis C4 / C5
Rod type YMS
Robot controller
Compact
single-axis robots
ERCX
APPLICATION TRANSERVO
ERCD
Robot
positioner
Pulse string
driver
Robot
controller
Operating method
:
Programming / I/O point tracing /
Remote command /
Operation using RS-232C communication
Points
: 10000 points
Input power
: AC200V
Position detection method : Absolute / Incremental
Field networks
:
CC-Link, DeviceNet, Profibus, Ethernet
P.402
Operating method
:
Programming / I/O point tracing /
Remote command /
Operation using RS-232C communication
Points
: 10000 points
Input power
: AC200V
Position detection method :
Absolute / Incremental / Semi-absolute
Field networks
:
CC-Link, DeviceNet, Profibus, Ethernet
351
Option
Operating method
:
Programming / I/O point tracing /
Remote command /
Operation using RS-232C communication
Points
: 10000 points
Input power
: AC200V
Position detection method :
Incremental / Semi-absolute
Field networks
:
CC-Link, DeviceNet, Profibus, Ethernet
P.395
iVY
P.395
Compact
single-axis robots
APPLICATION TRANSERVO
CONTROLLER SPECIFICATION SHEET
Category
Robot positioner
Name
TS-S
Robot driver
TS-X
TS-P
RDX
RDP
ERCD
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
External view
Operating method
I/O point tracing
Main power supply /
Control power supply
YK-XG
SCARA
robots
YP-X
Pick & place
robots
DC24V
+/-10%
maximum
Input power
Single phase 200 to 230V
+/-10% maximum (50/60Hz)
Number of controllable axes
Single-axis
New concept compact
stepping single-axis motor TRANSERVO
CLEAN
CONTROLLER INFORMATION
Applicable robot
Single-axis robot
FLIP-X
Pulse train control
Main power supply
3-phase 200 to 230V
+10% to -15% (50/60Hz+/-5%)
Control power supply
Single phase 200 to 230V
+10% to -15% (50/60Hz+/-5%)
Pulse train control /
Programming /
I/O point tracing /
Remote command /
Operation using
RS-232C
communication
DC24V
+/-10%
maximum
Single-axis
Single-axis
–
–
–
–
–
–
–
T4 / T5 / C4 / C5 /
YMS
–
FLIP-X other than
above
–
PHASER other
than MF100
–
–
MF100
–
–
–
–
–
–
–
–
Robot
positioner
Linear motor
Single-axis robot
PHASER
Cartesian robot
XY-X
–
–
–
–
–
SCARA robot
YK-X
–
–
–
–
–
Pick & place robot
YP-X
–
–
–
–
–
Incremental
Absolute /
Incremental
Incremental /
Semi-absolute
Incremental
Incremental
Position detection method
Pulse string
driver
Robot
controller
Maximum number of programs
(program not required)
–
100
Maximum number of steps per program
(program not required)
–
1024 steps
255 points
–
1000 points
Points
Multitasks
iVY
Dedicated I/O
–
–
–
–
4
16 points
16 points
16 points
–
8 points / 3 points
–
–
–
–
6 points / 6 points
HT1 / HT1-D (with enable switch)
–
TS-Manager
TOP
P.354
P.365
I/O points
General I/O
Option
Programming box
Support software for PC
Detailed info page
352
P.370
SR1-P
Single-axis
2 axes maximum
2 axes maximum
2 axes maximum
4 axes maximum
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
Absolute /
Incremental
Absolute /
Incremental
Incremental /
Semi-absolute
Incremental
Absolute / Incremental
Incremental /
Semi-absolute
Absolute /
Incremental
Absolute /
Incremental /
Semi-absolute
Robot
positioner
Pulse string
driver
–
–
CONTROLLER INFORMATION
–
CLEAN
–
Pick & place
robots
Single phase
200 to 230V+/10% maximum
(50/60Hz)
YP-X
Single phase
200 to 230V+/10% maximum
(50/60Hz)
SCARA
robots
Single phase
200 to 230V+/10% maximum
(50/60Hz)
YK-XG
–
Single-axis
Programming /
I/O point tracing /
Remote command /
Operation using RS-232C communication
Cartesian
robots
Single-axis
0505 / 0510 / 0520 / 1005 /
Main power supply
3-phase 200 to 230V 1010 / 2005 driver
Single phase 100 to 115V/200
+/-10% maximum
to 230V +/-10% maximum
(50/60Hz)
(50/60Hz)
Control power supply
1020 / 2010 / 2020 driver
Single phase 200 to
230V +/-10% maxiSingle phase 200 to 230V
mum (50/60Hz)
+/-10% maximum (50/60Hz)
RCX240
XY-X
Control power supply
20 driver
Single phase 200 to 230V
+/-10% maximum (50/60Hz)
Program /
Point trace /
Remote command /
Operation using RS-232C
communication
RCX222
RCX222HP
PHASER
DC24V
+/-10%
maximum
Pulse train control /
Programming /
I/O point tracing /
Remote command /
Operation using
RS-232C
communication
RCX221
RCX221HP
Linear motor
single-axis robots
Main power supply
05 / 10 driver
Single phase 100 to 115V/200 to
230V +/-10% maximum (50/60Hz)
DRCX
FLIP-X
Programming /
I/O point tracing /
Remote command /
Operation using RS-232C
communication
SRCP30
Single-axis robots
Programming /
I/O point tracing /
Remote command /
Operation using
RS-232C
communication
SR1-X
Compact
single-axis robots
ERCX
APPLICATION TRANSERVO
Robot controller
–
–
–
–
–
–
–
–
100
100
100
100
100
3000 steps
3000 steps
3000 steps
3000 steps
9999 steps
9999 steps
9999 steps
1000 points
1000 points
1000 points
1000 points
10000 points
10000 points
10000 points
4
4
4
4
8
8
8
8 points / 3 points
8 points / 4 points
8 points / 3 points
8 points / 3 points
10 points / 12 points 10 points / 12 points 10 points / 11 points
16 points / 13 points
16 points / 16 points
8 points / 5 points
16 points / 13 points
16 points / 8 points 16 points / 8 points 16 points / 8 points
RPB / RPB-E (with enable switch)
POPCOM
VIP+ / VIP
P.377
P.383
P.387
P.395
P.402
353
Option
P.374
HPB / HPB-D (with enable switch)
iVY
100
Robot
controller
100
Compact
single-axis robots
APPLICATION TRANSERVO
Single axis
TS-S/TS-X/TS-P
Robot positioner
TS series
Dedicated I/O point tracing
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.
TS-S
PHASER
TS-X
TS-P
1 Main operation patterns
P1
Position
Moves to the target position relative
to the origin point and completes
positioning.
Moves a specified distance
from the current position
Current position
P1
Moves from the current position
just by a distance specified in point
data and completes positioning.
Changes speed with no
deceleration
P1
Moves to multiple points in
succession. If different speeds were
set, then the speeds are changed
without decelerating and stopping to
continue point-to-point operation.
N
P1
CLEAN
Pushing starts after decelerating
at a distance equal to “Near width
(N)” from the target position.
CONTROLLER INFORMATION
Settings such as acceleration, deceleration, zone output
range, and position margin zone can be set for each point.
Different operations can be easily specified by combining
these settings with the above operation patterns.
Setting items
Setting item
Robot
positioner
Pulse string
driver
Robot
controller
Description
Specifies operation pattern such as ABS, INC,
positioning, push, and point-to-point link.
2 Position
Specifies position or distance to move.
3 Speed
Specifies maximum speed during operation.
4 Accel.
Specifies acceleration during operation.
Specifies deceleration during operation
5 Decel.
(Percentage of acceleration)
Specifies motor current limitation during
6 Push
pushing operation.
7 Zone (-)
Specifies upper and lower limits of “personal
zone” for each point data.
8 Zone (+)
Specifies position margin zone where “near
9 Near width
width” output should turn on.
Specifies next movement destination after positioning
10 Jump
or linked des ination for point-to-point operation.
11 Flag
Specifies stop mode and others.
1 Run type
iVY
Note:Acceleration and deceleration can be set in easy-to-understand percentage (%) units
(standard setup) or in SI units (custom setup) which make it easy to calculate the cycle time.
3 Maximum acceleration auto setting
Option
Acceleration is a critical parameter that determines how
long the robot can continue operating (or service life).
In worst cases, setting the acceleration too high may
cause the robot to breakdown after a short time.
On the TS series, the maximum acceleration is finely set by
taking into account the service life span of the motor output and
the guide for each robot model and payload. This eliminates
any worry about setting the acceleration too high by mistake.
Output turns ON when a
specified zone is entered
ON
OFF
P2
Decelerates and then
pushes
2 Detailed data can be set for each point
354
Output pattern
P1
Zone for external I/O output can
be set for each point.
“Near width” output
P1
Moves while pushing at a preset
push force.
Pushing after decelerating
YP-X
Pick & place
robots
Pushing operation
Pushes at a fixed thrust
INC (incremental) operation
Speed
SCARA
robots
YK-XG
ABS (absolute) operation
XY-X
Cartesian
robots
Moves to a specified
coordinate position.
Merge operation
Zone output
Normal operation
Merge operation
Linear motor
single-axis robots
Features
Specify position margin
zone.
P1
“Near width” output zone can be set for
each point as a position margin zone where
“positioning complete” signal is to be output.
4 Full range of monitor functions
The TS-Manager developed exclusively for the TS series
not only does data write, edit, backup tasks and parameter
settings but also comes loaded with cycle-time, simulator,
and monitor functions of all types.
A run-distance monitor for maintenance use is provided
as a standard unit feature. Design emphasizes easy,
user-friendly operation.
Main monitor displays
· Position · Speed
· Current · Load factor
· Voltage · Temperature
· Input information
· Output information
P.362
5 LCD monitor showing easy-tounderstand operation status display
TS-X
TS-P
A main-unit integrated type LCD monitor is available as
an optional unit.
The operation status, current position, load factor, and/
or error contents can be understood at a glance.
Model Overview
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
Ordering method
TS-S
TS-X / TS-P
TS-S
Controller
TSX
I/O
NP: NPN
PN: PNP
CC: CC-LINK
DN: DeviceNet
Driver: Power-supply voltage /
Power capacity
205: 200V / 100W more less
210: 200V / 200W
220: 200V / 400 to 600W
Controller
TSX: TS-X
TSP: TS-P
Regenerative unit
No entry: None
R: With RGT
LCD monitor
Usable for CE
No entry: None
L: With LCD
No entry: Standard
E: CE marking
Input/Output
Selection
NP: NPN
PN: PNP
CC: CC-LINK
DN: DeviceNet
Battery Note1
B: With battery
(Absolute model)
N: None
(Incremental model)
Note1. Battery can only be selected for TS-X. (Not provided for TS-P).
TS-X / TS-P specification selection table
Some specifications are automatically determined by the robot model.
TS-X
T4H / T5H /
C4H C5H
T6 /
C6
F8 /
C8
F8L / F8LH / F10 / F14 / F14H / F17 / F17L / F20 / F20N N15 / N18 / B10
C8L C8LH C10 C14 C14H C17 C17L C20
N15D N18D
B14
T9
T9H
B14H
(1)
(2)
(1)
(1)
(2)
(3)
(3)
(4)
(5)
(1)
(2)
(1)
(1)
(2)
(3)
(3)
(4)
(5)
R5
R10
R20
Power
205
supply
voltage / TS-X 210
Current
220
sensor
Regenerative unit is needed if using in a perpendicular position and movement stroke is 700mm or more.
Regenerative unit is needed if using in a perpendicular position.
Regenerative unit is needed if using in a perpendicular position, using at maximum speeds exceeding 1000mm per second, or if using high leads (40).
Regenerative unit is needed if using at maximum speeds exceeding 1000mm per second.
Regenerative unit is needed if using at maximum speeds exceeding 1250mm per second.
CONTROLLER INFORMATION
(1)
(2)
(3)
(4)
(5)
CLEAN
No entry
Regenera- (None)
tive unit
R (RGT)
TS-P
MF15 / 15D
MF20 / 20D
MF30 / 30D
MF50 / 50D
Power
205
supply
voltage / TS-P 210
Current
220
sensor
No entry
Regenera- (None)
tive unit
R (RGT)
Robot
positioner
Regenerative unit RGT
Basic specifications
Regenerative unit RGT
ϕ5.5
G N
120
Dimensions
Weight
Regenerative
Approx. 420V or more
voltage
Regenerative stop
Approx. 380V or less
voltage
Accessory
Cable for connection with controller (300mm)
Note. Always leave an empty space (gap of about 20mm) between this unit and the adjacent controller.
Also, always use the dedicated cable when connecting the controller.
iVY
R2.75
2
KCA-M4107-0A
W30 × H142 × D118mm
(Not including installation stay)
470g
Robot
controller
162
152
142
5
30
15
RGT
Pulse string
driver
Item
Model
Dimensions
Compact
single-axis robots
Name
TS-S
TS-X
TS-P
Power
DC24V +/-10%
Single phase 200 to 230V +/-10% maximum (50/60Hz)
Operating method
I/O point tracing
Maximum number of controllable axes
Single-axis
Position detection method
Incremental
Absolute / Incremental
Incremental / Semi-absolute
Controllable robot
Compact single-axis robot TRANSERVO
Single-axis robot FLIP-X
Linear motor single-axis robot PHASER
Support software for PC
TS-Manager
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.jp/robot/
Option
355
TS-S part names
Compact
single-axis robots
TS-S dimensions
5
Controller
Communication
connector 2 (COM2)
Not used at present
(for future expansion)
Status indicator lamps
(PWR, ERR)
The controller status is indicated
by LED lamps.
30
(70)
82
25
ϕ4.5
152
162
152
Robot I/O connector (ROB I/O)
Dedicated connector for robot I/O
signals such as position signals
and origin sensor signals, etc.
I/O connector (I/O)
Selectable at time of purchase as:
NPN,PNP, CC-LINK or DeviceNet.
4.5
5
5
Rating nameplate
(on side face of unit body)
YK-XG
SCARA
robots
YP-X
Pick & place
robots
TS-S basic specifications
CLEAN
CONTROLLER INFORMATION
Axis control Basic specifications
XY-X
Cartesian
robots
Power supply connector
Connector for main power and
control power input.
Item
Model
Number of controllable axes
Controllable robots
Maximum power consumption
Dimensions
Weight
Input power Control power supply
supply
Motor power supply
Operating method
Operation types
Position detection method
Resolution
Origin search method
Points
Points
PHASER
Linear motor
single-axis robots
Communication connector 1
(COM1)
Connector for connection to HT1
or a personal computer.
R
FLIP-X
Single-axis robots
Serial No.
Point type setting
Robot
positioner
Pulse string
driver
Robot
controller
iVY
General specifications Options External input/output
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
External communications
Safety circuit
TS-S
Single-axis
TRANSERVO series
70VA
W30 × H162 × D82mm
Approx. 0.2kg
DC24V +/-10%
DC24V +/-10%
I/O point tracing (Positioning operation by specifying point number)
Positioning, merge-positioning, push, and jog operations
Resolver
20480 P/rev
Incremental
255 points
(1) Standard setting: Set speed and acceleration in percent of the respective maximum settings.
(2) Custom setting: Set speed and acceleration in SI units.
Manual data input (coordinates input), Teaching, Direct teaching
Selectable from the following: NPN, PNP, CC-Link, DeviceNet
Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK) origin search (ORG),
manual mode (MANUAL), jog motion - (JOG-), jog motion + (JOG+),
Point number selection (PIN0 to PIN7)
Servo status (SRV-S), alarm (/ALM), operation end (END), operation in-progress (BUSY),
control outputs (OUT0 to 3), Point number output 0 to 7 (POUT0 to POUT7)
RS-232C 1CH
Emergency stop input (2 contact points), main power supply ready output
Handy terminal
HT1, HT1-D (with enable switch)
Support software for PC
TS-Manager
Operating temperature
Storage temperature
Operating humidity
0°C to 40°C
-10°C to 65°C
35% 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 9.8m/s2
Positioning detection error, power module error, temperature abnormality, overload, overvoltage,
low voltage, gross position error
Point teaching method
I/O interface
Input
Output
Atmosphere
Anti-vibration
Protective functions
Option
356
TS-X / TS-P part names
TS-X / TS-P dimensions
Power supply connector
Connector for main power
and control power input.
Unit's top cover in
an open condition
4
Status indicator lamps
(PWR, ERR)
The controller status is indicated
by LED lamps.
Controller
SCARA
robots
YP-X
Pick & place
robots
152
YK-XG
162
Cartesian
robots
167
XY-X
Communication connector 1
(COM1)
Connector for connection to HT1
or a personal computer.
PHASER
ϕ5.4
53
Linear motor
single-axis robots
131
FLIP-X
(90)
Single-axis robots
70
58
Rating nameplate
(on side face of unit body)
Compact
single-axis robots
TS-X / TS-P (220)
Serial No.
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.jp/robot/
Robot I/O connector (ROB I/O)
Dedicated connector for robot I/O
signals such as position signals
and origin sensor signals, etc.
5
R
EXT connector
(8)
Communication
connector 2 (COM2)
Connector for the
daisy-chain or LCD
monitor connection.
5.4
Motor connector (MOTOR)
Connector for the servo motor's
power line connection.
Absolute battery connector
(BAT)
Connector for the absolute
battery connection.
(only for TS-X)
I/O connector (I/O)
Connector type is selected NPN,
PNP, or CC-LINK when purchased.
EXT connector
(bottom face of unit body)
Connector for brake power input and
external safety circuit inputs/outputs.
Regenerative unit connector
(RGEN)
Connector for the regenerative
unit (RGT) connection.
Axis control
Points
External input/output
Options
General specifications
0°C to 40°C
-10°C to 65°C
35% 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 9.8m/s2
Positioning detection error, power module error, temperature abnormality, overload, overvoltage,
low voltage, gross position error
IP20
Protective functions
Protective structure
357
Option
TS-Manager
Operating temperature
Storage temperature
Operating humidity
Atmosphere
Anti-vibration
Output
iVY
Support software for PC
Input
Robot
controller
HT1, HT1-D (with enable switch)
Point teaching method
I/O interface
Pulse string
driver
Handy terminal
Point type setting
Robot
positioner
External communications
Power supply for brake
Safety circuit
TS-X / TS-P
TS-X205 / TS-P205
TS-X210 / TS-P210
TS-X220 / TS-P220
Single-axis
TS-X: Single-axis robot FLIP-X series TS-P: Linear motor single-axis robot PHASER series
400VA
600VA
1400VA
W58 × H162 × D131mm
W70 × H162 × D131mm
Approx. 0.9kg
Single phase AC200 to 230V+/-10% 50/60Hz
Single phase AC200 to 230V+/-10% 50/60Hz
I/O point tracing (Positioning operation by specifying point number)
Positioning, merge-positioning, push, and jog operations
TS-X: Resolver with multi-rotation absolute function TS-P: Magnetic type linear scale
TS-X: 16384 P/rev TS-P: 1μm
TS-X: Absolute / Incremental TS-P: Incremental / Semi-absolute
255 points
(1) Standard setting: Set speed and acceleration in percent of the respective maximum settings.
(2) Custom setting: Set speed and acceleration in SI units.
Manual data input (coordinates input) , Teaching, Direct teaching
Selectable from the following: NPN, PNP, CC-Link, DeviceNet
Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK) origin search (ORG),
manual mode (MANUAL), jog motion - (JOG-), jog motion + (JOG+),
Point number selection (PIN0 to PIN7)
Servo status (SRV-S), alarm (/ALM), operation end (END), operation in-progress (BUSY),
control outputs (OUT0 to 3), Point number output 0 to 7 (POUT0 to POUT7)
RS-232C 1CH
DC24V+/-10% 300mA (prepared by the customer)
Emergency stop input (2 contact points), main power supply ready output
CONTROLLER INFORMATION
Item
Model
Driver model
Number of controllable axes
Controllable robots
Maximum power consumption
Dimensions
Weight
Input power Control power supply
supply
Motor power supply
Operating method
Operation types
Position detection method
Resolution
Origin search method
Number of points
CLEAN
Basic specifications
TS-X / TS-P basic specifications
Data overview
Compact
single-axis robots
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
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. There are two point data setting types: “Standard setting” type that automatically
defines optimal positioning simply by specifying the payload and “Custom setting” type that allows setting the speed (mm/s) and
acceleration (m/s2) in SI units. Select the desired setting type according to the application.
Parameter data
PHASER
Linear motor
single-axis robots
Parameter data is divided into the following categories: “RUN parameters”, “I/O parameters”, “option parameters”, and “servo
parameters”.
Data structure
Point data
Data
XY-X
Cartesian
robots
SCARA
robots
YK-XG
1
2
3
4
5
6
P1 to P255
7 Zone ( )
RUN type
8 Zone (+)
Position
9 Near width
Speed
10 Jump
Accel.
11 Flag
Decel.
12 Timer
Push
Parameter data
K1 to K20
RUN parameter
YP-X
Pick & place
robots
K21 to K39
I/O parameter
K80 to K99
Option parameter
CLEAN
K40 to K79, K100 to ...
Servo parameter
Sets the point data to be used in positioning.
Select the desiredsetting type (“standard setting” or “custom
setting”) according to the application.
(1) Standard setting
Optimum positioning is provided simply by specifying the
payload.
(2) Custom setting
Speed and acceleration can be set in SI units.
Specifies parameter settings related to positioning
and return to origin operations.
Specifies parameter settings related to terminal
assignments and I/O function selection.
Specifies parameter settings related to options
such as CC Link, etc.
Specifies parameter settings specified to the connected robot.
These parameters are specified during initial processing.
CONTROLLER INFORMATION
Point data
Point data item list
Robot
positioner
Pulse string
driver
Robot
controller
1
2
3
4
5
6
7
8
9
10
11
12
Item
RUN type
Position
Speed
Accel.
Decel.
Push
Zone (-)
Zone (+)
Near width
Jump
Flag
Timer
P1 to P255
Description
Specifies the positioning operation pattern.
Specifies the positioning target position or movement amount.
Specifies the positioning speed.
Specifies the positioning acceleration.
Specifies the positioning deceleration (as a percentage of the acceleration).
Specifies the electrical current limit value for “Push” operations.
Specifies the “personal zone” output range.
Specifies the “near width” zone (distance tolerance relative to target position).
Specifies the next movement destination, or the next merge operation merge destination point No. following positioning completion.
Specifies other information related to the positioning operation.
Specifies the waiting time (delay) after positioning completion.
“Standard setting” and “custom setting”
iVY
There are 2 setting types for point data (“standard setting” or “custom setting”). Select the desired setting type according to the application.
The maximum number of setting points for both setting types is 255 points (P1 to P255).
Setting Type
Option
Standard setting
Custom setting
358
Description
Optimum positioning is provided simply by specifying the payload.
This setting type is well-suited to assembly and transport applications.
Allows changing the speed and acceleration in SI units so the desired positioning operation can be set.
This setting type is suited for machining and inspection systems.
Emergency stop circuit example
TS-S
TS-S (power connector and host unit connection example)
Controller
I/O(NPN)
+COM
COM1
I/O power common
Pick & place
robots
COM
ES
Status
ES
YP-X
JOG movement (+)
JOG movement ( )
MANUAL mode
Return to origin
Interlock
Start
Reset
Servo ON
SCARA
robots
ES2
YK-XG
PIN7
JOG+
JOG
MANUAL
ORG
/LOCK
START
RESET
SERVO
Cartesian
robots
ES1
PIN 0 to 7
Point No selection
XY-X
External
“emergency stop”
External 24V
PIN0
0V
FG
Power supply 0V
Frame ground
Handy Terminal
Operation in progress
End of operation
Alarm
Servo status
PHASER
ES1
ES2
ES
MP24V
CP24V
“Emergency stop” contact 1
“Emergency stop” contact 2
“Emergency stop” READY signal
Main power input
Control power input 24V DC
Control outputs
OUT 0 to 3
OUT3
BUSY
END
/ALM
SERVO S
Linear motor
single-axis robots
POUT7
OUT0
FLIP-X
Point No outputs
POUT 0 to 7
Single-axis robots
POUT0
Power connector
Controller
DC24V
I/O power + common
Compact
single-axis robots
NPN type input / output wiring diagram
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.jp/robot/
MP24V
CP24V
0V
RY
Internal
GND
FG
External 0V
External 0V
TS-X
TS-X / TS-P (EXT connector and host unit connection example)
Controller
Controller
COM1
Note When using a brake equipped robot
Internal
power
PIN 0 to 7
Point No selection
JOG movement (+)
JOG movement ( )
MANUAL mode
Return to origin
Interlock
Start
Reset
Servo ON
COM
I/O power common
NO
NC
1
2
3
4
5
6
7
8
RY
External
“emergency
stop”
External
0V
MPRDY2
PIN7
JOG+
JOG
MANUAL
ORG
/LOCK
START
RESET
SERVO
Internal
GND
L
ES-
DC24V
PIN0
N
ES2
DC24V
Operation in progress
End of operation
Alarm
Servo status
MPRDY1
ES+
ES1
ES2
MPRDY2
MPRDY1
ES
+24V
0V
OUT3
BUSY
END
/ALM
SERVO S
ES1
Note Mechanical brake power input
EXT
N1
EXT connector
External 24V
Note. Always connect a surge absorber unit to the coil on the electromagnetic contactor.
Robot
positioner
TS-P
CONTROLLER INFORMATION
Internal power for
“emergency stop” input
“Emergency stop” contact 1
“Emergency stop” contact 2
Main power input
READY output contact
“Emergency stop” READY s gnal
ES
Status
L1
Control outputs
OUT 0 to 3
CLEAN
L
N
Main power input
Handy Terminal
0V
Control power input
Point No outputs
POUT 0 to 7
POUT7
OUT0
L1
N1
DC24V
I/O power + common
ES+
POUT0
+24V
I/O(NPN)
+COM
Controller
POUT0
Main power nput
L
N
EXT
Main power input
READY output contact
“Emergency stop” READY s gnal
DC24V
ES+
ES1
ES2
MPRDY2
MPRDY1
ES
+24V
0V
OUT3
BUSY
END
/ALM
SRV S
PIN0
Point No outputs
POUT 0 to 7
Control outputs
OUT 0 to 3
Operation in progress
End of operation
Alarm
Servo status
iVY
Internal power for
“emergency stop” input
“Emergency stop” contact 1
“Emergency stop” contact 2
POUT7
OUT0
DC24V
I/O power + common
Robot
controller
Control power nput
L1
N1
Pulse string
driver
I/O(NPN)
+COM
PIN 0 to 7
Point No selection
JOG movement (+)
JOG movement ( )
MANUAL mode
Return to origin
Interlock
Start
Reset
Servo ON
COM
I/O power common
Option
PIN7
JOG+
JOG
MANUAL
ORG
/LOCK
START
RESET
SERVO
359
I/O Specifications
Item
NPN type I/O circuit details
Description
Input circuit
+COM
DC24V
4.7kΩ
Input
Internal
circuit
Logic
circuit
-COM
I/O signals (NPN / PNP)
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
SCARA
robots
YK-XG
YP-X
Pick & place
robots
CLEAN
CONTROLLER INFORMATION
Robot
positioner
Pulse string
driver
No.
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
Signal name
+COM
NC
NC
PIN0
PIN1
PIN2
PIN3
PIN4
PIN5
PIN6
PIN7
JOG+
JOGMANUAL
ORG
/LOCK
START
RESET
SERVO
POUT0
POUT1
POUT2
POUT3
POUT4
POUT5
POUT6
POUT7
OUT0
OUT1
OUT2
OUT3
BUSY
END
/ALM
SRV-S
NC
NC
-COM
Description
Input power + common
Type : DC input (plus common type)
Photo-coupler isolation format
Load : 24VDC +/- 10%, 5.1mA
OFF voltage : 19.6Vmin (1.0mA)
ON voltage : 4.9Vmax (4.0mA)
Use prohibited
Output circuit
+COM
Point No. select
Output
Internal
circuit
Inputs
FLIP-X
Single-axis robots
Input 16 points, 24VDC +/-10%, 5.1mA/point, positive common
NPN
Output 16 points, 24VDC +/-10%, 50mA/point, sink type
Input 16 points, 24VDC +/-10%, 5.5mA/point, minus common
PNP
Output 16 points, 24VDC +/-10%, 50mA/point, source type
CC-Link
CC-Link Ver.1.10 compatible, Remote station device (1 node)
DeviceNet DeviceNet Slave 1 node
Load
Logic
circuit
DC24V
JOG movement (+ direction)
JOG movement (- direction)
MANUAL mode
Return-to-origin
Interlock
Start
Reset
Servo ON
-COM
Type : NPN open collector output
(Minus common type)
Photo-coupler isolation format
Load : 24VDC, 50mA/point
PNP type I/O circuit details
Input circuit
Point No. outputs
+COM
Outputs
Compact
single-axis robots
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
Input
Internal
circuit
Logic
circuit
DC24V
4.7kΩ
-COM
Control outputs
Operation-inprogress
Operation-end
Alarm
Servo status
Use prohibited
Type : DC input (minus common type)
Photo-coupler isolation format
Load : 24VDC +/- 10%, 5.5mA
ON voltage : 19.6Vmin (4.5mA)
OFF voltage : 4.9Vmax (1.1mA)
Output circuit
Input power - common
+COM
Robot
controller
DC24V
Internal
circuit
Logic
circuit
Output
iVY
-COM
Option
Type : PNP open collector output
(Plus common type)
Photo-coupler isolation format
Load : 24VDC, 50mA/point
360
Load
Accessories and part options
Power connector
Power connector
EXT connector
For braking power and safety circuit connections.
TS-X
TS-P
TS-P
KCA-M5163-00
Model
Pick & place
robots
TS-S
TS-X
YP-X
TS-S
SCARA
robots
I/O cables (2m)
YK-XG
KCA-M5370-00
Cartesian
robots
Model
Model
XY-X
Dummy connector
KAS-M5382-00
PHASER
Model
Linear motor
single-axis robots
KCC-M4421-00
TS-P
FLIP-X
Model
TS-X
TS-P
Single-axis robots
TS-X
TS-S
Compact
single-axis robots
Standard accessories
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.jp/robot/
KCA-M4421-20
Absolute battery
Absolute battery basic specifications
TS-X
Model
KCA-M53G0-00
Item
Model
Battery type
Data holding time
Dimensions
Weight
Absolute battery
KCA-M53G0-00
Lithium metallic battery
1year
ϕ17 × L50mm
20g
CLEAN
Note. The absolute battery is subject to wear and requires replacement.
If trouble occurs with the memory then remaining battery life is
low so replace the absolute battery. The battery replacement
period depends on usage conditions. But generally you should
replace the battery after about 1 year counting the total time after
connecting to the controller and left without turning on the power.
CONTROLLER INFORMATION
Options
Handy terminal HT1 / HT1-D
Support software TS-Manager
Has graphic LCD display wi h backlight for easy viewing.
TS-S
TS-S
TS-X
TS-X
TS-P
TS-P
Data cables
TS-Manager data cable.
Select from USB cable or D-sub cable.
HT1-D
USB
TS-Monitor (LCD monitor)
Model
USB type (5m)
KCA-M538F-A0
D-Sub type (5m) KCA-M538F-00
TS-Manager environment
OS
CPU
Memory
Hard disk
Communication port
Applicable controllers
Microsoft Windows 2000/XP/Windows Vista
Exceeding the environment recommended by the OS being used
Exceeding the environment recommended by the OS being used
Vacant capacity of more than 20MB in the installation destination drive
Serial (RS-232C), USB
TS-S / TS-X / TS-P
Note. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.
TS-X
TS-P
Model
For TS-X
For TS-P
KCA-M5119-00
KCA-M5119-10
361
Option
P.362
iVY
A liquid crystal display is integrated into this unit. It
allows checking each operating state, current position, electrical current and voltage values, etc.
KCA-M4966-00
Robot
controller
P.363
Model
Pulse string
driver
HT1
HT1-D
Model
KCA-M5110-0E KCA-M5110-1E
Enable switch
–
3-position
CE marking Not supported
Applicable
D-Sub
Robot
positioner
HT1
Besides data writing, editing and backup functions,
the TS-Manager also offers cycle time simulation
and various types of monitor functions.
TS-Manager
Compact
single-axis robots
APPLICATION TRANSERVO
Support software for PC
Applicable controllers
TS-S
TS-X
TS-P
FLIP-X
Single-axis robots
Besides basic functions, such as point data edit and backup, this support software TS-Manager incorporates various convenient functions
to efficiently process the system debugging and analysis. The TS-Manager helps you in every scene from the system setup to the
maintenance.
Features
1 Basic functions
PHASER
Linear motor
single-axis robots
Detailed settings by point, such as the position information, operation pattern, speed, acceleration, and deceleration settings, and robot parameter
settings can be set, edited, and backed up. Additionally, the basic operation of the robot, such as JOG movement or inching operation can also be
controlled through the TS-Manager.
JOG movement, inching
operation, and current position
acquisition buttons.
XY-X
Cartesian
robots
Only clicking relevant icon will
show the operation panel or I/O
monitor.
Turns ON or OFF the operation
point monitoring.
SCARA
robots
YK-XG
Shows the data in easy to read
tabular format.
Exchanging data with a
spreadsheet application, such
as Excel is also easy.
Shows the servo or emergency
stop status, and operation mode.
Shows the current position at
real time.
YP-X
Pick & place
robots
Operation panel for servo status,
brake ON/OFF, and stop.
Note. Excel is a registered trademark of Microsoft Corporation in the United States and/or other countries.
CLEAN
2 Real-time trace
CONTROLLER INFORMATION
This function traces the current position, speed, load factor, current
value, and voltage value at real-time. Additionally, as trigger conditions
are set, data can be automatically obtained when these conditions are
satisfied. Furthermore, as a zone is specified from the monitor results,
the maximum value, minimum value, and average value can be calculated. These values are useful for the analysis if a trouble occurs.
Specify a zone
for calculation.
Real-time traceable items (up to four items)
• Voltage value
• Current value
• Motor load factor
• Command speed
• Current speed
• Internal temperature
• Command current value • Present current value • Input/output I/O status
• Word input/output status
Traces data at real time.
Robot
positioner
3 Various monitor functions and detailed error logs
Pulse string
driver
Robot
controller
The robot operation status (operation mode or servo status) and I/O status can be monitored.
Additionally, the Alarm Log screen also displays the input/output I/O
status in addition to the carrier position, speed, operation status, current
value, and voltage value in case of an alarm. This greatly contributes to
the status analysis.
I/O status monitor panel
Detailed status monitor panel
Calculates the
maximum value,
minimum value,
average value,
and root mean
square value in
a specified zone.
4 Operation simulation
As the operation condition data or point data is input, a period of time
necessary for operation is simulated.
Use of this function makes it possible to select an optimal model before
purchase and simulate the speed and acceleration/deceleration settings
without use of actual machine.
It is also possible to link this operation simulation function with the TSManager main software. This easily affects the point data you have edited in the actual machine.
Point data list
iVY
Option
Operation setting list
Result display list
362
Displays the detailed simulation
results graphically.
HT1/HT1-D
TS-S
TS-X
TS-P
PHASER
XY-X
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
HT1
Linear motor
single-axis robots
Name
FLIP-X
HT1 / HT1-D basic specifications
Single-axis robots
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.
Compact
single-axis robots
Applicable controllers
APPLICATION TRANSERVO
Handy terminal
HT1-D
External view
TS-S / TS-X / TS-P
KCA-M5110-0J
KCA-M5110-1J
KCA-M5110-0E
KCA-M5110-1E
Dot matrix monochrome display (with backlighting) 32 characters × 10 lines
Mechanical switch
Normally closed contact point (with lock function)
3-position
15 pin D-sub connector (male)
Not supported
Applicable
0°C to 40°C
35% to 85%RH (non-condensing)
W88 × H191 × D45mm (Emergency stop button not included.)
260g (not including cable)
300g (not including cable)
3.5m
CONTROLLER INFORMATION
Part names and function
CLEAN
Applicable controllers
Japanese specifications
Model
English specifications
Display
Operation keys
Emergency stop button
Enable switch
Safety connector
CE marking
Operating temperature
Operating humidity
Dimensions
Weight
Cable length
HT1-D rear side
Strap holder
Attaching a short strap
or necklace strap here
prevents dropping the
HT1 while operating it
or installing it onto
equipment.
Use with remote safety
circuits triggered by the
emergency stop button or
enable switch.
iVY
Connector cable
Safety connector
(only on HT1-D)
Robot
controller
Use these keys to
select menus and edit
various data.
Use these keys to
operate the robot for
teaching or positioning,
or to stop operation.
The
and
keys are
also provided to move
the robot in jog mode.
This switch is effective for
use with remote safety
circuits. This switch cuts off
the circuit when pressed or
released but allows circuit
operation when in the
middle position.
Pulse string
driver
Data edit keys
Run/stop keys
Enable switch
(only on HT1-D)
Robot
positioner
LCD screen
This is a liquid crystal
display (LCD) screen
with 32 characters × 10
lines (pixel display),
showing the operation
menus and various
types of information.
Emergency stop button
Pressing this button
during operation
immediately stops robot
movement. To release
this button, turn it
clockwise.
Releasing this button
also cancels
emergency stop.
Option
This cable connects to
the controller. One end
of this cable is
terminated with an 8-pin
MD connector (male).
Plug this cable into the
COM1 connector on the
controller front panel.
363
NETWORK
Compact
single-axis robots
APPLICATION TRANSERVO
Field network system with minimal wiring
Applicable controllers
TS-S
TS-X
TS-P
Network modules CC-Link
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Option unit with networking functions that can be incorporated in YAMAHA robot controllers, TS-S / TS-X / TS-P.
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 efficient wiring work, reduction of installation and
maintenance costs, etc.
16 input/outputs usable as I/O.
Operation occurs as a CC-Link remote device station,
on a one-unit to one-station basis.
Remote commands can read or write point data and
load each type of status.
Basic specifications for network modules CC-Link
Item
Applicable controllers
Version supporting CC-Link
Remote node type
Number of occupied nodes
Node number setting
Communication speed setting
No. of CC-Link inputs/outputs
Shortest distance between nodesNote1
Overall extension distanceNote1
Monitor LED
Network modules CC-Link
TS-S / TS-X / TS-P
Ver. 1.10
Remote device node
1 node
1 to 64
10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 125Kbps
Input 16 points , Output 16 points
0.2m or more
100m/10Mbps, 160m/5Mbps, 400m/2 5Mbps, 900m/625Kbps,
1200m/156Kbps
L RUN, L ERR, SD, RD
Note 1. These values apply when a cable that supports CC-Link Ver.1.10 is used.
XY-X
Cartesian
robots
Network modules DeviceNet
YK-XG
SCARA
robots
YP-X
Pick & place
robots
Option unit with networking functions that can be incorporated in YAMAHA robot controllers, TS-S / TS-X / TS-P.
As connection of the robot system and the sequencer
requires only one (4-wire) dedicated cable, it is possible
to reduce wiring of the entire system, which contributes
to efficient wiring work, reduction of installation and
maintenance costs, etc.
16 input/outputs usable as I/O.
Operate as slave stations, with each unit occupying 6
input and 6 output channels.
CLEAN
Remote commands can read or write point data and
load each type of status.
CONTROLLER INFORMATION
Robot
positioner
Pulse string
driver
Robot
controller
iVY
Option
364
Basic specifications for network modules DeviceNet
Item
Applicable controllers
Applicable DeviceNet specifications
Device type
Number of occupied CH
MAC ID setting
Communication speed setting
DeviceNet inputs/outputs
Overall extension distance
Network Branch length
length
Overall branch length
Monitor LED
Network modules DeviceNet
TS-S / TS-X / TS-P
Volume 1 Release2 0/Volume 2 Release2 0
Generic Device (device number 0)
Input 6ch, Output 6ch
0 to 63
500Kbps, 250Kbps, 125Kbps
Input 16 points, Output 16 points
100m/500Kbps, 250m/250Kbps, 500m/125Kbps
6m or less
39m or less/500Kbps, 78m or less/250Kbps,
156m or less/125Kbps
Module, Network
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.
SCARA
robots
YP-X
Pick & place
robots
Compact design of H160 × W57 × D130mm.
YK-XG
3 Compact
Cartesian
robots
Driver easily assembles into automated equipment so a
drastic amount of effort needed for tasks such as design, part selection and settings can be eliminated and
a huge cost reduction achieved!
5 Command output: ABZ phase output
(with divider function)
XY-X
2 Cost reduction to a large extent is
possible in designing the system
4 Command input: Line driver signal
(2Mpps)
PHASER
Driver functions by dedicated pulse train control which
yields a compact body and a low price!
Linear motor
single-axis robots
1 Dedicated pulse train control
RDP
FLIP-X
Features
Single-axis robots
Main functions P.033
RDX
6 Analog monitor output function
Monitor can show analog outputs such as for speed or
electrical current giving the operator a real-time look at
operating status.
Dedicated support software TOP can be used to show
fully graphic displays.
Model Overview
Power
Note 1. Exclude T4 / T5 / C4 / C5 / YMS
Note 2. Exclude MF100
Ordering method
RDX
RDP
Controller
RDP
Regenerative unit No e
RBR1
RBR2
Note. Driver selection and regenerative unit selection depends on the robot type.
See the selection table on the next page for selecting the driver/regenerative circuit.
Controller
Driver No e
05: 100W or less
10: 200W or less
20: 400W or less
Regenerative unit Note
No entry: None
RBR1
RBR2
Note. Driver selection and regenerative unit selection depends on the robot type.
See the selection table on the next page for selecting the driver/regenerative circuit.
Pulse string
driver
Driver No e
05: 100W or less
10: 200W or less
20: 400W or less
Robot
positioner
RDX
CONTROLLER INFORMATION
Operating method
Maximum number of controllable axes
Position detection method
Controllable robot
Support software for PC
RDX
RDP
Main power supply 3-phase 200 to 230V +10% to -15% (50/60Hz +/-5%)
Control power supply Single phase 200 to 230V +10% to -15% (50/60Hz +/-5%)
Pulse train control
Single-axis
Incremental
Single-axis robot FLIP-X Note1
Linear motor single-axis robot PHASER Note2
TOP
CLEAN
Name
Compact
single-axis robots
APPLICATION TRANSERVO
Single axis
Robot
controller
iVY
Option
365
Part names
Dimensions
Note : The photo shows the front
of RDP-05 / 10. The same
applies to RDX-05 / 10.
RDX-05 / 10
RDP-05 / 10
RDX-20
RDP-20
Note : The photos show the front (left) and the
underside (right) of RDX-20. The same
applies to RDP-20.
ϕ6
57
52
(5)
ϕ6
Radiation
fin
I/O connector
65
56
(9)
RDX-05 / 10 / 20
RDP-05 / 10 / 20 side
(75)
130
160
150+/-0.5
160
150+/-0.5
(Bottom)
(16)
XY-X
Cartesian
robots
Position sensor
connector
Ground terminal
Control
power supply
connector
6
6
(5)
PHASER
Linear motor
single-axis robots
Radiation fin
(5)
FLIP-X
Single-axis robots
Indicator
Digital operator
Main circuit terminal
block
Computer connector
RDX-20
RDP-20
5
RDX-05 / 10
RDP-05 / 10
5
Compact
single-axis robots
APPLICATION TRANSERVO
RDX/RDP
Driver / regenerative unit selection table
RDX
FLIP-X
YK-XG
SCARA
robots
YP-X
Pick & place
robots
T4H/ T5H/
C4H C5H
T6/
C6
T9
T9H
F8 / F8L/ F8LH/ F10/ F14/ F14H/ F17/ F17L/ F20/
C8 C8L C8LH C10 C14 C14H C17 C17L C20 F20N N15
N18 N15D N18D B10
B14 B14H
R5
R10
R20
05
Driver
RDX
10
selection
20
No entry (None)
RegeneraRBR1
tive unit
RBR2
If placed horizontally the RBR1 is required, if placed vertically then RBR2 is required.
RDP
Regenerative unit RBR1 / RBR2 dimensions
Regenerative unit RBR1
Regenerative unit RBR2
Dimensions
Dimensions
170
150
310
RB
10
1
12
7
R3.5
7.5
160
25
2
P
5
67
70
55
64
Robot
positioner
The regenerative unit is a device that converts the
braking current generated when the motor decelerates into heat.
Regenerative unit is required for specified Yamaha
models and for operation with loads having large
inertia.
43
CONTROLLER INFORMATION
05
10
20
Regenera- No entry (None)
tive unit RBR1
Driver
RDP
selection
2-5
CLEAN
PHASER
MR12/ MR16/ MR16H/ MR20/ MR25/ MF15/ MF20/ MF30/ MF50/
MR12D MR16D MR16HD MR20D MR25D MF15D MF20D MF30D MF50D
R33 5
ϕ15
295
7.5
5
Pulse string
driver
160
21
500
Lead length
1.2
1.6
Mark band
Robot
controller
Regenerative unit RBR1 / RBR2 basic specifications
iVY
Option
Item
Model
Capacity type
Resistance value
Permissible braking frequency
Permissible continuous braking time
Weight
366
RBR1
KBH-M5850-00
120W
100
2.5%
12 sec.
0.27kg
RBR2
KBH-M5850-10
200W
100
7.5%
30 sec.
0.97kg
Note. The internal thermal contact point capacity is AC250V, 2A max. ON (b contact point) in the
normal state.
Note. The built-in thermal fuse prevents abnormal heat generation which occurs by an erroneous
use. (not resettable)
Note. When the thermal relay has worked, reduce the regeneration energy by either stopping the
servo amplifier or making the deceleration time longer.
Note. With the regenerative unit, specifications and whether or not required may vary depending on
each robot and its operation conditions.
Basic specifications
RDP
RDP-10
RDP-20
Single-axis robot FLIP-X
YP-X
Pick & place
robots
CLEAN
CONTROLLER INFORMATION
Robot
positioner
Pulse string
driver
Note. These data are parameters and calculation range in controlling the robot driver and do not indicate the capacity of the robot at the maximum speed.
Note. GXL-8FB (made by SUNX) or FL7M-1P5B6-Z (made by YAMATAKE) is used for the origin sensor. The power consumption of the origin sensor is 15mA or less (at open output) and only 1 unit of the origin sensor is
connected to each robot driver. (future specification)
Note. Use the dynamic brake for emergency stop. Note that the braking may be less effective depending on the robot model.
Note. JEM1030 is used as the base for the protection method.
Note. Storage temperature applies to the temperature during transportation.
Note. The JIS C0040 test method is uses as the base.
SCARA
robots
0°C to +40°C
-10°C to +70°C
20% to 90%RH (non-condensing)
5.9m/s2 (0.6G) 10 to 55Hz
YK-XG
Operating temperature
Storage temperature
Operating humidity
Vibration
Cartesian
robots
TOP
XY-X
Support software for PC
PHASER
Basic specifications
RDP-05
Linear motor
single-axis robots
Axis control
RDX-20
FLIP-X
Input/output related function
RDX
RDX-10
Single-axis robots
Internal function
RDX-05
Single-axis
Linear motor single-axis robot PHASER
(exclude MF100)
200V 100W
200V 200W
200V 400W
200V 100W
200V 200W
200V 400W
Capacity of the connected motor
or less
or less
or less
or less
or less
or less
Maximum power consumption
0.3kVA
0.5kVA
0.9kVA
0.3kVA
0.5kVA
0.9kVA
W65 × H160 ×
W65 × H160 ×
Dimensions
W57 × H160 × D130mm
W57 × H160 × D130mm
D130mm
D130mm
Weight
0.8kg
1.0kg
0.8kg
1.0kg
Input power Control power supply Single phase 200 to 230V+10%, -15%, 50/60Hz+/-5%
supply
Motor power supply 3-phase 200 to 230V+10%, -15%, 50/60Hz+/-5%
Position detection method
Resolver
Magnetic linear scale
Control system
Sine-wave PWM (pulse width modulation)
Control mode
Position control
Maximum speed
5000rpm
3.0m/s
Line driver signal (2M pulses/s or less)
(1) Forward pulse + reverse pulse (2) Sign pulse + Command pulse
Position command input
(3) 90-degree phase difference 2-phase pulse command (maximum frequency: 500k pulses/s.)
One of (1) to (3) is selectable.
24V DC contact point signal input (usable for sink/source) (24V DC power supply incorporated)
Input signal
(1) Servo ON (2) Alarm reset (3) Torque limit (4) Forward overtravel (5) Reverse overtravel
(6) Origin sensor (7) Return-to-origin (8) Pulse train input enable (9) Deviation counter clear
Open collector signal output (usable for sink/source)
Output signal
1) Servo ready 2) Alarm 3) Positioning completed
Relay output signal
Braking cancel signal (24V 375mA)
Phase A, B signal output: Line driver signal output
Position output
Phase Z signal output: Line driver signal output / open collector signal output
N/8192 (N=1 to 8191), 1/N (N=1 to 64) or 2/N (N=3 to 64)
Monitor output
Selectable items: 2ch, 0 to +/-3V voltage output, speed detection value, torque command, etc.
Built-in operator
5-digit number indicator, key input x 5
PC software “TOP” monitoring function, parameter setting function, operation tracing function, trial
External operator
operation function, etc.
RS232C port in use, PC with Windows 95/98/Me, Windows NT/2000/XP can be connected
Included
Included
Regenerative braking circuit
Included
Included
(but without braking resistor)
(but without braking resistor)
Dynamic brake
Included (Operation conditions can be set.) (No DB resistor, connection: 2-phase short circuit)
Protective function
Open type (IPOO)
Protective functions
Over-current, overload, braking resistor overload, main circuit overvoltage, memory error, etc.
Controllable robots
General specifications Options
Model
Compact
single-axis robots
Item
Driver model
Number of controllable axes
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.jp/robot/
Robot
controller
iVY
Option
367
Input / output signal connection diagram
List of RDP / RDX terminal functions
Type Terminal
symbol Terminal name
Robot driver
OAP 21
Position sensor
OAN 22 Phase A signal output
15 PLSP 150Ω
Pulse train position
command (pulse)
16 PLSN
FLIP-X
Single-axis robots
Pulse train position
command (sign)
40 SIGP 150Ω
OBP 46
41 SIGN
Position sensor
OBN 47 Phase B signal output
P24
CM1
OZP 23
Origin sensor
Position sensor
OZN 24 Phase Z signal output
8 ORL 4 7kΩ
OZ 48
24V
PHASER
Linear motor
single-axis robots
10 CM1
DC24V
Interface power
1 P24
Phase Z detection common
Logic ground
A01 25
Contact input common
Servo ON
Alarm reset
XY-X
Cartesian
robots
Torque limit
Forward overtravel
Reverse ovetravel
Return to origin
SCARA
robots
YK-XG
Pulse train input enable
Position error counter clear
Interface power common
2 PLC
26 SON 4 7kΩ
A02 50
20
27 RS 4 7kΩ
L
4 TL
PLC
Phase Z detection
L 49
4 7kΩ
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 7kΩ
INPE 39
Monitor output 1
Monitor output 2
Analog output common
Input signal
Compact
single-axis robots
APPLICATION TRANSERVO
RDX/RDP
RS
TL
Servo ready
FOT
Alarm
ROT
Positioning complete
ORL
Brake output and coil (Note 1)
ORG
Brake release
BK 13
relay
30 CM1
PEN
Br
BRK
SON
31 6
Brake power
B0
CER
B24
Analog
common L
Setting this signal to ON turns the servo on
(supplies power to motor to control it). This
signal is also used for estimating magnetic pole
position when FA-90 is set to oFF or oFF2.
After an alarm has tripped, input ing this
signal cancels the alarm. But before inputting
Alarm reset
this reset signal, first set the SON terminal to
OFF and eliminate the cause of the trouble.
Torque limit
When this signal is ON, the torque limit is enabled.
Forward
When his signal is OFF, the robot will not run in
overtravel
forward direc ion. (Forward direction limit signal)
Reverse
When his signal is OFF, the robot will not run in
overtravel
reverse direction. (Reverse direction limit signal)
Input
an origin limit switch signal showing
Origin sensor the origin
area.
Return-to-origin Inputting this signal starts return-toorigin operation.
Pulse train
When this signal is turned on, the pulse
input enable
train position command input is enabled.
Inputting this signal clears the position
Position error deviation (position error) counter.
counter clear (Position command value is viewed as
current position.)
Servo ON
Analog common This is the ground for the analog signal.
This signal is output when the servo is
ready to turn on (with main power supply
turned on and no alarms tripped.)
An alarm signal is output when an alarm
ALM
Alarm
has tripped. (This signal is ON in normal
ALME
state and OFF when an alarm has tripped )
This signal is output when the deviation
INP
Positioning
between the command position and current
complete
INPE
position is wi hin the preset positioning range.
Relay BK
Brake release When the servo is ON, this terminal outputs a signal
output (B24) (Note 1) relay output
to allow releasing the brake. (FLIP-X series only)
Outputs speed detection values, torque commands,
AO1
Monitor output 1 etc. as analog signal voltages for monitoring.
Signals to output are selected by setting parameters.
AO2
Monitor output 2 These signals are only for monitoring.
Do not use for control.
Monitor output This is the ground for the monitor signal.
L
common
Position
Select one of the following signal forms as
PLSP
command pulse the pulse-train position command input.
PLSN
(pulse signal) (1) Command pulse + direction signal
(2) Forward direction pulse train + reverse
Position
SIGP
direction pulse train
command pulse
SIGN
(3) Phase difference 2-phase pulse
(sign signal)
OAP
Position sensor Outputs monitor signal obtained by dividing
Phase A signal “phase A” signal of position sensor.
OAN
OBP
Position sensor Outputs monitor signal obtained by dividing
Phase B signal “phase B” signal of position sensor.
OBN
OZP
Position sensor Outputs monitor signal for position sensor
Phase Z signal “phase Z” signal.
OZN
OZ
Phase Z detection
Outputs monitor signal for position sensor
Phase Z detection “phase Z” signal.
L
common
power
B24 (Note 1) Brake
Input 24V DC brake power to this terminal.
input
Brake
power
Common terminal input for brake power.
B0 (Note 1) common
CLEAN
Output signal
YP-X
Pick & place
robots
DC24V
5
Description
Supplies 24V DC for contact inputs.
Connecting this signal to the PLC terminal
using the internal power supply.
Interface power allows
Use this terminal only for contact input. Do
not use for controlling external equipment
connected to the robot driver, such as brakes
This is a ground signal for the power supply
Interface power connected to P24. If using the internal power
common
supply then input a contact signal between
this signal and the contact-point signal.
this signal to the power supply
Intelligent input Connect
common contact input. Connect an external
common
supply or internal power supply (P24).
Servo ready
CONTROLLER INFORMATION
Position
command
Monitor output
SRD
SRDE
Robot
controller
Braking
power input
Pulse string
driver
Position sensor
monitor
Robot
positioner
Note 1. B24, BO and BK are available only with RDX, and not with RDP.
iVY
Standard accessories
I/O connector (with brake wiring)
Control power supply connector
Model
Model
Model
Option
I/O connector (no brake wiring)
368
KBH-M4420-00
KBH-M4421-00
KBH-M4422-00
Support software for PC
Software for setup
Environment
KBH-M538F-00
Model
KBH-M4966-00
Note. Windows ® 95/98/Me, Windows NT®, Windows ® 2000 and Windows ® XP are trademarks of Microsoft Corporation registered in
U.S.A. and other countries.
CONTROLLER INFORMATION
DOS/V PC
Windows® 95/98/Me
Windows NT®
Windows ® 2000
Windows® XP
Communication RS-232C
method
CLEAN
PC
OS
Model
Pick & place
robots
Support software TOP
TOP is RDX / RDP dedicated software.
YP-X
It is possible to have the servo motor speed and
electric current displayed in the form of graphics.
Display of history
of errors
Communication cable to connect PC and a controller.
SCARA
robots
3 Operation tracing function
Display of input/output
terminal state
Communication cable for PC
supporting software TOP (2m)
YK-XG
Display of operation status
and operation control mode
Cartesian
robots
Display of operation
conditions
It is possible to set, change, print and store the
parameters.
XY-X
It is possible to monitor the operation condition
and output state in real time.
PHASER
2 Setting parameters
Linear motor
single-axis robots
1 Monitoring function
FLIP-X
Features
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.
Compact
single-axis robots
TOP
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.jp/robot/
Robot
positioner
Pulse string
driver
Robot
controller
iVY
Option
369
Compact
single-axis robots
APPLICATION TRANSERVO
Single axis
ERCD
Robot controller
Dedicated for T4 / T5 / C4 / C5 / YMS
FLIP-X
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.
Main functions P.034
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
Features
1 Supports 5 operating methods
including pulse train, programming,
point trace, remote command,
online instructions
2 Reinforced sequence function
3 Torque restriction control
This function limits the maximum torque during robot
movement via a program command. It allows operations
such as press-fit, push, and gripping, etc.
4 Zone output function
SCARA
robots
YK-XG
This function controls the signal output (on/off) when the
robot position enters within a specified range or zone.
It can be set to trigger at area decision made by
upstream device.
More system layout freedom! Now easier to use than ever
before!
YP-X
Pick & place
robots
Standard accessories
Model Overview
Name
Power
CLEAN
CONTROLLER INFORMATION
ERCD
DC24V
Pulse train control / Programming / I/O point tracing /
Operating method
Remote command / Operation using RS-232C communication
Maximum number of controllable axes
Single-axis
Position detection method
Incremental
Controllable robot
Deicated for T4 / T5 / C4 / C5 / YMS
Programming box
HPB / HPB-D (with enable switch) P.393
POPCOM P.391
Support software for PC
24V power connector (for EXT. CN)
Model
KAU-M4422-00
I/O flat cable (CN1)
Connector and flat cable used to connect the
standard parallel I/O of the ERCD / SRCP30
controllers and an external equipment (sequencer).
The cable is 1m long with its end cut and left as it is.
Ordering method
ERCD
Controller
I/O connector specification
CN1: I/O flat cable 1m (Standard)
CN2: Twisted-pair cable 2m (pilse train function)
Robot
positioner
Part names / dimensions
Model
44
Pulse string
driver
Status LED lamp
(PWR, ERR)
ϕ4.6
22
117
156
166
Robot
controller
HPB connector
142
Robot I/O
connector
KAU-M4421-00
I/O twisted-pair cable (CN2)
Connector and twisted pair cable used to connect
parallel I/O of ERCD / SRCP30 controllers and an
external equipment. The cable is 2m long with its
end cut and left as it is. Select CN2 when using the
pulse train input equipment.
iVY
Power terminal
block (24P, 24N, FG)
EXT. CN connector
12
I/O. CN connector
5
4.6
38.5
22
Option
370
Model
KAU-M4421-10
ERCD
Basic specifications
YP-X
Pick & place
robots
Basic specifica ions
SCARA
robots
Axis control
YK-XG
Program
Cartesian
robots
Memory
XY-X
CLEAN
CONTROLLER INFORMATION
External input/output
I/O interface
PHASER
Linear motor
single-axis robots
Robot
positioner
Pulse string
driver
General specifications Op ions
FLIP-X
Note 1. Switching between the normal mode and pulse train mode is done by use of the parameter.
Single-axis robots
ERCD
Single-axis
Single-axis robot FLIP-X series T4 / T5 / C4 / C5 / YMS
DC24V 30W or less
W44 × H166 × D117mm
0.45kg
DC24V+/-10% maximum 3A to 4.5A
Input power supply
(Variable depending on robots in use.)
Drive method
AC full-digital software servo
Position detection method
Resolver
Normal mode: point trace movement, program operation, operation using RS-232C communication
Operating method
Pulse Train mode: operation by pulse train input
Position indication units
mm (millimeters)
Speed setting
1% to 100% (Setting by 1% unit)
1. Automatic speed setting per robot No. and payload
Acceleration setting
2. Setting based on acceleration and deceleration parameter 1% to 100% (Setting by 1% unit)
Resolution
16384 P/rev
Origin search method
Incremental
Program language
YAMAHA SRC
Multitasks
4 tasks
Point-data input method
Manual data input (coordinates input), Direct teaching, Remote teaching
32 Kbytes with lithium battery backup (5-year life) Retains programs, point data,
RAM
parameters and alarm history
100 programs (Maximum program number)
Programs
255 steps per program 1024 steps / total or less
Points
1000 points (256 when point tracing)
Sequence input
Dedicated input 8 points, General input 6 points
Normal
mode Note1 Sequence output
Dedicated input 3 points, General input 6 points, Open collector output
Sequence input
Dedicated input 5 points, General input 6 points
Sequence output
Dedicated input 3 points, General input 6 points, Open collector output
Pulse train
Type
1.Phase A / phase B, 2.Pulse / code, 3.CW / CCW
Note1
mode
Command
Mode
Line driver (+5V)
pulse input
Frequency Maximum 2 Mpps
Terminal
PA+, PA-, PB+, PB-, PZ+, PZname
Type
Phase A / phase B / phase Z
Feedback
pulse output
Mode
Line driver (+5V)
Number of
16 to 4096 P/rev
pulse
Power supply for sequence I/O External DC +24V input
Emergency stop input
Normal close contact point input
Brake output
Relay output (for 24V/300mA brake) 1CH
External communications
RS-232C 1CH (For communication with HPB or PC)
Programming box
HPB, HPB-D (with enable switch)
Support software for PC
POPCOM
Operating temperature
0°C to 40°C
Storage temperature
-10°C to 65°C
Operating humidity
35% to 85%RH (non-condensing)
Noise resistance capacity
IEC61000-4-4 Level 2
Protective functions
Overload, overvoltage, voltage drop, resolver wire breakage, runaway detection, etc.
Compact
single-axis robots
Item
Model
Number of controllable axes
Controllable robots
Capacity of the connected motor
Dimensions
Weight
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/robot/
Robot
controller
iVY
Option
371
Connector I/O signals
Compact
single-axis robots
APPLICATION TRANSERVO
ERCD
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
CLEAN
CONTROLLER INFORMATION
Terminal
number
A-1
B-1
A-2
B-2
A-3
B-3
A-4
B-4
A-5
B-5
A-6
B-6
A-7
B-7
A-8
B-8
A-9
B-9
A-10
B-10
A-11
B-11
A-12
B-12
A-13
B-13
A-14
B-14
A-15
B-15
A-16
B-16
A-17
B-17
A-18
B-18
A-19
B-19
A-20
B-20
Signal
name
ABS-PT
INC-PT
AUTO-R
STEP-R
ORG-S
RESET
SERVO
LOCK
DI 0
DI 1
DI 2
DI 3
DI 4
DI 5
(SVCE)
DO 5
DO 0
DO 1
DO 2
DO 3
DO 4
END
BUSY
READY
FG
FG
GND
GND
NC
NC
NC
NC
PA+
PAPB+
PBPZ+
PZNC
NC
Pulse train I/O connector signals
Function
Move the point from the origin position
Move the point from the current position
Start automatic operation
Start step operation
Return to the origin
Reset
Return to servo on
Interlock
General input 0
General input 1
General input 2
General input 3
General input 4
General input 5
Service mode input
General output 5
General output 0
General output 1
General output 2
General output 3
General output 4
End normal execution
Executing the command
Ready for operation
Frame ground
Frame ground
Signal ground
Signal ground
Reserved (use inhibited)
Reserved (use inhibited)
Reserved (use inhibited)
Reserved (use inhibited)
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Reserved (use inhibited)
Reserved (use inhibited)
Terminal
number
A-1
B-1
A-2
B-2
A-3
B-3
A-4
B-4
A-5
B-5
A-6
B-6
A-7
B-7
A-8
B-8
A-9
B-9
A-10
B-10
A-11
B-11
A-12
B-12
A-13
B-13
A-14
B-14
A-15
B-15
A-16
B-16
A-17
B-17
A-18
B-18
A-19
B-19
A-20
B-20
Signal
name
NC
NC
NC
PCLR
ORG-S
RESET
SERVO
INH
DI 0
DI 1
DI 2
DI 3
DI 4
DI 5
NC
DO 5
DO 0
DO 1
DO 2
DO 3
DO 4
IN-POS
SRDY
ALM
FG
FG
GND
GND
PULS+
PULSDIR+
DIRPA+
PAPB+
PBPZ+
PZNC
NC
Function
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 1
General output 2
General output 3
General output 4
In-position output
Servo ready output
Alarm output
Frame ground
Frame ground
Signal ground
Signal ground
Command pulse input
Command pulse input
Command direction input
Command direction input
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Reserved (use inhibited)
Reserved (use inhibited)
Pulse train input form
Robot
positioner
Logic
Command
pulse form
Pulse string
driver
Phase A /
phase B
Robot
controller
Pulse / code
Positive
logic
CW / CCW
iVY
Phase A /
phase B
Option
Pulse / code
Negative
logic
CW / CCW
372
CW direction
CCW direction
Input / output wiring diagram
Robot Language Table
ROB
I/O CN
Sequence input
A5
DI1
B5
DI2
A6
DI3
B6
DI4
A7
DI5
B7
CALL
DO
WAIT
(SVCE) A8
TIMR
I/O CN
Sequence output
I/O CN
pulse output
A17 PA+
B17 PA
A18 PB+
B18 PB
A19 PZ+
B19 PZ
SG
B14 GND
B13 FG
DO0
A9
DO1
B9
DO2
A10
DO3
B10
DO4
A11
DO5
B8
END
B11
BUSY
A12
READY B12
FG
A13
Power terminal base
+
24P
EMG1
1
24N
EMG2
2
24V
3
24G
4
FG
DC24V
3A to 4 5A
(Variable depending
on robots)
P
P+
PSRVO
STOP
ORGN
TON
TOFF
EXT CN
JMPP
DC24V
MAT
MSEL
MOVM
JMPC
C-
ROB
D
D+
D-
I/O CN
Sequence input
PCLR
PB
B2
ORG S A3
RESET B3
SHFT
SERVO A4
B4
DI0
A5
DI1
B5
DI2
A6
DI3
B6
DI4
A7
DI5
B7
I/O CN
pulse input
A15 PULS+
B15 PULS
B16 DIR
SG
A14 GND
I/O CN
pulse output
A17 PA+
A9
DO1
B9
DO2
A10
DO3
B10
DO4
A11
DO5
B8
B12
A13
Power terminal base
+
24P
EMG1
EXT CN
1
24N
EMG2
2
24V
3
24G
4
Robot
controller
A12
FG
B18 PB
TORQ
IN POS B11
ALM
A18 PB+
LET
I/O CN
Sequence output
DO0
SRDY
B17 PA
OUT
Pulse string
driver
A16 DIR+
IN
Robot
positioner
INH
CONTROLLER INFORMATION
CSEL
C
C+
CLEAN
JMPD
Pulse train input / output wiring diagram
Pick & place
robots
B4
DI0
YP-X
RS232C
communication
control
LOCK
SCARA
robots
L
SERVO A4
YK-XG
RESET B3
Cartesian
robots
ORG S A3
XY-X
JMPB
STEP R B2
PHASER
AUTO R A2
Linear motor
single-axis robots
JMPF
INC PT B1
FLIP-X
PB
Single-axis robots
ABS PT A1
Description
Moves to a point data position.
Moves from current position by amount of point data.
Moves until a specified DI input is received.
Jumps to a specified label in the specified program.
Jumps to a specified label in a specified program
according to the input condition.
Jumps to a specified label when general-purpose
input or memory input is in the specified state.
Defines the jump destination for a JMP or JMPF
statement, etc.
Runs another program.
Turns general-purpose output or memory output on
or off.
Waits until general-purpose input or memory input is
in the specified state.
Waits the specified amount of time before advancing
to the next step.
Defines point variable.
Adds 1 to point variable.
Subtracts 1 from point variable.
Turns servo on or off.
Temporarily stops program execution.
Performs return-to-origin.
Runs a specified task.
Stops a specified task.
Jumps to a specified label when the axis position
condition meets the specified conditions.
Defines a matrix.
Specifies a matrix to move.
Moves to a specified pallet work position on matrix.
Jumps to a specified label when the counter array
variable C equals the specified value.
Jumps to a specified label when the counter variable
D equals the specified value.
Specifies an array element for counter array variable C.
Defines counter array variable C.
Adds a specified value to counter array variable C.
Subtracts a specified value from counter array
variable C.
Defines counter variable D.
Adds a specified value to counter variable D.
Subtracts a specified value from counter variable D.
Shifts the coordinate position by amount of specified
point data.
Stores bit information on specified general-purpose
input or memory input into counter variable D.
Outputs the value of counter variable D to specified
generalpurpose output or memory output.
Assigns the value of a specified variable to another
variable.
Defines the maximum torque command value.
A19 PZ+
B19 PZ
SG
B14 GND
iVY
B13 FG
DC24V
Option
DC24V
FG
3A to 4 5A
(Variable depending
on robots)
Compact
single-axis robots
Command
MOVA
MOVI
MOVF
JMP
APPLICATION TRANSERVO
ERCD
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/
373
Compact
single-axis robots
APPLICATION TRANSERVO
Single axis
ERCX
Robot controller
Dedicated T4 / T5 / C4 / C5 / YMS
Extra thin type single-axis controller using 24V DC input power.
Compact and easy to use.
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Main functions P.034
Features
1 Ultra-thin type has 30mm width
ERCX comes in as thin as 30mm thickness using the
one-board design.
XY-X
Cartesian
robots
2 Completely absolute
4 Multitask function
Simultaneously performs multiple tasks in parallel on
robot peripheral equipment, etc.
5 Function to make conditional stop
during movement
Needs no origin search operation.
This function is useful when searching the target position with a sensor.
3 Supports all field networks
SCARA
robots
YK-XG
Supports CC-link, DeviceNet, Profibus, and Ethernet.
Model Overview
Operating method
Status indicator
RS232C (HPB)
connector
15
Ordering method
30
(100)
5.5
Robot cable
connector
Robot
positioner
I/O connector
24V DC power
supply connector
Pulse string
driver
Robot
controller
iVY
Option
374
157
ERCX
Controller
Battery connector
290
CONTROLLER INFORMATION
Part names / dimensions
250
CLEAN
Maximum number of controllable axes
Position detection method
Controllable robot
Programming box
Support software for PC
ERCX
DC24V
Programming / I/O point tracing /
Remote command / Operation using RS-232C communication
Single-axis
Absolute
Dedicated T4 / T5 / C4 / C5 / YMS
HPB / HPB-D (with enable switch) P.393
POPCOM P.391
265
YP-X
Pick & place
robots
Name
Power
Usable for CE
No entry: Standard
E: CE marking
Network Option
No entry: None
CC: CC-Link
DN: DeviceNet
PB: Profibus
EN: Ethernet
Battery
B1: 700mAh
B2: 2000mAh
0V
0V
N
+IN COM
+IN COM
OV
OV
Controller side
External 24V power
supply for controller
and I/O
24V
N
External 24V External 24V
power supply power supply
for I/O
for controller
24V
Controller side
N
Controller side
External 24V power
supply for controller
and I/O
Note : When sharing the power supply, pay special attention to the power supply capacity.
375
Option
Axis control
Memory Program
External input/output
Note : When sharing the power supply, pay special attention to the power supply capacity.
DO
iVY
N
External 24V External 24V
power supply power supply
for I/O
for controller
24V
Controller side
Solenoid
valve
DO
Robot
controller
+IN COM
Solenoid
valve
Output
signal
Pulse string
driver
+IN COM
24V
Robot
positioner
DI
DO
CONTROLLER INFORMATION
DI
Input
signal
Output
signal
CLEAN
NPN
transistor
Incandescent
lamp
DO
Pick & place
robots
DI
YP-X
NPN
transistor
Incandescent
lamp
Push button
SCARA
robots
Input
signal
DI
When using 24V power supply
for controller as well
Photo coupler
Photo coupler
Push button
When using 24V power supply
dedicated for I/O
YK-XG
Example of output signal connection
When using 24V power supply
for controller as well
Cartesian
robots
When using 24V power supply
dedicated for I/O
XY-X
Example of input signal connection
PHASER
Note 1. When controlling a brake and I/O operations, a separate 24V power supply with the necessary capacity must be connected to the I/O connectors. A 24V power supply with higher capacity can boost robot performance. Please consult us for more details.
Note 2. When no brake and I/O control are used. If a brake and I/O control are used, an additional power supply with the necessary capacity will be required.
Linear motor
single-axis robots
ERCX
Single-axis
Single-axis robot FLIP-X series T4 / T5 / C4 / C5 / YMS
DC24V 30W or less
W30 × H250 × D157mm
Approx. 0.9kg
DC24V +/-10% or less 3A to 4.5A (Variable depending on robots in use.) Note1
AC full-digital software servo
Multi-turn resolver with data backup function
Programming, I/O point tracing, Remote command, Operation using RS-232C communication
mm (millimeters)
1% to 100% (Setting by 1% unit)
1. Automatic speed setting per robot No. and payload
Acceleration setting
2. Setting based on acceleration and deceleration parameter (Setting by 1% unit)
Resolution
16384 P/rev
Origin search method
Absolute, Incremental
Program language
YAMAHA SRC
Multitasks
4 tasks
Point-data input method
Manual data input (coordinates input), Direct teaching, Teaching playback
RAM
128K bytes with 64K lithium battery backup (5-year life)
100 programs
Programs
255 steps per program 3000 steps in total
Points
1000 points
Input
General input 16 points, dedicated input 8 points
I/O
Output
General output 13 points, dedicated output 3 points
Emergency stop input Normally closed contact input
Drive power supply
DC24V from external source within +/-10% Requires a 50mA Note2or higher power supply
Brake output
Relay contact 1CH
External communications
RS-232C 1CH (For communication with HPB or PC)
Slots
1
CC-Link
DeviceNet
Options
Type
Profibus
Ethernet
Programming box
HPB, HPB-D (with enable switch)
Support software for PC
POPCOM
Operating temperature
0°C to 40°C
Storage temperature
-10°C to 65°C
Operating humidity
35% to 85%RH (non-condensing)
Ni-Cd battery charging method
Trickle charging
Noise immunity
Conforms to IEC61000-4-4 Level 2
FLIP-X
General specifications Options
Model
Single-axis robots
Item
Number of controllable axes
Controllable robots
Capacity of the connected motor
Dimensions
Weight
Input power supply
Drive method
Position detection method
Operating method
Position indication units
Speed setting
Compact
single-axis robots
Basic specifica ions
Basic specifications
APPLICATION TRANSERVO
ERCX
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/
Connector I/O signals
Compact
single-axis robots
APPLICATION TRANSERVO
ERCX
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
CLEAN
CONTROLLER INFORMATION
Terminal number
A-1
B-1
A-2
B-2
A-3
B-3
A-4
B-4
A-5
B-5
A-6
B-6
A-7
B-7
A-8
B-8
A-9
B-9
A-10
B-10
A-11
B-11
A-12
B-12
A-13
B-13
A-14
B-14
A-15
B-15
A-16
B-16
A-17
B-17
A-18
B-18
A-19
B-19
A-20
B-20
A-21
B-21
A-22
B-22
A-23
B-23
A-24
B-24
Signal name
ABS-PT
INC-PT
AUTO-R
STEP-R
ORG-S
RESET
SERVO
LOCK
DI 0
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 8
DI 9
DI 10
DI 11
DI 12
DI 13
DI 14
DI 15
+IN COM
+IN COM
RESERVE
RESERVE
0V
0V
DO 0
DO 1
DO 2
DO 3
DO 4
END
BUSY
READY
DO 5
DO 6
DO 7
DO 8
DO 9
DO 10
DO 11
DO 12
ENG 1
ENG 2
Robot Language Table
Function
Move the point from the origin position
Move the point from the current position
Start automatic operation
Start step operation
Return to the origin
Reset
Return to servo on
Interlock
General input 0
General input 1
General input 2
General input 3
General input 4
General input 5
General input 6
General input 7
General input 8
General input 9
General input 10
General input 11
General input 12
General input 13
General input 14
General input 15
Controller external+24V power input
Controller external+24V power input
Use by the user prohibited
Use by the user prohibited
Input/output standard 0V
Input/output standard 0V
General output 0
General output 1
General output 2
General output 3
General output 4
End normal execution
Executing the command
Ready for operation
General output 5
General output 6
General output 7
General output 8
General output 9
General output 10
General output 11
General output 12
Emergency stop input 1, used with EMG2 as a pair
Emergency stop input 2, used with EMG1 as a pair
Command
MOVA
MOVI
MOVF
JMP
JMPF
JMPB
L
CALL
DO
WAIT
TIMR
P
P+
PSRVO
STOP
ORGN
TON
TOFF
JMPP
MAT
MSEL
MOVM
JMPC
JMPD
CSEL
C
C+
CD
D+
DSHFT
Description
Moves to a point data position.
Moves from current position by amount of point data.
Moves until a specified DI input is received.
Jumps to a specified label in the specified program.
Jumps to a specified label in a specified program
according to the input condition.
Jumps to a specified label when general-purpose
input or memory input is in the specified state.
Defines the jump destination for a JMP or JMPF
statement, etc.
Runs another program.
Turns general-purpose output or memory output on and off.
Waits until general-purpose input or memory input is
set in the specified state.
Waits the specified amount of time before advancing
to the next step.
Defines point variable.
Adds 1 to a point variable.
Subtracts 1 from a point variable.
Turns a servo on and off.
Temporarily stops program execution.
Performs return-to-origin.
Runs a specified task.
Stops a specified task.
Jumps to a specified label when the axis position
relation meets the specified conditions.
Defines a matrix.
Specifies a matrix to move.
Moves to a specified pallet work position on matrix.
Jumps to a specified label when counter array
variable C equals the specified value.
Jumps to a specified label when counter variable D
equals the specified value.
Specifies the array element for counter array variable C.
Defines counter array variable C.
Adds a specified value to counter array variable C.
Subtracts a specified value from counter array variable C.
Defines counter variable D.
Adds a specified value to counter variable D.
Subtracts a specified value from counter variable D.
Shifts the coordinate position by a distance equal to
specified point data.
Absolute battery B1 / B2
These batteries are for backing up the absolute data. B1 and B2 differ in the capacity. Select either one to be suitable for equipment stop time.
(Select from either B1 or B2 when ordering.)
Battery B1 / B2 basic specifications
B2 battery
Dimensions
Dimensions
15
Robot
positioner
B1 battery
Pulse string
driver
Approx. 300
47
152
(250)
52
29
Approx. 300
(250)
Robot
controller
43
Item
B1
B2
Model
KR4-M4252-10 KR4-M4252-00
Battery type
Ni-Cd battery
Battery capacity 3.6V/700mAh 3.6V/2,000mAh
Data holding timeNote 120 hours
340 hours
Dimensions
W52 × D47 × H15mm ϕ29 × L152mm
Weight
80g
280g
Cable length
300mm
300mm
Note. When power is turned OFF with fully charged battery mounted.
iVY
Standard accessories
Power connector
Options
I/O connector
I/O checker
Option
With this checker, not only input and output status
can be checked by LEDs but also the input signal
can be simulated with the toggle switch.
Model
376
KR4-M4875-00
Model
KR4-M4421-00
Model
KD1-M4530-01
SR1-X/SR1-P
Robot controller with advanced functions
Changing the I/O assignment allows selecting operations
such as program operation, point trace, point teaching, and
trace operation by specifying coordinates. Jog operation
can also be performed from the upstream device.
Pick & place
robots
3 I/O assignment Change
YP-X
This function limits the maximum torque value to an
optional timing. These controllers offer 2 types of torque
limiting: limiting the torque by using parameter data, and
limiting torque by using analog input voltages.
SCARA
robots
The absolute position data hold time which was only 2
weeks, has now been drastically increased to about 1 year.
YK-XG
6 Torque limiting
Cartesian
robots
2 Position data hold time: 1 year
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.
XY-X
5 Current position output function
Supports diverse operating methods including program
operation, point trace, and movement to specified
coordinates, etc.
PHASER
1 Support most operating method
Linear motor
single-axis robots
Features
SR1-P
FLIP-X
Main functions P.035
SR1-X
Single-axis robots
Compact design with high performance.
Although with one axis,
functions of upper class controllers.
7 Various monitor functions
Offers monitor functions of different types including
input/output status monitoring, duty monitoring, and
analog monitoring, etc.
4 Use of two power supplies
CLEAN
Isolating into main power supply and control power
supply yields an even higher degree of safety. It also
makes servicing easier when an alarm occurs.
CONTROLLER INFORMATION
Model Overview
Name
SR1-X
SR1-P
05 / 10 driver
20 driver
Single phase 100 to 115V/200 to 230V Single phase 200 to 230V
+/-10% maximum (50/60Hz)
+/-10% maximum (50/60Hz)
Programming / I/O point tracing / Remote command /
Operating method
Operation using RS-232C communication
Maximum number of controllable axes
Single-axis
Position detection method
Absolute / Incremental
Incremental / Semi-absolute
Controllable robot
Single-axis robot FLIP-X
Linear motor single-axis robot PHASER
Programming box
HPB / HPB-D (with enable switch) P.393
POPCOM P.391
Support software for PC
Power
Robot
positioner
Pulse string
driver
Ordering method
SR1-X
Usable for CE
No entry: Standard
E: CE marking
Regenerative
unit Note1
No entry: None
R: RG1
Input/Output
Selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNet
PB: Profibus
YC: YC-Link No e2
Regenerative
unit Note1
No entry: None
R: RG1
Input/Output
Selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNet
Note 1. Driver selection and regenerative unit selection depends on the robot type. See the
PB: Profibus
selection table on the next page for selecting the driver/regenerative circuit.
YC: YC-Link No e2 Note 2. Available only for the slave.
Battery
No entry: None
(Incremental specification)
B: Battery
(Absolute specification)
Note 1. Driver selection and regenerative unit selection depends on the robot type. See
the selection table on the next page for selecting the driver/regenerative circuit.
Note 2. Available only for the slave.
iVY
Driver
05: 100W or less
10: 200W
20: 400 to 600W
Robot
controller
SR1-X
Controller
SR1-P
Option
SR1-P
Controller
Compact
single-axis robots
APPLICATION TRANSERVO
Single axis
Driver
Usable for CE
05: 100W or less
10: 200W
20: 400 to 600W
No entry: Standard
E: CE marking
377
Driver / regenerative unit selection table
Compact
single-axis robots
APPLICATION TRANSERVO
SR1-X/SR1-P
SR1-X
FLIP-X
T4H/ T5H/ T6/C6
C4H C5H
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
05
Driver
SR1-X 10
selection
20
No entry
Regenera- (None)
tive unit
R (RG1)
(1)
(2)
(3)
(4)
(5)
F8LH/
T9H F8/C8 F8L/
C8L C8LH F10
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
R10
R20
Regenerative unit is needed if using in a perpendicular position and movement stroke is 700mm or more.
Regenerative unit is needed if using in a perpendicular position.
Regenerative unit is needed if using in a perpendicular position, using at maximum speeds exceeding 1000mm per second, or if using high leads (40).
Regenerative unit is needed if using at maximum speeds exceeding 1000mm per second.
Regenerative unit is needed if using at maximum speeds exceeding 1250mm per second.
SR1-P
PHASER
MR12/ MR16/ MR16H/ MR20/ MR25/ MF15/ MF20/ MF30/ MF50/
MR12D MR16D MR16HD MR20D MR25D MF15D MF20D MF30D MF50D
XY-X
Cartesian
robots
YK-XG
SCARA
robots
05
Driver
SR1-P 10
selection
20
No entry
Regenera- (None)
tive unit
R (RG1)
SR1-X / SR1-P part names
Status LED lamp (PWR,ERR)
HPB connector (HPB)
I/O connector (I/O)
Robot I/O connector (ROB I/O)
Power input connector (AC IN)
SAFETY connector (SAFETY)
Regenerative unit connector (RGEN)
Monitor I/O
connector Note
(Bottom)
CLEAN
Input power select terminal
Ground terminal
Note. Cable for monitor I/O (option) is required when using this connector.
SR1-X / SR1-P 20 dimensions
25
74
15 44
146
(100)
25
146
5.5
74
15 44
(100)
(7)
5.5
9
Robot
positioner
9
250
225
210
CONTROLLER INFORMATION
SR1-X / SR1-P 05 · 10 dimensions
250
225
210
180
YP-X
Pick & place
robots
Motor connector (MOTOR)
Pulse string
driver
Robot
controller
Regenerative unit RG1
Basic specifications
Regenerative unit RG1
iVY
Dimensions
16
Option
250
225
210
12
5.5
146
Item
Model
Dimensions
Weight
Regenerative voltage
Regenerative stop voltage
Accessory
RG1
KBG-M4107-0A (Including accessory)
W40 × H210 × D146mm
0.8kg
Approx. 380V or more
Approx. 360V or less
Cable for connection with controller (300mm)
Note. Always leave an empty space (gap of about 20mm) between this unit and the adjacent controller.
Also, always use the dedicated cable when connecting the controller.
40
378
Basic specifications
Linear motor single-axis robot PHASER
(exclude MF100)
Maximum power consumption
400VA
600VA
1400VA
400VA
600VA
1400VA
Capacity of the connected motor
100W
200W
600W
100W
200W
600W
W99 × H210 ×
W99 × H210 ×
Dimensions
W74 × H210 × D146mm
W74 × H210 × D146mm
D146mm
D146mm
Weight
1.54kg
1.92kg
1.54kg
1.92kg
Control power supply Single phase AC100 to 115/200V+/-10% maximum 50/60Hz
Single phase
Single phase
Single phase AC100 to
Single phase AC100 to
Input power
AC200 to 230V
AC200 to 230V
supply
Motor power supply 115/200V +/-10% maximum
115/200V +/-10% maximum
+/-10% maximum
+/-10% maximum
50/60Hz
50/60Hz
50/60Hz
50/60Hz
Drive method
AC full-digital software servo
Position detection method
Multi-turn resolver with data backup function
Magnetic linear scale
Operating method
Programming, I/O point tracing, Remote command, Operation using RS-232C communication
Position indication units
mm (millimeters), deg (degrees)
Speed setting
1% to 100% (Setting by 1% unit)
1. Automatic speed setting per robot No. and payload
Acceleration setting
2. Setting based on acceleration and deceleration parameter (Setting by 1% unit)
Resolution
16384 P/rev
1μm
Origin search method
Absolute, Incremental
Incremental, Semi-absolute
Program language
YAMAHA SRC
Multitasks
4 tasks maximum
Point-data input method
Manual data input (coordinate value input), Direct teaching, Teaching playback
100 programs
Programs
255 steps / 1 programs 3000 steps / total
Points
1000 points
I/O input
Dedicated input 8 points, General input16 points
STD.DIO
I/O output
Dedicated Output4 points, General output16 points
SAFETY
Emergency stop input (Normal close contact point input), service mode input
Brake output
Relay contact
–
Origin sensor input
Connectable to DC 24V normally-closed contact sensor
External communications
RS-232C: 1CH (For communication with HPB / HPB-D or PC)
Analog input/output
Input 1ch (0 to +10V) Output 2ch (0 to +10V)
Slots
1
NPN/PNP: Dedicated input 8 points, Dedicated Output 4 points, General input 16 points,
General output 16 points
CC-Link:
Dedicated input 16 points, Dedicated Output 16 points, General input 32 points,
General output 32 points
Options
Type
DeviceNet: Dedicated input 16 points, Dedicated Output 16 points, General input 32 points,
General output 32 points
PROFIBUS: Dedicated input 16 points, Dedicated Output 16 points, General input 32 points,
General output 32 points
Programming box
HPB, HPB-D (with enable switch)
Support software for PC
POPCOM
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
–
Absolute data backup period
1 year (in state with no power applied)
–
Noise immunity
IEC61000-4-4 Level 3
YK-XG
SCARA
robots
YP-X
Pick & place
robots
Single-axis robot FLIP-X (exclude T4, T5)
Cartesian
robots
Controllable robots
XY-X
Basic specifications
SR1-P-20
200V 600W
PHASER
Axis control
SR1-P
SR1-P-10
200V 200W
Linear motor
single-axis robots
CLEAN
Memory Program
SR1-P-05
200V 100W
FLIP-X
CONTROLLER INFORMATION
External input/output
SR1-X-20
200V 600W
Single-axis robots
Robot
positioner
Pulse string
driver
Robot
controller
General specifications Op ions
SR1-X
SR1-X-10
200V 200W
iVY
Option
379
Compact
single-axis robots
Item
Model
Driver model
SR1-X-05
Applicable motor output
200V 100W
Number of controllable axes
Single-axis
APPLICATION TRANSERVO
SR1-X/SR1-P
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/
[NPN, PNP type] Input/Output list
Compact
single-axis robots
APPLICATION TRANSERVO
SR1-X/SR1-P
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
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.+COM
SERVO
INC-PT
ABS-PT
STEP-R
DI 0
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DO.+COM
DO.+COM
END
BUSY
DO 0
DO 1
DO 2
DO 3
DO 4
DO 5
DO 6
DO 7
DI.-COM
AUTO-R
RESET
ORG-S
ALMRST
DI 8
DI 9
DI 10
DI 11
DI 12
DI 13
DI 14
DI 15
DO.-COM
DO.-COM
READY
UTL
DO 8
DO 9
DO 10
DO 11
DO 12
DO 13
DO 14
DO 15
Function
Input supply+common
Return to servo on
Relative point transfer
Absolute point transfer
Step run
General input 0
General input 1
General input 2
General input 3
General input 4
General input 5
General input 6
General input 7
Output supply+common
Output supply+common
Execution result (Execution complete)
Executing the command
General output 0
General output 1
General output 2
General output 3
General output 4
General output 5
General output 6
General output 7
Input supply-common
Auto run
Reset
Return to the origin
Alarm reset
General input 8
General input 9
General input 10
General input 11
General input 12
General input 13
General input 14
General input 15
Output supply-common
Output supply-common
Available to operate (Ready for operation)
Utility output
General output 8
General output 9
General output 10
General output 11
General output 12
General output 13
General output 14
General output 15
NPN type input/output circuit
Input circuit
Form : DC input (positive common type)
Photo coupler insulation type
Input power supply : 5mA/point
Answering time : 30ms or less
DC24V
DI.+COM
DI. COM
Output circuit
Form : NPN open collector output (negative common type)
Photo coupler insulation type
Load : 50mA/point
Answering time : 1ms or less
DC24V
DO.+COM
DO. COM
PNP type input/output circuit
Input circuit
Form : DC input (negative common type)
Photo coupler insulation type
Input power supply : 5mA/point
Answering time : 30ms or less
DC24V
DI.+COM
DI. COM
Pulse string
driver
Output circuit
SAFETY connector signals
Robot
controller
iVY
Option
Terminal
number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Signal name
DI.COM
LOCK
SVCE
DO.COM
MPRDY
NC
NC
NC
NC
NC
EMG1
EMG2
NC
NC
380
Meaning
Input supply common
Interlock
SERVICE mode
Output supply common
Main power ready
NC
NC
NC
NC
NC
Emergency stop 1
Emergency stop 2
NC
NC
Form : PNP open collector output (positive common type)
Photo coupler insulation type
Load : 50mA/point
Answering time : 1ms or less
DC24V
DO.+COM
DO. COM
SR1-X/SR1-P
Robot Language Table
SHFT
IN
OUT
Robot
positioner
LET
CONTROLLER INFORMATION
CSEL
C
C+
CD
D+
D-
CLEAN
JMPD
Pick & place
robots
JMPC
YP-X
MAT
MSEL
MOVM
SCARA
robots
JMPP
YK-XG
P
P+
PSRVO
STOP
ORGN
TON
TOFF
Cartesian
robots
TIMR
XY-X
WAIT
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.
Jumps to a specified label in the specified program.
Jumps to a specified label in a specified program
according to the input condition.
Jumps to a specified label in a specified program
when general-purpose input or memory input is in the
specified state.
Defines the jump destination for a JMP or JMPF
statement.
Runs another program.
Turns general-purpose output or memory output on or off.
Waits until general-purpose input or memory input is
in the specified state.
Waits the specified amount of time before advancing
to the next step.
Defines point variable.
Adds 1 to point variable.
Subtracts 1 from point variable.
Turns servo on or off.
Temporarily stops program execution.
Performs return-to-origin.
Runs a specified task.
Stops a specified task.
Jumps to a specified label when the axis position
condition meets the specified conditions.
Defines a matrix.
Specifies a matrix to move.
Moves to a specified pallet work position on matrix.
Jumps to a specified label when the counter array
variable C equals the specified value.
Jumps to a specified label when the counter variable
D equals the specified value.
Specifies an array element for counter array variable C.
Defines counter array variable C.
Adds a specified value to counter array variable C.
Subtracts a specified value from counter array variable C.
Defines counter variable D.
Adds a specified value to counter variable D.
Subtracts a specified value from counter variable D.
Shifts the coordinate position by amount of specified
point data.
Stores bit information on specified general-purpose
input or memory input into counter variable D.
Outputs the value of counter variable D to specified
general-purpose output or memory output.
Shifts the coordinate position by amount of specified
point data.
Compact
single-axis robots
Command
MOVA
MOVI
MOVF
JMP
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/robot/
Pulse string
driver
Robot
controller
iVY
Option
381
Accessories and part options
Compact
single-axis robots
APPLICATION TRANSERVO
SR1-X/SR1-P
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.
NPN / PNP connector
L type stay
Model
KBG-M5163-00
Battery case
XY-X
SCARA
robots
YK-XG
This is the absolute battery holder.
Model
Model
Cartesian
robots
Use to install the controller.
Connector plug model KBH-M4424-00
Connector cover model KBH-M4425-00
KBG-M410H-00
KBG-M5395-00
Note. Jointly used by RCX221 / 222.
Absolute battery (only for SR1-X)
YP-X
Pick & place
robots
Absolute battery basic specifications
Battery for absolute data back-up.
CLEAN
Item
Model
Battery type
Battery capacity
Data holding time
Dimensions
Weight Note2
Absolute battery
KAS-M53G0-10
Lithium metallic battery
3.6V/2,700mAh
1 year Note1
ϕ17 × L53mm
22g
CONTROLLER INFORMATION
Note1. When using 2 batteries. Note2. Weight of battery itself.
Note. Jointly used by RCX222, RCX240.
Options
Cable for monitor I/O
PC support software POPCOM
Cable to connect I/O connector of SR1 monitor. The
cable is 1.5m long with its end cut and left as it is.
POPCOM is a simple to use application software that makes tasks such as robot operation, writingediting programs, and point teaching easy to visually understand.
Required when using analog input / output and
feedback pulse output.
Robot
positioner
Pulse string
driver
Model
KBG-M4421-00
Programming box HPB / HPB-D
Data cable (9Pin-9Pin) 5m KAS-M538F-10
Note. Data cable jointly used for POPCOM, VIP, VIP+.
Environment
Robot
controller
This device can perform all operations such as
manual robot operation, program entry and edit,
teaching and parameter settings.
iVY
HPB
POPCOM software model KR4-M4966-00
Note. Use POPCOM with Version 1.13.0 or later when using SR1-P / SR1-X.
HPB-D
OS
CPU
Memory
Hard disk
Disk operation
Applicable controllers
Microsoft Windows 3.1/95/98/Me/NT/2000/XP
Note. The 64 bit version is not subject to the operation warranty.
Exceeding the environment recommended by the OS being used
Exceeding the environment recommended by the OS being used
Vacant capacity of more than 4MB in the installation destination drive
CD-ROM drive
ERCD / ERCX / SR1-P / SR1-X / SRCP30 / DRCX
Note. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.
Option
HPB
HPB-D
KBB-M5110-01 KBB-M5110-21
Model
Enable
–
switch
CE marking Not supported
3-position
Applicable
P.393
Note. Use the converter cable if changing to the SR1-X, SR1-P from a system using SRCX, SRCP. (See P.427).
382
P.391
SRCP30
Robot controller
Dedicated MF100
FLIP-X
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
Main functions P.036
Single-axis robots
By adding the pulse train function,
it becomes easier to operate.
SRCP30 is a high-performance controller for MF100.
Features
1 PHASER series MF100 dedicated
controller.
2 Supports 3 operating methods: pulse
train, program, and point trace.
3 Large data capacity allows running
up to 4 multitasks at once by
program.
4 Supports CC-link, DeviceNet,
Profibus, and Ethernet.
Model Overview
Name
SRCP30
R3
Controller
Regenerative unit
R3: RGU-3 Note 1
SRCP30
Regenerative unit RGU-3 dimensions
Regenerative unit RGU-3
Dimensions
Network Option
No entry: None
CC: CC-Link
DN: DeviceNet
PB: Profibus
EN: Ethernet
I/O connector specification
CN1: I/Oflat cable 1m (Standard)
CN2:Twisted-paircable 2m
18
62
52.5
16
242.5 (MAX.)
2-5.5
234
152.5
136
108
40 34
5.5
5.5
Pulse string
driver
Status LED lamp
ESC switch
Motor connector
RS232C (HPB) connector
250
Part names / dimensions
Robot
positioner
290
265
Note 1. Requires the regenerative unit RGU-3.
14
157
Regenerative unit connector
Ground terminal
Item
Model
Dimensions
Weight
Regenerative voltage
Regenerative stop voltage
Accessory
RGU-3 (for SRCP30)
KBD-M4107-0A (Including accessory)
W62 × H250 × D242.5mm
3.7kg
Approx. 380V or more
Approx. 360V or less
Cable for connection with controller (300mm)
383
Option
Note. Always leave an empty space (gap of about 20mm) between this unit and the adjacent controller.
Also, always use the dedicated cable when connecting the controller.
iVY
Power source for
external input/output
signals (DC24V)
Regenerative unit RGU-3 basic specifications
250
265
290
Power terminal block
I/O connector
Robot
controller
Robot I/O connector
CONTROLLER INFORMATION
Ordering method
CLEAN
SRCP30
Main power supply: 3-phase AC200V to 230V
Power
Control power supply: Single phase AC200V to 230V
Pulse train control / Programming / I/O point tracing / Remote command /
Operating method
Operation using RS-232C communication
Maximum number of controllable axes
Single-axis
Position detection method
Incremental
Controllable robot
Dedicated MF100
Programming box
HPB / HPB-D (with enable switch) P.393
POPCOM P.391
Support software for PC
Compact
single-axis robots
APPLICATION TRANSERVO
Single axis
YK-XG
SCARA
robots
YP-X
Pick & place
robots
Axis control
XY-X
Cartesian
robots
Memory Program
PHASER
Linear motor
single-axis robots
Item
Model
Number of controllable axes
Controllable robots
Maximum power consumption
Dimensions
Weight
External input/output
I/O interface
CLEAN
CONTROLLER INFORMATION
Robot
controller
General specifica ions Op ions
Robot
positioner
Pulse string
driver
SRCP30
Single-axis
Dedicated MF100
2500VA
W152.5 × H250 × D157mm
3.5kg
Main power supply: 3-phase AC200 to 230V+/-10% maximum 50/60Hz
Input power supply
Control power supply: Single phase AC200 to 230V+/-10% maximum 50/60Hz
Drive method
AC full-digital software servo
Position detection method
Magnetic linear scale
Pulse train control, Programming, I/O point tracing, Remote command,
Operating method
Operation using RS-232C communication
Position indication units
mm (millimeters)
Speed setting
1% to 100% (Setting by 1% unit, changeable in the program)
1. Automatic speed setting per robot No. and payload
Acceleration setting
2. Setting based on acceleration and deceleration parameter (Setting by 1% unit)
Resolution
1μm
Origin search method
Incremental
Program language
YAMAHA SRC
Multitasks
4 tasks
Point-data input method
Manual data input (coordinate value input), Direct teaching, Teaching playback
RAM
128KB With lithium battery backup (5-year life) Programs, points, parameter and error histories retained
100 programs
Programs
3000 steps / total or less in total, 255 steps / program
Points
1000 points (256 when point tracing)
Normal mode
Robot operated by dedicated command input
Type
One of 3 types (1. Phase A/phase B 2. Pulse/code 3. CW/CCW) selected
Pulse
train
Mode
Line driver (+5V)
mode
Frequency
2 Mpps at max. (Line driver)
1. Data transmit / receive, parameter setting, robot operation by communication commands
Serial communication (RS-232C)
2. Data transmit / receive, parameter setting, point teaching, robot operation by HPB
General input 8 points, dedicated input 8 points
Normal Sequence input
mode Note1 Sequence output
General output 5 points, dedicated output 3 points Open collector output
Sequence input
General input 8 points, dedicated input 5 points
Sequence output
General output 5 points, dedicated output 3 points Open collector output
Pulse
train
Name
PLUS+, PLUS-, DIR+, DIRCommand
mode Note1
Type
One of above types selected
pulse input
Form
Line driver (+5V)
Name
PA+, PA-, PB+, PB-, PZ+, PZ-, PZM+, PZMType
Phase A / phase B / phase Z
Feedback pulse
output
Form
Line driver (+5V)
Pulse count 1 pulse/μm
Power supply for sequence I/O DC+24V external input for sequence input/output
Emergency stop input
Normally-closed contact input (origin return not required after emergency stop is released)
Connectable to DC 24V normally-closed contact sensor
Origin sensor input
Dedicated power supply for sequence (I/O) input/output
External communications
RS-232C 1CH (For communication with HPB or PC)
Slots
1
Options
Type
CC-Link / DeviceNet / Profibus / Ethernet
Programming box
HPB, HPB-D (with enable switch)
Support software for PC
POPCOM
Operating temperature
0°C to 40°C
Storage temperature
10°C to 65°C
Operating humidity
35% to 85%RH (non-condensing)
Noise resistance capacity
IEC61000-4-4 level 2
Protective functions
Detection of excessive current, overload, disconnection, incorrect operation
Command form
I/O
FLIP-X
Single-axis robots
Basic specifications
Basic specifications
Compact
single-axis robots
APPLICATION TRANSERVO
SRCP30
Note 1. Switching between the normal mode and pulse train mode is done by use of the parameter.
iVY
Option
384
Connector I/O signals
Function
Pulse string
driver
Robot
controller
26LS32 or
equivalent
SG
Incandescent
lamp
+5V
DO
Output signal
1.5kΩ
DIR-
330Ω
iVY
DIR+
Robot
positioner
1.5kΩ
CONTROLLER INFORMATION
330Ω
CLEAN
PULS-
Pick & place
robots
1.5kΩ
YP-X
DI
PULS+
SCARA
robots
+5V
26LS31 or equivalent
YK-XG
Example of connection with input signals
Input signal
DI
Cartesian
robots
The input method is line driver type capable of handling up to 2Mpps
XY-X
Photo coupler
PHASER
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
General input 6
General input 7
General output 0
General output 1
General output 2
General output 3
General output 4
In-position output
Servo ready output
Alarm output
Frame ground
Frame ground
Signal ground
Signal ground
Command pulse input
Command pulse input
Command direction input
Command direction input
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Pulse train input section
Push button
NPN
transistor
Function
Linear motor
single-axis robots
Input / output wiring diagram
Signal
name
NC
NC
NC
PCLR
ORG-S
RESET
SERVO
INH
DI 0
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DO 0
DO 1
DO 2
DO 3
DO 4
IN-POS
SRDY
ALM
FG
FG
GND
GND
PULS+
PULSDIR+
DIRPA+
PAPB+
PBPZ+
PZPZM+
PZM-
FLIP-X
Move the point from the origin position
Move the point from the current position
Start automatic operation
Start step operation
Return to the origin
Reset
Return to servo on
Interlock
General input 0
General input 1
General input 2
General input 3
General input 4
General input 5
General input 6
General input 7 / Service mode input
General output 0
General output 1
General output 2
General output 3
General output 4
End normal execution
Executing the command
Ready for operation (Alarm)
Frame ground
Frame ground
Reserved (use inhibited)
Reserved (use inhibited)
Reserved (use inhibited)
Reserved (use inhibited)
Reserved (use inhibited)
Reserved (use inhibited)
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Feedback pulse output
Terminal
number
A-1
B-1
A-2
B-2
A-3
B-3
A-4
B-4
A-5
B-5
A-6
B-6
A-7
B-7
A-8
B-8
A-9
B-9
A-10
B-10
A-11
B-11
A-12
B-12
A-13
B-13
A-14
B-14
A-15
B-15
A-16
B-16
A-17
B-17
A-18
B-18
A-19
B-19
A-20
B-20
Single-axis robots
Signal
name
ABS-PT
INC-PT
AUTO-R
STEP-R
ORG-S
RESET
SERVO
LOCK
DI 0
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7/SVCE
DO 0
DO 1
DO 2
DO 3
DO 4
END
BUSY
READY
FG
FG
NC
NC
NC
NC
NC
NC
PA+
PAPB+
PBPZ+
PZPZM+
PZM-
1.5kΩ
Solenoid
valve
SG
DO
GND
SG
Option
24V
SG
24G
+
-
External 24V
DC power supply
FG
Compact
single-axis robots
Terminal
number
A-1
B-1
A-2
B-2
A-3
B-3
A-4
B-4
A-5
B-5
A-6
B-6
A-7
B-7
A-8
B-8
A-9
B-9
A-10
B-10
A-11
B-11
A-12
B-12
A-13
B-13
A-14
B-14
A-15
B-15
A-16
B-16
A-17
B-17
A-18
B-18
A-19
B-19
A-20
B-20
Pulse train I/O connector signals
APPLICATION TRANSERVO
SRCP30
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/
Controller side
385
Pulse train input form
Compact
single-axis robots
APPLICATION TRANSERVO
SRCP30
Logic
Command
pulse form
CW direction
Robot Language Table
CCW direction
Phase A /
phase B
FLIP-X
Single-axis robots
Positive
logic
Command
MOVA
MOVI
MOVF
JMP
JMPF
Pulse / code
JMPB
L
PHASER
Linear motor
single-axis robots
CW / CCW
CALL
DO
Phase A /
phase B
WAIT
TIMR
XY-X
Cartesian
robots
Negative
logic
Pulse / code
P
P+
PSRVO
STOP
ORGN
TON
TOFF
CW / CCW
SCARA
robots
YK-XG
JMPP
YP-X
Pick & place
robots
MAT
MSEL
MOVM
JMPC
CLEAN
JMPD
CONTROLLER INFORMATION
CSEL
C
C+
CD
D+
DSHFT
Description
Moves to point data position.
Moves from current position by amount of point data.
Moves until specified DI input is received.
Jumps to a specified label in a specified program.
Jumps to a specified label in a specified program
according to the input condition.
Jumps to a specified label when a general-purpose
input or memory input is in the specified state.
Defines the jump destination for a JMP or JMPF
statement, etc.
Runs another program.
Turns general-purpose output or memory output on and off.
Waits until a general-purpose input or memory input
is in the specified state.
Waits the specified amount of time before advancing
to the next step.
Defines a point variable.
Adds 1 to a point variable.
Subtracts 1 from a point variable.
Turns a servo on and off.
Temporarily stops program execution.
Performs return-to-origin.
Runs a specified task.
Stops a specified task.
Jumps to a specified label when the axis positional
relation meets the specified conditions.
Defines a matrix.
Specifies a matrix to move.
Moves to a specified pallet work position on matrix.
Jumps to a specified label when counter array
variable C equals to the specified value.
Jumps to a specified label when counter variable D
equals to the specified value.
Specifies the array element of counter array variable C.
Defines counter array variable C.
Adds a specified value to counter array variable C.
Subtracts a specified value from counter array variable C.
Defines counter variable D.
Adds a specified value to counter variable D.
Subtracts a specified value from counter variable D.
Shifts the coordinate position by amount of specified
point data.
Standard accessories
Robot
positioner
I/O flat cable (CN1)
Twisted-pair cable (CN2)
Pulse string
driver
Connector and twisted pair cable used to connect
parallel I/O of ERCD / SRCP30 controllers and an
external equipment. The cable is 2m long with its
end cut and left as it is. Select CN2 when using the
pulse train input equipment.
Model
Model
Robot
controller
Connector and flat cable used to connect the standard
parallel I/O of the ERCD / SRCP30 controllers and an
external equipment (sequencer). The cable is 1m long
with its end cut and left as it is.
iVY
Option
386
KAU-M4421-00
KAU-M4421-10
DRCX
Robot controller
Supports XY-X series Cartesian robots and the Multi Flip-X.
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
The DRCX also uses the HPB programming box, and
PC support software POPCOM.
XY-X
Supports CC-link, DeviceNet, Profibus, and Ethernet.
PHASER
3 Supports a full range of networks
Linear motor
single-axis robots
1 Utilizes the same robot language and
I/O control and other elements as the
ERCX, SRCX, TRCX controllers
FLIP-X
Features
Single-axis robots
Main functions P.036
2 Utilizes program assets from older
controllers!
The DRCX can reuse programs from previous 2 axis
controllers DRC, DRCA, DRCH as is without changes.
Model Overview
Name
DRCX
CLEAN
0505 / 0510 / 0520 / 1005 / 1010 / 2005 driver
1020 / 2010 / 2020 driver
Power
Single phase 100 to 115V/200 to 230V
Single phase 200 to 230V
+/-10% maximum (50/60Hz)
+/-10% maximum (50/60Hz)
Programming / I/O point tracing / Remote command /
Operating method
Operation using RS-232C communication
Maximum number of controllable axes
2 axes maximum
Position detection method
Incremental / Absolute
Controllable robot
Cartesian robot XY-X / Single-axis robot FLIP-X / Pick & place robot YP-X
Programming box
HPB / HPB-D (with enable switch) P.393
POPCOM P.391
Support software for PC
CONTROLLER INFORMATION
Ordering method
DRCX
Controller
X-axis driver Note
Y-axis driver Note
05: 100W or less
10: 200W
20: 400 to 600W
Usable for CE
No entry: Standard
E: CE marking
Regenerative
unit No e
No entry: None
R: RGU-2
Network Option
No entry: None
CC: CC-Link
DN: DeviceNet
PB: Profibus
EN: Ethernet
Battery
Robot
positioner
05: 100W or less
10: 200W
20: 400 to 600W
B1: 700mAh
B2: 2000mAh
Pulse string
driver
Note. Driver selection and regenerative unit selection depends on the robot type.
Driver/Regenerative unit selection table (P.389)
(100)
157
Option
250
265
290
5.5
iVY
I/O connector
100
78
40
Robot
controller
Part names / dimensions
Status LED lamp
ESC switch
RS232C (HPB)
connector
Motor connector
Regenerative
unit connector
Robot I/O connector
Power terminal block
Compact
single-axis robots
APPLICATION TRANSERVO
1 to 2 axis
100V/200V AC
changeover tap
Battery
connector × 2
387
Basic specifications
Item
YK-XG
SCARA
robots
YP-X
Pick & place
robots
Axis control
XY-X
Cartesian
robots
CLEAN
Program
PHASER
Linear motor
single-axis robots
CONTROLLER INFORMATION
Robot
positioner
Pulse string
driver
General specifications Options External input/output
FLIP-X
Single-axis robots
Basic specifications
Compact
single-axis robots
APPLICATION TRANSERVO
DRCX
Model
DRCX
Driver model
X axis
Y axis
DRCX0505
100W or less
100W or less
100W or less
200W
DRCX0510
DRCX0520
100W or less
400W to 600W
DRCX1005
200W
100W or less
Applicable motor output
DRCX1010
200W
200W
DRCX1020
200W
400W to 600W
DRCX2005
400W to 600W
100W or less
DRCX2010
400W to 600W
200W
DRCX2020
400W to 600W
400W to 600W
Number of controllable axes
2 axes
Controllable robots
Cartesian robot XY-X, Single-axis robot FLIP-X, Pick & place robotYP-X
Maximum power consumption
1600VA (variable depending on robots)
Dimensions
W100 × H250 × D157mm
Weight
Approx. 2.1kg
DRCX 0505 / 0510 / 1005 / 1010 / 2005: Single phase AC100 to 115V/AC200 to 230V+/-10% (50/60Hz)Note1
Input power supply
DRCX 1020 / 2010 / 2020: Single phase 200 to 230V+/-10% (50/60Hz)
Drive method
AC full-digital software servo
Position detection method
Resolver with multi-rotation absolute function
Operating method
PTP (Point to Point), Linear interpolation, Circular interpolation, ARCH
Position indication units
mm (millimeters), deg (degrees)
Speed setting
1% to 100% (Setting by 1% unit)
1. Automatic speed setting per robot No. and payload
Acceleration setting
2. Setting based on acceleration and deceleration parameter (Setting by 1% unit)
Resolution
16384 P/rev
Origin search method
Absolute, Incremental
Program language
YAMAHA BASIC
Multitasks
4 tasks maximum
Point-data input method
Manual data input (coordinate value input) , Direct teaching, Teaching playback
RAM
128KB (With lithium battery backup)
100 programs
Programs
255 steps / 1 program 3000 steps / total
Points
1000 points
Input
General input 16 points, dedicated input 8 points
I/O
Output
General output 13 points, dedicated output 3 points
Emergency stop input Normally-closed contact input (origin return not required after emergency stop is released)
Brake output
Relay contact (for 24V/300mA brake) internal 2CH power supply (24V)
Origin sensor input
Connectable to a DC24V B-contact sensor
External communications
RS-232C: 1CH (for communication with HPB / HPB-D or PC)
Slots
1
Options
Type
CC-Link / DeviceNet / Profibus / Ethernet
Programming box
HPB, HPB-D (with enable switch)
Support software for PC
POPCOM
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
Ni-Cd battery
B1 (3.6V/700mAh): 120h
Absolute data backup period
B2 (3.6V/2000mAh): 340h
Ni-Cd battery charging method
Trickle charging
Noise immunity
IEC61000-4-4 Level2
Robot
controller
Note 1. When using 100V power, a jumper cable is required for the power terminal.
iVY
Option
388
Driver / regenerative unit selection table
N15D
PXYx
N18D
XZ type
YP-X
Clean
SXYx SXYx SXYBx SXYBx
SxYxC
FXYx FXYBx SXYx SXYBx MXYx HXYx HXYLx (ZF) (ZFL20) (ZF) (ZFL20) MXYx HXYx
YP220BX YP320X
2 axes
2 axes
250
265
290
When using internal 24V power supply
When using external 24V power supply
NPN
transistor
DI
Input
signal
DI
NPN
transistor
DI
Internal 24V DC
power supply
DI
+IN COM
Internal 24V DC
power supply
+24V
0V
Controller side
Controller side
External 24V power supply
Example of output signal connection
When using internal 24V power supply
When using external 24V power supply
LED
DO
Solenoid
valve
Solenoid
valve
DO
Internal 24V DC
power supply
Output
signal
DO
+IN COM
Internal 24V DC
power supply
+24V
0V
Controller side
External 24V power supply
iVY
Option
389
Robot
controller
Controller side
Pulse string
driver
+IN COM
+24V
0V
DO
Output
signal
Robot
positioner
LED
Function
Move the point from the origin position
Move the point from the current position
Start automatic operation
Start step operation
Return to the origin
Reset
Return to servo on
Interlock
General input 0
General input 1
General input 2
General input 3
General input 4
General input 5
General input 6
General input 7
General input 8
General input 9
General input 10
General input 11
General input 12
General input 13
General input 14
General input 15
Controller external +24V power input
Controller external +24V power input
Controller internal +24V power output
Controller internal +24V power output
Input/output standard 0V
Input/output standard 0V
General output 0
General output 1
General output 2
General output 3
General output 4
End normal execution
Executing the command
Ready for operation
General output 5
General output 6
General output 7
General output 8
General output 9
General output 10
General output 11
General output 12
Emergency stop input 1, used with EMG2 as a pair
Emergency stop input 2, used wi h EMG1 as a pair
CONTROLLER INFORMATION
+IN COM
+24V
0V
Input
signal
Push button
Signal name
ABS-PT
INC-PT
AUTO-R
STEP-R
ORG-S
RESET
SERVO
LOCK
DI 0
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 8
DI 9
DI 10
DI 11
DI 12
DI 13
DI 14
DI 15
+IN COM
+IN COM
+24V
+24V
0V
0V
DO 0
DO 1
DO 2
DO 3
DO 4
END
BUSY
READY
DO 5
DO 6
DO 7
DO 8
DO 9
DO 10
DO 11
DO 12
ENG 1
ENG 2
CLEAN
Photo coupler
Photo coupler
Push button
Connector I/O signals
Terminal number
A-1
B-1
A-2
B-2
A-3
B-3
A-4
B-4
A-5
B-5
A-6
B-6
A-7
B-7
A-8
B-8
A-9
B-9
A-10
B-10
A-11
B-11
A-12
B-12
A-13
B-13
A-14
B-14
A-15
B-15
A-16
B-16
A-17
B-17
A-18
B-18
A-19
B-19
A-20
B-20
A-21
B-21
A-22
B-22
A-23
B-23
A-24
B-24
Pick & place
robots
Example of input signal connection
YP-X
Note. Always leave an empty space (gap of about 20mm) between this unit and the adjacent controller.
Also, always use the dedicated cable when connecting the controller.
SCARA
robots
157
5.5
RGU-2 (for DRCX)
KS5-M4107-0A (Including accessory)
W40 × H250 × D157mm
0.9kg
Approx. 380V or more
Approx. 360V or less
Cable for connection with controller (300mm)
YK-XG
40
16
Cartesian
robots
Dimensions
XY-X
Item
Model
Dimensions
Weight
Regenerative voltage
Regenerative stop voltage
Accessory
Regenerative unit RGU-2
PHASER
Regenerative unit RGU-2 basic specifications
Linear motor
single-axis robots
Regenerative unit RGU-2 dimensions
FLIP-X
Applicable
Single-axis robots
DRCX-0505
DRCX-0510
DRCX-1005
DRCX-1010
DRCX
DRCX-1020
DRCX-2010
DRCX-2020
Regenera- No entry (None)
tive unit
R (RGU-2)
Compact
single-axis robots
XY-X
Arm type, Gantry type, Moving arm type, Pole type
FLIP-X
APPLICATION TRANSERVO
DRCX
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/
FLIP-X
JMPB
L
PHASER
Linear motor
single-axis robots
CALL
DO
WAIT
TIMR
XY-X
Cartesian
robots
YK-XG
SCARA
robots
P
P+
PSRVO
STOP
MAT
MSEL
MOVM
JMPC
YP-X
Pick & place
robots
JMPD
CLEAN
CONTROLLER INFORMATION
CSEL
C
C+
CD
D+
DORGN
ACHA
ACHI
DRVA
DRVI
SHFT
TON
TOFF
JMPP
Robot
positioner
MOVL
MOVC
Pulse string
driver
Robot
controller
iVY
Option
390
B1 battery
Dimensions
15
Single-axis robots
JMPF
Description
Moves to point data position.
Moves from current position by amount of point data.
Moves until specified DI input is received.
Jumps to a specified label in a specified program.
Jumps to a specified label in a specified program
according to the input condition.
Jumps to a specified label when general-purpose
input or memory input is in the specified state.
Defines the jump destination for a JMP or JMPF
statement, etc.
Runs another program.
Turns general-purpose output or memory output on and off.
Waits until a general-purpose input or memory input
is set in the specified state.
Waits the specified amount of time before advancing
to the next step.
Defines a point variable.
Adds 1 to a point variable.
Subtracts 1 from a point variable.
Turns the servo on or off for all axes or a specified axis.
Temporarily stops program execution.
Defines a matrix.
Specifies a matrix to move.
Moves to a specified pallet work position on matrix.
Jumps to a specified label when counter array
variable C equals the specified value.
Jumps to a specified label when counter variable D
equals the specified value.
Specifies the array element of counter array variable C.
Defines counter array variable C.
Adds a specified value to counter array variable C.
Subtracts a specified value from counter array variable C.
Defines counter variable D.
Adds a specified value to counter variable D.
Subtracts a specified value from counter variable D.
Executes return-to-origin on all axes or a specified axis.
Defines an arch motion by setting a position.
Defines an arch motion by setting a distance.
Moves a specified axis to a specified point data position.
Moves a specified axis a distance equal to specified
point data from current position.
Shifts the coordinate position by amount of specified
point data.
Runs a specified task.
Stops a specified task.
Jumps to a specified label when the axis positional
relation meets the specifie.
Executes linear interpolation motion.
Executes circular interpolation motion.
Approx. 300
(250)
47
52
Command
MOVA
MOVI
MOVF
JMP
Absolute battery B1 / B2
These batteries are for backing up the absolute data. B1 and B2 differ in the
capacity. Select either one to be suitable for equipment stop time.
(Select from either B1 or B2 when ordering )
43
B2 battery
Dimensions
Approx. 300
152
(250)
29
Robot Language Table
Compact
single-axis robots
APPLICATION TRANSERVO
DRCX
Battery B1 / B2 basic specifications
Item
Model
Battery type
Battery capacity
Data holding time note
Dimensions
Weight
Cable length
B1
KR4-M4252-10
Ni-Cd battery
3.6V/700mAh
120 hours
W52 × D47 × H15mm
80g
300mm
B2
KR4-M4252-00
3.6V/2,000mAh
340 hours
ϕ29 × L152mm
280g
300mm
Note. When power is turned OFF with fully charged battery mounted.
Standard accessories
I/O connector
Model
KR4-M4421-00
POPCOM
ERCD
ERCX
SR1-X
SR1-P
SRCP30 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.
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
MDI (Manual Data Input) teaching
The numeric keyboard is used to enter position coordinate data directly.
XY-X
There are three methods available for creating the point data.
PHASER
6 Creating point data
Linear motor
single-axis robots
All items necessary for robot
operation are displayed on
single screen. There is no
need to remember the menu
structure so that it can be
easily operated with mouse
control by anybody.
FLIP-X
1 Easy to use
Single-axis robots
Features
Compact
single-axis robots
Applicable controllers
APPLICATION TRANSERVO
Support software for PC
2 Program editing
Edit amendment, cut,
copy, paste, syntax check
and program entry can be
performed efficiently with
function keys.
Remote teaching
The robot arm is actually moved to the target position using the keys for
point data registration.
CLEAN
3 Point editing
Edit amendment, cut, copy,
paste, syntax check, teach
and trace functions are
provided.
4 Help function
Robot
positioner
If you need some detailed
information, robot language
etc. during operation, operate
[F1] key or [HELP] key to
recall useful information on
the screen.
CONTROLLER INFORMATION
Direct teaching
The robot arm is manually moved to the target position with the servo
motors off for point data registration.
Pulse string
driver
5 Robot operation
Robot
controller
By connecting between a computer and the controller with a
communication cable, the controller can control the robot in the same
way as a HPB / HPB-D
(programming box).
iVY
Option
391
PC supporting software POPCOM
Environment
Microsoft Windows 3.1/95/98/Me/NT/2000/XP
OS
Compact
single-axis robots
Note. The 64 bit version is not subject to the operation warranty.
Model
KR4-M4966-00
Exceeding the environment recommended by the OS being used
Exceeding the environment recommended by the OS being used
Vacant capacity of more than 4MB in the installation destination drive
CD-ROM drive
ERCD / ERCX / SR1-P / SR1-X / SRCP30 / DRCX
Note. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.
Note. Use POPCOM with Version 1.13.0 or later when using SR1-P / SR1-X.
XY-X
Cartesian
robots
Communication cable to connect PC and a controller.
(50)
Data cable (9Pin-9Pin) 5m KAS-M538F-10
SCARA
robots
YK-XG
Note. Data cable jointly used for POPCOM, VIP, VIP+.
Note. Older type data cable is made for 9Pin-25Pin specifications.
9Pin-25Pin converter adapter
(50)
5000+/-50
PC
PHASER
Linear motor
single-axis robots
Data cables (5m)
(ϕ5.5)
FLIP-X
Single-axis robots
CPU
Memory
Hard disk
Disk operation
Applicable controllers
CONTROLLER
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/robot/
CN1 plug
CN2 socket
Controller side
PC side
Controller & data cable / converter adapter matchup table
YP-X
Pick & place
robots
This is an adapter for converting the female
D-sub25Pin to a female D-sub9Pin.
This adapter is needed if using the ERCX and
DRCX.
Controller
ERCD
SR1-X/SR1-P
SRCP30
(9Pin)
ERCX
DRCX
(25Pin)
CLEAN
Data cables
9Pin-25Pin converter adapter
[9Pin-9Pin cable]
Needs no converter adapter
• KAS-M538F-10 (SSC-2-5L) KBB-M657E-01
[9Pin-25Pin cable]
25Pin-9Pin converter adapter
• KR7-M538F-10 (SSC-1-3L) Needs no converter adapter
KAX-M657E-01
• KR7-M538F-30 (SSC-1-5L)
CONTROLLER INFORMATION
Model
KBB-M657E-01
Note. It is unnecessary when using ERCD or SR1-X, SR1-P, SRCP30.
Controller and data cable connection diagrams
25 Pin
Robot
positioner
ERCX
DRCX
(25 Pin)
Pulse string
driver
Controller
9 Pin
Converter adapter
Model: KBB-M657E-01
9 Pin
9 Pin
25 Pin
9 Pin
PC
Data cable (2) (older product)
Robot
controller
Converter adapter
Model: KAX-M657E-01
iVY
Option
ERCD
SR1-X / P
SRCP30
(9 Pin)
Data cable (1) (current product)
9 Pin
Data cable (1) (current product)
9 Pin
9 Pin
Data cables
9pin
9pin
25pin
9pin
(2)
25pin
9pin
(1)
25 Pin 25 Pin
Controller
392
Data cable (2) (older product)
9 Pin
PC
Length
Cable model
5m
KAS-M538F-10
3m
KR7-M538F-10
5m
KR7-M538F-30
HPB/HPB-D
ERCD
ERCX
SR1-X
SR1-P
SRCP30 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.
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
HPB
FLIP-X
Name
Single-axis robots
HPB / HPB-D basic specifications
Compact
single-axis robots
Applicable controllers
APPLICATION TRANSERVO
Programming box
HPB-D
External view
HPB-D rear side
Strap hole
Attaching a short strap
or necklace strap here
prevents dropping the
HPB while operating it or
installing it onto
equipment.
Liquid crystal display
Use this connector with the
emergency stop or enable
switch to configure an
external safety circuit.
Attaching the supplied
15-pin D-sub connector
(female) directly to this
safety connector enables the
emergency stop button only.
Operation keys
These keys are used to
operate the robot and
to enter programs and
data, etc.
The keys are divided
into 2 main groups:
function keys and data
entry/operation keys.
(For operation key
details, see Chapter 3,
“Basic operations”.)
A conversion adapter for HPB
The adapter converts from 25 pins to 9 pins. If the HPB was ordered along
with a converter adapter then this adapter comes packed along with the unit.
Model
KBB-M657E-01
Note. It is unnecessary when using ERCD or SR1-X, SR1-P, SRCP30.
iVY
Connects the HPB to
the controller. A D-Sub
9-pin connector (male)
is provided at one end
of the cable.
Safety connector
(HPB-D only)
Robot
controller
Connector cable
An SD memory card can
be inserted here. SD
memory cards are
provided by the customer.
This switch is effective for
use with an external safety
circuit.
This switch opens (cuts off)
the circuit when pressed or
released.
Pressing it to mid-position
connects the circuit. Use this
switch as the enable switch
in Service mode, so that the
external safety circuit
triggers emergency stop on
the robot when this switch is
pressed or released.
Pulse string
driver
This is a 20-character,
4-line LCD screen. The
operation menu and
other information are
displayed here.
SD memory card
connector
3-position enable
switch (HPB-D only)
Robot
positioner
Emergency stop button
Performs a robot emergency
stop when pressed during
robot operation. Release the
button lock (locks when
pressed) by turning the
button in the CW direction.
After releasing the button, a
servo recovery must be
performed from the HPB (or
by I/O operation) in order to
recover from the emergency
stop status.
CONTROLLER INFORMATION
Part names and function
CLEAN
Using with ERCD, SR1-X, SR1-P KBB-M5110-01 (without a conversion adaptor) KBB-M5110-21 (without a conversion adaptor)
Using with ERCX, SRCP30, DRCX KBB-M5110-0A (with a conversion adaptor)
KBB-M5110-2A (with a conversion adaptor)
Display
LCD (20characters × 4 lines)
Emergency stop button
Normally closed contact point (with lock function)
Enable switch
–
3-position
CE marking
Not supported
Applicable
Memory back-up device
SD Memory card
Operating temperature
0°C to 40°C
Operating humidity
35% to 85%RH (non-condensing)
Dimensions
W107 × H230 × D53mm (Strap holder, emergency stop button not included.)
Weight
650g
Cable length
3.5m
Model
Option
393
NETWORK
Compact
single-axis robots
APPLICATION TRANSERVO
Field network system with minimal wiring
Applicable controllers
ERCX SR1-X
SR1-P
SRCP30 DRCX
Network modules CC-Link
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Option unit with networking functions that can be
incorporated in YAMAHA robot controllers, ERCX /
SR1-P / SR1-X / SRCP30 / DRCX.
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 efficient wiring work, reduction of installation and
maintenance costs, etc.
Available I/Os are 32 general inputs / outputs and 16
dedicated inputs / outputs (2 nodes occupied).
XY-X
Cartesian
robots
It is possible to perform position specification movement
and data reading / writing directly by using the remote
commands.
Basic specifications for network modules CC-Link
Item
Applicable controllers
Version supporting CC-Link
Remote node type
Number of occupied nodes
Node number setting
Communication speed setting
No. of CC-Link /O Note1
Parallel external /O
(ERCX, SRCP30, DRCX only)
Shortest distance between nodes Note2
Overall length Note2
Monitor LED
Network modules CC-Link
ERCX / SR1-P / SR1-X / SRCP30 / DRCX
Ver. 1.10
Remote device node
Two nodes fi xed
1 to 63
10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps
General input 32 points, General output 32 points,
Dedicated input 16 points, Dedicated Output 16 points
All points usable as parallel external /O for controller.
Each point controllable from master station sequencer (PLC) by
emulated serialization, regardless of robot program.
0.2m or more
100m/10Mbps, 160m/5Mbps, 400m/2.5Mbps, 900m/625Kbps, 1200m/156Kbps
RUN, ERR, SD, RD
Note 1. Controller I/Os are updated every 10ms.
Note 2. These values apply when a cable that supports CC-Link Ver 1.10 is used.
SCARA
robots
YK-XG
Network modules DeviceNet
Option unit with networking functions that can be
incorporated in YAMAHA robot controllers, ERCX / SR1-P
/ SR1-X / SRCP30 / DRCX.
YP-X
Pick & place
robots
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 efficient wiring work, reduction of installation and
maintenance costs, etc.
CLEAN
Available I/Os are 16 general inputs / outputs and 16
dedicated inputs / outputs.
It is possible to perform position specification movement
and data reading / writing directly by using the remote
commands.(SR1-X only)
Basic specifications for network modules DeviceNet
Item
Applicable controllers
Applicable DeviceNet specifications
Device type
Number of occupied CH
MAC ID setting
Communication speed setting
DeviceNet /O Note2
Parallel external /O
(ERCX, SRCP30, DRCX only)
CONTROLLER INFORMATION
Overall length Note
Network
Branch
length/Overall
length
branch length
Monitor LED
Network modules DeviceNet
ERCX / SR1-P / SR1-X / SRCP30 / DRCX
Volume 1 Release2 0/Volume 2 Release2.0
Generic Device (device number 0)
Input 2ch Note1, Output 2ch Note1
0 to 63
500Kbps, 250Kbps, 125Kbps
General input 16 points Note3, General output 16 points Note3,
Dedicated input 16 points, Dedicated Output 16 points
All points usable as parallel external /O for controller.
Each point controllable from master station sequencer (PLC) by
emulated serialization, regardless of robot program.
100m/500Kbps, 250m/250Kbps, 500m/125Kbps
6m or less/39m or less, 6m or less/78m or less, 6m or less/156m or less
Module, Network
Note 1. Inputs / Outputs are 12ch each when using SR1-P / SR1-X with extension model.
Note 2. Controller I/Os are updated every 10ms.
Note 3. General Inputs / Outputs are 32 each when using SR1-P / SR1-X with extension model.
Note 4. These values apply when a thick cable is used. The distance is less when a fine cable is used or when thick and fine
cables are mixed in use.
Network modules Profibus
Option unit used to connect a YAMAHA robot
controllers ERCX / SR1-P / SR1-X / SRCP30 / DRCX to
Profibus.
Optimum for high speed data communication and
complicated communication processing.
Robot
positioner
Communication is made available among devices of
multiple number of manufacturers.
Pulse string
driver
It is possible to perform position specification movement
and data reading / writing directly by using the remote
commands.
Basic specifications for network modules Profibus
Item
Applicable controllers
Communication profile
Number of occupied nodes
Setting of station address
Communication speed setting
Profibus /O Note
Parallel external /O
(ERCX / DRCX only)
Overall length
Network modules Profibus
ERCX / SR1-P / S R1-X / SRCP30 / DRCX
Profibus-DP slave
1 node
0 to 126
9.6Kbps, 19.2Kbps, 93.75Kbps, 187.5Kbps, 500Kbps, 1.5Mbps,
3Mbps, 6Mbps, 12Mbps (automatic recognition)
General input 32 points, General output 32 points,
Dedicated input 16 points, Dedicated Output 16 points
All points usable as parallel external /O for controller.
Each point controllable from master station sequencer (PLC) by
emulated serialization, regardless of robot program.
100m/12Mbps, 200m/1.5Mbps, 400m/500Kbps, 1000m/187.5Kbps,
1200m/9.6K 19.2K 93.75Kbps
Robot
controller
Note. 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.
Network modules Ethernet
iVY
Option unit used to connect a YAMAHA robot controller
to Ethernet, which can be incorporated in YAMAHA robot
controllers, ERCX / SRCP30 / DRCX. 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.
Option
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 first-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.
394
Basic specifications for network modules Ethernet
Item
Applicable controllers
Network specification
Connector specification
Baud rate
Communication mode
Network modules Ethernet
ERCX / SRCP30 / DRCX
As specified for Ethernet (IEEE802.3)
RJ-45 connector (8-pole modular connector) 1 port
10Mbps (10BASE-T)
Half Duplex (Half-duplex)
Application layer: TELNET / Transport layer: TCP / Network layer: IP, ICMP, ARP /
Network protocol
Data link layer: CSMA/CD / Physical layer: 10BASE-T
Number of simultaneous log inputs 1
Setting of IP address, etc.
Set from HPB / HPB-D
Monitor LED
Run, Collision, Link, Transmit, Receive
RCX221/RCX222
Robot controller with advanced functions
7 Capable of using additional function
of “YC-Link” for additional axis
Linking the RCX series controller with the SR1 series
single-axis controller allows controlling a maximum of 8
axes (synchronous control of 6 axes).
CLEAN
4 Simultaneous control of PHASER
and FLIP-X
Model Overview
RCX222 / RCX222HP
RCX221
RCX221
RCX221HP
RCX222
Usable for
CE
No entry:
Standard
E: CE marking
Regenerative
unit Note2
No entry:
None
R: RG2
Input/Output
Selection 1
Input/Output Selection 2
Controller Note1
No entry: None
RCX222
P: PNP
CC: CC-Link
DN: DeviceNet
PB: Profibus
EN: Ethernet Note3
YC: YC-Link Note
N1: OP.DIO24/16 (NPN) Note3
P1: OP.DIO24/17 (PNP)
EN: Ethernet Note3 Note5
RCX222HP
Note 1. Driver selection and regenerative unit selection depends on the robot type.
See Specification selection table on following page.
Note 2. The regenerative unit (option) is required when operating a model designated by YAMAHA or a
load with a large inertia.
Note 3. NPN and Ethernet are not selectable if using CE marking.
Note 4. Available only for the master.
Note 5. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for
Input/Output selection 2.
Usable for
CE
No entry:
Standard
E: CE marking
Regenerative
unit Note2
No entry:
None
R: RG2
Input/Output
Selection 1
Input/Output Selection 2
N: NPN Note3
No entry: None
P: PNP
CC: CC-Link
DN: DeviceNet
PB: Profibus
EN: Ethernet Note3
YC: YC-Link No e
N1: OP.DIO24/16 (NPN) No e3
P1: OP.DIO24/17 (PNP)
EN: Ethernet Note3 Note5
Option
N: NPN No e3
iVY
Controller Note1
Robot
controller
Ordering method
RCX221 / RCX221HP
Pulse string
driver
Programming box
Support software for PC
Robot
positioner
Controllable robot
RCX221 / RCX221HP
RCX222 / RCX222HP
Single phase: AC200V to 230V +/-10% maximum (50/60Hz)
Programming / I/O point tracing / Remote command / Operation using RS-232C communication
2 axes maximum
Incremental / Semi-absolute
Absolute / Incremental
Cartesian robot XY-X / Single-axis robot FLIP-X /
Cartesian robot XY-X / Single-axis robot FLIP-X /
Linear motor single-axis robot PHASER/
Pick & place robot YP-X
Pick & place robot YP-X
RPB / RPB-E (with enable switch) P.413
VIP+ P.410 / VIP
CONTROLLER INFORMATION
Offers mixed control of linear motor single-axis robot
PHASER series, along with 200 VAC motor single-axis
robot FLIP-X series. (RCX221/RCX221HP)
Name
Power
Operating method
Maximum number of controllable axes
Position detection method
Pick & place
robots
The current position information is monitored even
during a long vacation, while the controller is kept
unused and while it is transported so that the return to
the origin process is not required when the controller is
activated again. (RCX222 / RCX222HP)
Freely select I/O boards as needed.
Supports parallel I/O (NPN/PNP), CC-Link, DeviceNet,
Profibus, and Ethernet.
YP-X
3 The absolute position data
hold time: 1 year
6 Applicable to various peripheral
equipments
SCARA
robots
Delivers high-performance along with sophisticated
functions yet is the same price as the prior DRCX.
YK-XG
2 Same price as predecessor “DRCX”
Internal function in controller acts to prevent carriage
collisions when using double carriages.
Cartesian
robots
5 Anti-collision control function
Lightweight and compact design with main unit weight
of 2.8kg and height of 210mm.
XY-X
1 Compact
PHASER
Main functions P.038
Features
Linear motor
single-axis robots
RCX222
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.
Compact
single-axis robots
APPLICATION TRANSERVO
1 to 2 axis
Note 1. Driver selection and regenerative unit selection depends on the robot type.
See Specification selection table on following page.
Note 2. The regenerative unit (option) is required when operating a model designated by YAMAHA or a
load with a large inertia.
Note 3. NPN and Ethernet are not selectable if using CE marking.
Note 4. Available only for the master.
Note 5. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for
Input/Output selection 2.
395
Part names / dimensions
Compact
single-axis robots
RCX221 Dimensions
RCX221HP Dimensions
(22)
158
28
14
130
100
14
130
100
5.5
250
225
210
6.3
44
4
60
60
4
RCX222 Dimensions
48
28
14
130
100
5.5
SCARA
robots
250
225
184.5
66
YK-XG
17
6.3
XY-X
Cartesian
robots
65.6
5.5
65.6
158
60
RCX222HP Dimensions
130
100
14
250
225
66
PHASER
Linear motor
single-axis robots
17
FLIP-X
Single-axis robots
250
225
184.5
5.5
210
APPLICATION TRANSERVO
RCX221/RCX222
44
60
4
Part names
4
Basic specifications
Regenerative unit RG2
Status indicator
Front
Item
(165)
5
30
Model
Parallel I/O network board
Motor
connector
RG2
Robot I/O connector
CLEAN
Connector for
regenerative
sensor
Battery for
absolute data backup
RPB/RPB-E connector
Motor
connector
Safety connector
Dimensions
RGEN
TEM
Parallel I/O network board
CONTROLLER INFORMATION
Ground
terminal
COM connector
SD memory connector
Note. Photograph shows RCX222. The component names on the
RCX221 are the same but it does not come with an absolute
backup battery.
Note. Depth (D) is 158mm.
Installs on the right side of the RCX221 (HP), RCX222 (HP).
Cannot be installed as a separate unit.
Specification selection table
The robot type automatically determines the normal specifications or HP specifications.
RCX221 / RCX221HP
PHASER
MR12D
MR16D
MR16HD
MR20D
MR25D
MF15D
MF20D
MF30D
MF50D
Robot
positioner
Pulse string
driver
RCX221
RCX221HP
Robot
controller
: Applicable
Regenerative No entry (None)
unit
R (RG2)
: Regenerative unit RG2 is required for use at maximum speeds of 1875mm/sec or higher.
RCX222 / RCX222HP
XZ type
YP-X Clean
Option
N15D
N18D
PXYx
FXYx
FXYBx
SXYx
SXYBx
NXY
MXYx
HXYx
HXYLx
SXYx (ZF)
SXYx (ZFL20)
SXYBx (ZF)
SXYBx (ZFL20)
MXYx
HXYx
YP220BX
YP320X
iVY
XY-X
Arm type, Gantry type,
Moving arm type, Pole type
2 axes
RCX222
RCX222HP
Regenerative No entry (None)
unit
R (RG2)
396
: Select per conditions
SXYxC
FLIP-X
: Applicable
60
Regenerative unit RG2
210
YP-X
Pick & place
robots
Regenerative unit
connector
60
2 axes
RG2
KAS-M4130-00
(including cable supplied with unit)
W35 × H210 × D158mm
Weight
0.8kg
Regenerative
Approx. 420V or more
voltage
Regenerative stop
Approx. 380V or less
voltage
Cable for connection with
Accessory
controller (300mm)
Note. Installs on the right side of the RCX221 (HP), RCX222 (HP).
Cannot be installed as a separate unit.
Conditions where regenerative
unit is needed on multi robots
Where motor capacity exceeds a
total of 450W.
Where motor capacity for perpendicular
axis exceeds a total of 240W.
Where the following conditions apply
when perpendicular axis capacity is
240W or less.
• perpendicular axis is 200W.
• perpendicular axis is 100W and
stroke is 700mm or more
• where there are 2 perpendicular
axes at 100W, and includes leads
of 5mm
Where maximum speed exceeds
1250mm per second with B14H.
RCX221/RCX222
SCARA
robots
YP-X
Pick & place
robots
Axis control
YK-XG
Program
Cartesian
robots
Memory
XY-X
CLEAN
CONTROLLER INFORMATION
External input/output
PHASER
Linear motor
single-axis robots
Robot
positioner
Pulse string
driver
Robot
controller
General specifications Options
FLIP-X
Power capacity
Single-axis robots
Item
Model
RCX221
RCX221HP
RCX222
RCX222HP
Number of controllable axes
2 axes maximum
Single-axis robot FLIP-X,
Single-axis robot FLIP-X, Cartesian robot XY-X,
Controllable robots
Linear motor single-axis robot PHASER,
Cartesian robot XY-X, Pick & place robot YP-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 Control power supply Single phase AC200 to 230V +/-10% maximum (50/60Hz)
supply
Motor power
Single phase AC200 to 230V +/-10% maximum (50/60Hz)
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.)
1.Automatic
acceleration setting based on robot model type and end mass parameter
Acceleration setting
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 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 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 flash memory
512KB (ALL data only)
I/O input
Dedicated input 10 points, General input 16 points
STD.DIO
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)
Slots
2 (inc.STD.DIO)
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
Options
output 96 points (4 nodes occupied)
Type
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)
Programming box
RPB, RPB-E (with enable switch)
Support software for PC
VIP+ / VIP
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 (UL1740)
Protecting structure
IP10
Required power supply capacity varies according to the robot type and number of axes. Prepare a power supply using the following table as a general guide.
Motor capacity vs. current sensor table
Connected motor
capacity
100W or less
200W
400W or more
Current sensor
05
10
20
Option
Axial current sensor value
Power capacity (VA)
X axis
Y axis
05
05
500
10
05
700
10
10
900
20
05
1500
20
10
1700
2000
20
20
2400 (HP)
iVY
When connected to 2 axes
(Cartesian robot or multi-axis robot)
Note. Even if axial current sensor values for each axis are interchanged no problem will occur.
397
Compact
single-axis robots
Basic specifications
Basic specifications
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/robot/
Example of input signal connection
Compact
single-axis robots
APPLICATION TRANSERVO
RCX221/RCX222
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
NPN specification
PNP specification
DC24V
DC24V
DI
DI
DI
DI
GND
GND
XY-X
Cartesian
robots
Emergency input signal connections
Connection when using the standard RPB with an external
emergency stop circuit (1)
RPB
SCARA
robots
YK-XG
RPB connector
13 EMG1
14 EMG2
External emergency stopcircuit
13
14
SAFETY DC24V
connector
11
12
YP-X
Pick & place
robots
Main power supply
control circuit
Control signal
detection circuit
Internal
control
circuit
L
Motor drive
circuit
N
CLEAN
Connection when using the standard RPB with an external
emergency stop circuit (2)
RPB
RPB connector
CONTROLLER INFORMATION
13
14
15
16
17
18
19
20
External service mode stop circuit
1 DI COM
3 SERVICE
SAFETY
connector
DC24V
Internal
control
circuit
Robot
positioner
Motor drive
circuit
Pulse string
driver
Robot
controller
iVY
Option
398
External 24V
power supply
13
14
11
12
Main power supp y
con rol circu t
Control signal
detection circuit
L
N
External emergency stopcircuit
Example of output signal connection
NPN specification
PNP specification
DC24V
DC24V
DO
DO
GND
GND
SAFETY connector signals
Terminal
number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
I/O No.
DI.COM
INTERLOCK
SERVICE
DO.COM
MPRDY
SERVO OUT
NC
KEY1
KEY2
24VGND
EMG24V
EMGRDY
EMGIN1
EMGIN2
EMGIN3
EMGIN4
LCKIN1
LCKIN2
LCKIN3
LCKIN4
Name
Dedicated input common
Interlock signal
SERVICE mode input
Dedicated output common
Main power supply ready
Servo-on state output
No connection
RPB key switch contact
RPB key switch contact
EMG 24V, GND
Power supply for emergency stop input
Emergency stop ready signal
Emergency stop input 1
Emergency stop input 2
Emergency stop input 3
Emergency stop input 4
Enable switch input 1
Enable switch input 2
Enable switch input 3
Enable switch input 4
Standard I/O [connector name: STD. DIO] signal table
YP-X
Pick & place
robots
CLEAN
CONTROLLER INFORMATION
Robot
positioner
Pulse string
driver
Robot
controller
DI30
DI31
DI32
DI33
DI34
DI35
DI36
DI37
CHK2
DO02
DO03
DO20
DO21
DO22
DO23
DO24
DO25
DO26
DO27
SCARA
robots
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
YK-XG
DI17
Cartesian
robots
31
Spare
General input
Spare
General input
Spare
Spare
Spare
General input
General input
General input
General input
General input
General input
General input
General input
Spare
Spare
General output
General output
General output
General output
General output
General output
General output
General output
General input
General input
General input
General input
General input
General input
General input
General input
General input
General input
General input
General input
General input
General input
Spare
Spare
Spare
General output
General output
General output
General output
General output
General output
General output
General output
XY-X
DI15
DI16
–
DI40
–
DI41
–
–
–
DI50
DI51
DI52
DI53
DI54
DI55
DI56
DI57
–
–
DO30
DO31
DO32
DO33
DO34
DO35
DO36
DO37
DI42
DI43
DI44
DI45
DI46
DI47
DI60
DI61
DI62
DI63
DI64
DI65
DI66
DI67
–
–
–
DO40
DO41
DO42
DO43
DO44
DO45
DO46
DO47
Name
PHASER
29
30
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
Linear motor
single-axis robots
DI14
Terminal
number
FLIP-X
28
Name
RCX221
RCX222
Servo ON
Sequence program control
Step run
Check input 1
I/O command run
Spare Note 1
Spare Note 1
General input 20
General input 21
General input 22
General input 23
General input 24
General input 25
General input 26
General input 27
EMG monitor (emergency stop monitor)
CPU OK
AUTO mode
Return-to-origin complete
Sequence program in progress
Auto operation in progress
Program reset output
Battery alarm output Note 2
END
BUSY
Auto operation start
AUTO mode switching
ABS reset
Return-to-origin Note 3
(Not in use normally)
Program reset
MANUAL mode
Return-to-origin
ABS reset Note 4
(In use normally)
General input 30
General input 31
General input 32
General input 33
General input 34
General input 35
General input 36
General input 37
Check input 2
Servo-on state
Alarm
General output 20
General output 21
General output 22
General output 23
General output 24
General output 25
General output 26
General output 27
Single-axis robots
Signal
name
DI01
DI10
DI03
CHK1
DI05
DI06
DI07
DI20
DI21
DI22
DI23
DI24
DI25
DI26
DI27
DO00
DO01
DO10
DO11
DO12
DO13
DO14
DO15
DO16
DO17
DI12
DI13
Compact
single-axis robots
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
Option I/O [connector name: OP. DIO] signal table
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/robot/
iVY
Note 1. Use of DI06, DI07 is prohibited.
Note 2. DO15 is a memory backup battery voltage drop alarm output.
Note 3. Set origin return for axes using incremental specifications and axes using semi-absolute
specifications.
Note 4. Set origin return on axes using absolute specifications.
Area check output can be assigned to DO20 to DO27.
(Area check output assignment differs depending on the controller software version. See the user’s manual
for details.)
Option
399
Robot Language Table
Compact
single-axis robots
APPLICATION TRANSERVO
RCX221/RCX222
General commands
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Language
DECLARE
DEF FN
DIM
EXIT FOR
FOR to NEXT
GOSUB to
RETURN
GOTO
HALT
HOLD
IF
LET
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.
Terminates a FOR statement to NEXT statement loop.
Controls repetitive operations
Jumps to a subroutine with the label specified by a
GOSUB statement and executes the subroutine.
Unconditionally jumps to the line specified by a label.
Stops a program and resets it.
Pauses a program.
Allows control flow to branch according to conditions.
Executes a specified assignment statement.
Jumps to a subroutine with each label specified by a GOSUB
statement according to conditions and executes the subrou ine.
Jumps to each line specified by a label according to conditions.
All characters that follow REM or an apostrophe (’) are
viewed as comments.
XY-X
Cartesian
robots
YK-XG
SCARA
robots
SELECT CASE
Allows control flow to branch according to conditions.
to END SELECT
Switches the currently executed program to a specifi ed
SWI
program, and executes from the first line after compiling.
WHILE to WEND Controls repetitive operations.
Label statement Defines “labels” in program lines.
Robot operation
YP-X
Pick & place
robots
Language
ABSRST
DRIVE
DRIVEI
MOVE
MOVEI
ORIGIN
PMOVE
CLEAN
SERVO
Function
Performs return-to-origin along robot absolute motor axes.
Performs an absolute movement of each axis in the main group.
Performs a relative movement of each axis in the main group.
Performs an absolute movement of the main robot axes.
Performs a relative movement of the main robot axes.
Performs return-to-origin on an incremental mode axis or
absolute search on a semi-absolute mode axis.
Performs a pallet movement of the main robot axes.
Controls the servo ON/OFF of the specified axes in the main group
or all axes (in main group and sub group).
CONTROLLER INFORMATION
LO
MO
OUT
RESET
SET
SO
TO
WAIT
Robot
positioner
Function
Waits for the specified length of time (ms).
Outputs the specified value to the DO ports.
Outputs the specified value to the LO port to prohibit axis
movement or permit axis movement.
Outputs the specified value to the MO ports.
Turns ON the bits of the specifi ed output ports and the
command statement ends.
Turns OFF the bits of the specified output ports.
Turns ON the bits of the specified output ports
Outputs the specified value to the SO port.
Outputs the specified value to the TO port.
1. Wai t s unt i l t h e c o n dit i o n in D I / D O c o n di t i o na l
expression are met.
2. Waits until positioning on the robot axes is complete
(within the tolerance range).
Coordinate control
Pulse string
driver
Language
CHANGE
HAND
RIGHTY /
LEFTY
Robot
controller
SHIFT
Function
Switches the hand of the main robot.
Defines the hand of the main robot.
Selects whether the main robot will be “right-handed”
or “left-handed” when moving to a point specified on a
Cartesian coordinate system.
Sets the shift coordinates for the main robot by using the
shift data specified by a shift variable.
Condition change
iVY
Option
Language
ACCEL
ARCH
ASPEED
AXWGHT
DECEL
ORGORD
OUTPOS
PDEF
SPEED
TOLE
WEIGHT
400
Language
ONLINE /
OFFLINE
SEND
Function
Chang e s c o mmuni c at i o n m o de and init ialize t he
communication port.
Sends the read file data into a write file.
Screen control
Language
PRINT
Function
Displays the value of specified variable on the MPB/RPB screen.
Key control
Language
INPUT
Function
Assigns a value to the variable specified from the MPB/RPB.
Procedure
Language
Function
Calls up sub-procedures defi ned by the SUB and END
SUB statements.
Terminates the sub-procedure defi ned by the SUB and
EXIT SUB
END SUB statements.
Does not permit variables declared with a program
written outside a subprocedure (SUB to END SUB) to be
SHARED
passed on as dummy arguments, but allows them to be
referred to with a sub-procedure.
SUB to END SUB Defines a sub-procedure.
CALL
Task control
Language
CHGPRI
CUT
EXIT TASK
RESTART
START
SUSPEND
Function
Changes the priority of the specified task.
Terminates a task currently being executed or temporarily
stopped.
Terminates its own task currently being executed.
Restarts a task that is temporarily stopped.
Sets the task number and priority of the specified task
and starts that task.
Temporarily stops another task being executed.
Error control
I/O control
Language
DELAY
DO
Communication control
Function
Changes the acceleration coefficient parameter of the main group.
Changes the arch position parameter of the main group.
Changes the automatic movement speed of he main group.
Changes the axis tip weight parameter of the main group.
Changes the deceleration rate parameter of the main group.
Sets the axis sequence parameter to perform return-toorigin and absolute search in the main group.
Changes the OUT position parameter of the main group.
Defines the pallet used to execute a pallet movement command.
Changes the program speed for the main group.
Changes the tolerance parameter of the main group.
Changes the tip weight parameter of the main robot.
Language
ON ERROR
GOTO
RESUME
ERL
ERR
Function
If an error occurs during program execution, this command
allows the program to jump to the error processing routine
specified by the label without stopping the program, or
stops the program and displays the error message.
Resumes the program execution after recovery from an
error. This command is used in the error processing routine.
Gives the line number where an error occurred.
Gives the error code number when an error occurred.
PATH control
Language
PATH
PATH END
PATH SET
PATH START
Function
Sets the PATH motion on the main robot axis.
Terminates the path setting for PATH motion.
Starts the path setting for PATH motion.
Starts the PATH motion.
Torque control
Language
Function
DRIVE
Executes an absolute movement command on each axis
(with torque limit option) in the main group.
Changes the ma ximum torque instr uc tion for the
TORQUE
specified main group axis.
Sets the current limit time-out period on the specified
TRQTIME
main group axis when using a torque limit setting option
in the DRIVE statement.
Sets the current limit time-out period on the specified
TRQTIME
main group axis when using a torque limit setting option
in the DRIVE statement.
RCX221/RCX222
Accessories and part options
Power connector + wiring connection lever
Safety connector
RPB terminator (dummy connector)
Attach this to the RPB connector during operation
with the programming box RPB removed.
YP-X
Pick & place
robots
L type stay (for installing front side, rear side.)
SCARA
robots
Option I/O (OP.DIO) connector
YK-XG
Standard I/O (STD.DIO) connector
Cartesian
robots
KAS-M5163-00
XY-X
Model
Note. Jointly used by RCX240.
PHASER
KAS-M5370-00
Linear motor
single-axis robots
Model
FLIP-X
KAS-M5382-00
Single-axis robots
Model
Note. Jointly used by SR1-P / SR1-X, RCX240.
Compact
single-axis robots
Standard accessories
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/robot/
Use to install the controller.
Model
KAS-M533G-00
Model
KAS-M533G-10
Model
KAS-M410H-00
Note. This type uses 1 stay.
Absolute battery (for RCX222 only)
Absolute battery basic specifications
Battery for absolute data back-up.
Item
Absolute battery installation conditions
1 to 2 batteries are required for each 2 axes.
1 battery…Data storage time of approximately
6 months (with no power applied)
2 batteries…Data storage time of
approximately 1 year (with no power applied)
Note. Absolute battery is not required for either of the 2 axes if
using incremental or semi-absolute specifications.
Note1. When using 2 batteries. Note2. Weight of battery itself.
Note. Jointly used by SR1-X, RCX240.
VIP+ is a simple to use application software that makes tasks such as robot operation, writing-editing
programs, and point teaching easy to visually understand.
CONTROLLER INFORMATION
VIP+ software model
Robot
positioner
Options
Support software for PC VIP+
Programming box RPB / RPB-E
This device can perform all operations such as
manual robot operation, program entry and edit,
teaching and parameter settings.
RPB
RPB-E
Data cable (9Pin-9Pin) 5m KAS-M538F-10
Note. Data cable jointly used for POPCOM, VIP, VIP+.
Environment
Microsoft Windows 2000/XP/
Windows Vista Note The 64 bit version is not subject to the operation warranty.
CPU
Exceeding the environment recommended by the OS being used
Memory
Exceeding the environment recommended by the OS being used
Hard disk
Vacant capacity of more than 40MB in the installation destination drive
RC232C, Ethernet
Communication method Note.
The Ethernet usable unit is required separately for the Ethemet communication.
OS
iVY
Applicable controllers
RCX221 / RCX222 / RCX141 / RCX142 / RCX240
Note. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.
Note. Ethernet is the registered trademark of US XEROX Corp.
Robot
controller
P.413
KX0-M4966-00
Pulse string
driver
RPB
RPB-E
Model
KBK-M5110-10 KBK-M5110-00
Enable
–
3-position
switch
CE marking Not supported
Applicable
CLEAN
Absolute battery
Model
KAS-M53G0-10
Battery type
Lithium metallic battery
Battery capacity 3.6V/2,700mAh
Data holding time 1year Note1
Dimensions
ϕ17 × L53mm
Weight Note2
22g
P.410
Option
401
Compact
single-axis robots
APPLICATION TRANSERVO
1 to 4 axis
RCX240
Robot controller with advanced functions
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
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!
Main functions P.037
Features
1 RCX141 and RCX142 united into one unit
Besides Cartesian and SCARA robots, this controller
also handle a mixed combination of single axis robot
FLIP-X and linear single-axis robot PHASER.
2 The absolute position data
hold time: 1 year
SCARA
robots
YK-XG
The current position information is monitored even
during a long vacation, while the controller is kept
unused and while it is transported so that the return to
the origin process is not required when the controller is
activated again.
YP-X
Pick & place
robots
3 Linear and circular interpolation in 2
and 3 dimensions
CLEAN
These functions ensure smooth and high precision
operation ideal for tasks such as sealing.
4 Passing point output
CONTROLLER INFORMATION
The general-purpose output can be turned on or off at
the specified point during interpolation tasks without
having to stop robot operation along that axis.
5 Area check output
During robot operation, this function sends an I/O output
when the robot enters a preset area or zone.
6 Push function
Robot
positioner
This function controls the motor torque during grip and
press-fit operation.
7 Dual-synchronous drive function
The RX240 includes a dual-drive function for
simultaneously driving 2 axes. The dual drive function
is effective on Cartesian robots for conveying heavyweight payloads and long strokes along the Y axis.
8 Multitasking function
This function simultaneously runs multiple (maximum of
8 tasks) in parallel on robot peripheral equipment, etc.
9 2-robot control & auxiliary axis control
Assigning 2 robot units as main and sub allows multitasking
as well as operating these robots asynchronously.
10 Supports a full range of options
Select from parallel I/O boards (NPN/PNP), and network
options (CC-Link, DeviceNet, Profibus, Ethernet).
Also supports the iVY board and tracking boards.
11 Capable of using additional function
of “YC-Link option” for additional axis
Linking the RCX series controller with the SR1 series
single-axis controller allows controlling a maximum of 8
axes (synchronous control of 6 axes).
12 Utilizes system assets from prior
models RCX141 / RCX142
This RCX240 is compatible with systems using the
RCX141, RCX142 and so can be shifted unchanged to
function as host/upstream device on those systems.
Pulse string
driver
Model Overview
Name
Power
Robot
controller
Operating method
Maximum number of controllable axes
Position detection method
iVY
Controllable robot
Programming box
Support software for PC
Option
402
RCX240
Single phase : AC200V to 230V +/-10% maximum (50/60Hz)
Programming / I/O point tracing / Remote command /
Operation using RS-232C communication
4 axes maximum
Incremental / Absolute
Cartesian robot XY-X / SCARA robot YK-XG / Single-axis robot FLIP-X /
Linear motor single-axis robot PHASER / Pick & place robot YP-X
RPB / RPB-E (with enable switch) P.413
VIP+ P.410 / VIP
Ordering method
N
Controller
Usable for CE
No entry: Standard
E: CE marking
Regenerative unit Note1
No entry: None
R: RGU-2
R3: RGU-3 No e2
BB
Note3
Battery
No entry: None Note5
Note6
B: 2pcs
BB: 4pcs No e7
XY-X
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
10.5
PHASER
Dimensions
Linear motor
single-axis robots
Note 1. The regenerative unit (option) is required when operating a model designated by YAMAHA or a load with a large inertia.
Please refer to the following regenerative unit selection table.
Note 2. YK550X / YK500XG to YK1000XG are for RGU-3.
Note 3. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected.
Note 4. Available only for the master.
Note 5. Uses no-battery specifications if connecting to all axis - linear motor.
Note 6. If any or Single-axis among the XY axes are absolute specifications then 2 batteries are required.
Note 7. If any or Single-axis among the ZR axes are absolute specifications then 2 batteries are required.
FLIP-X
Network Option
No entry: None
CC: CC-Link
DN: DeviceNet
PB: Profibus
EN: Ethernet
YC: YC-Link No e
Single-axis robots
Option I/O
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
15.5
102
204
15.5
Upper
Compact
single-axis robots
RCX240
APPLICATION TRANSERVO
RCX240
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/
7-M3 Plate thickness 2mm:
Tap for stay installation
(The same applies to bottom side: Note 1) 25
Front
139.5
5.5
(t2)
69.75
180
235
15.5
For installation to the
side (option)
Stay for installation
Side
to the front
30
(20) Installable to the back
Rear
250
CLEAN
265
290
(50)
(25)
5.5
44.8
Rubber leg
100
5.5
27.6
CONTROLLER INFORMATION
10
Battery
holder
180
15.5
204
102
15.5
7-M3 Plate thickness 2mm:
Tap for stay installation
25
139.5 69.75
Robot
positioner
Note 1. When using stays supplied in the package for installing this unit, remove rubber legs from the bottom.
Bottom
15.5
YK-XG
Clean
: Required
iVY
No entry (None)
R (RGU-2)
R3
Robot
controller
3,4 axes SXYx
3,4 axes NXY
6 axes NXY
3,4 axes MXYx
3,4 axes HXYx
YK120XG
YK150XG
YK180XG
YK180X
YK220X
YK250XH
YK350XH
YK400XH
YK500XG
YK600XG
YK600XGH
YK700XG
YK800XG
YK900XG
YK1000XG
YK1200X
YK300XHS
YK400XHS
YK500XS
YK600XS
YK700XS
YK800XS
YK1000XS
YK250XP
YK350XP
YK400XP
YK500XP
YK600XP
YK700XP
YK800XP
YK1000XP
3 axes SXYxC
4 axes SXYxC
YK180XC
YK220XC
YK250XCH
YK350XCH
YK400XCH
YK500XC
YK600XC
YK700XC
YK800XC
YK1000XC
XY-X
Pulse string
driver
Regenerative unit selection table
: If Z axis is 200W specifications then regenerative unit RGU-2 is required.
Where motor capacity exceeds a total of 450W.
Where motor capacity for perpendicular axis exceeds a total of 240W.
Where maximum speed exceeds 1250mm/sec. and uses belt drive.
Where the following conditions apply when perpendicular
axis capacity is 240W or less.
• perpendicular axis is 200W.
• perpendicular axis is 100W and stroke is 700mm or more
• Where there are 2 perpendicular axes at 100W, and
includes leads of 5mm
403
Option
Conditions where regenerative unit is needed on multi robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
Axis control
XY-X
Cartesian
robots
Program
PHASER
Linear motor
single-axis robots
Memory
FLIP-X
Single-axis robots
Basic specifications
Basic specifications
Compact
single-axis robots
APPLICATION TRANSERVO
RCX240
CONTROLLER INFORMATION
External input/output
CLEAN
Pulse string
driver
Robot
controller
iVY
General specifications Options
Robot
positioner
Item
Model
RCX240
Number of controllable axes
4 axes maximum (Control simultaneously: 4 axes)
Single-axis robot FLIP-X, Linear motor single-axis robot PHASER, Cartesian robot XY-X,
Controllable robots
SCARA robot YK-XG , Pick & place robot YP-X
Maximum power consumption
2500VA
Capacity of the connected motor
1600W
Dimensions
W180 × H250 × D235mm
Weight
6.5kg
Input power Control power supply Single phase AC200 to 230V +/-10% maximum (50/60Hz)
supply
Motor power supply Single phase AC200 to 230V +/-10% maximum (50/60Hz)
Drive method
AC full-digital software servo
Position detection method
Multi-turn resolver with data backup function, Magnetic linear scale
Operating method
PTP (Point to Point), Linear interpolation, Circular interpolation, ARCH
Coordinate system
Joint coordinates, Cartesian coordinates
Position indication units
Pulses, mm (millimeters), deg (degrees)
1% to 100% (In units of 1%. However speed is in units of 0.01% during single-axis operation by
Speed setting
DRIVE statement.)
1. Automatic acceleration setting based on robot model type and end mass parameter
Acceleration setting
2. Setting based on acceleration and deceleration parameter (Setting by 1% unit)
Resolution
16384 P/rev, 1μm
Origin search method
Incremental, Absolute, Semi-absolute
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
364KB (total capacity of program and points)
Memory capacity
(available program capacity during use of maximum number of points is 84KB)
Programs
100 program (Max.) 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°C to 40°C)
Internal flash memory
512KB (ALL data only)
I/O input
General input 16 points, dedicated input 10 points (NPN / PNP specifications selectable)
STD.DIO
I/O output
General output 8 points, dedicated output 11 points
Emergency stop input (Relay contact), Service mode input (NPN/PNP specification is set
SAFETY
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 (Dedicated RPB)
Slots
4
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
Options
Profibus: Dedicated input 16 points, Dedicated Output 16 points, General input 96 points, General
Type
output 96 points
Ethernet: IEEE802.3 10Mbps (10BASE-T)
iVY: Camera input (2ch), camera trigger input, PC connection input
Tracking: AB phase input, lighting trigger input, lighting power supply input/output
Lighting control: lighting trigger input, lighting power supply input/output
Programming box
RPB, RPB-E (with enable switch)
Support software for PC
VIP+ / VIP
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 (2700mAH × 2)
Absolute data backup period
1 year (in state with no power applied)
Noise immunity
IEC61000-4-4 Level 3
Protective structure
IP10
Option
404
Power capacity
The required power supply capacity and heat emission will vary depending on the robot type and number of axes.
(1) When connected to SCARA robot
YK500XC, 600XC
YK500XP, 600XP
YK500XS, 600XS
1500
88
1700
93
2000
100
2500
113
–
YK700XC, 800XC,
1000XC
YK600XGH, 700XG,
800XG, 900XG, 1000XG,
1200X
–
YK700XP, 800XP,
1000XP
–
–
–
(2) When connected to 2 axis (Cartesian robot and/or multi-axis robot)
Note
Power capacity
(VA)
600
800
1000
1100
1300
1700
YK700XS, 800XS,
1000XS
(3) When connected to 3 axis (Cartesian robot and/or multi-axis robot)
Power capacity
(VA)
700
900
1000
1200
1200
1300
1500
1600
1800
2000
Generated heat
amount (W)
68
73
75
80
80
83
88
90
95
95
Generated heat
amount (W)
70
75
78
83
85
80
85
88
93
90
95
100
103
105
113
Robot
positioner
Pulse string
driver
Power capacity
(VA)
800
1000
1100
1300
1400
1200
1400
1500
1700
1600
1800
2000
2100
2200
2500
CONTROLLER INFORMATION
Axial current sensor value Note
Y axis
Z axis
R axis
05
05
05
05
05
05
10
05
05
10
10
05
10
10
10
05
05
05
10
05
05
10
10
05
10
10
10
20
05
05
20
10
05
20
10
10
20
20
05
20
20
10
20
20
20
Note. Even if axial current sensor values for each axis are interchanged no problem will occur.
Robot
controller
Note. Motor capacity vs. current sensor table
Current sensor
05
10
20
iVY
Connected
motor capacity
100W or less
200W
400W or more
CLEAN
Axial current sensor value Note
X axis
Y axis
Z axis
05
05
05
10
05
05
10
10
05
10
10
10
20
05
05
20
10
05
20
10
10
20
20
05
20
20
10
20
20
20
Generated heat
amount (W)
65
70
75
78
83
93
(4) When connected to 4 axis (Cartesian robot and/or multi-axis robot)
X axis
05
10
10
10
10
20
20
20
20
20
20
20
20
20
20
Pick & place
robots
75
YP-X
1000
SCARA
robots
YK300XHS, 400XHS
YK-XG
YK250XP, 350XP,
400XP
–
Axial current sensor value
X axis
Y axis
05
05
10
05
10
10
20
05
20
10
20
20
63
YK250XCH, 350XCH,
400XCH
YK550X, 500XG, 600XG
–
500
Cartesian
robots
–
–
XY-X
YK250XH, 350XH,
400XH
–
Generated heat
amount (W)
PHASER
–
Power capacity
(VA)
Linear motor
single-axis robots
YK180X, 220X
Robot type
Dust-proof & drip-proof type Ceiling-mount / inverse type
FLIP-X
Clean type
Single-axis robots
Standard type
Compact
single-axis robots
Using the following table as a general guide consider the required power supply preparation and control panel size, controller installation, and cooling method.
APPLICATION TRANSERVO
RCX240
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/
Option
405
Regenerative unit
RGU-2 basic specifications
Upper
242.5
235
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. Always leave an empty space (gap of about 20mm) between this unit and the adjacent
controller. Also, always use the dedicated cable when connecting the controller.
40
8
XY-X
Cartesian
robots
62
52.5
Front
RGU-3 basic specifications
250
PHASER
Linear motor
single-axis robots
Front
250
FLIP-X
Single-axis robots
157
Compact
single-axis robots
APPLICATION TRANSERVO
RCX240
Item
RGU-3
Model
KX0-M4107-30 (including cable supplied with unit)
Dimensions
W62 × H250 × D242.5mm
Weight
3.7kg
Regenerative voltage Approx. 380V or more
Regenerative stop voltage Approx. 360V or less
Accessory
Cable for connection with controller (300mm)
Note. Cannot be installed as a separate unit.
RGU-2
RGU-3
SCARA
robots
YK-XG
Example of input signal connection
NPN specification
DC24V(P.COM DI)
YP-X
Pick & place
robots
Protective
circuit
DI01
DI10
DI11
DI12
DI01
DI10
DI11
PNP specification
CLEAN
COMMON
COMMON
DO01a
DO01a
DO01b
DO01b
DO02a
DO02a
DO02b
DO02b
DO03a
DO03a
DO03b
DO03b
DO10
to
DO14
DO10
to
DO14
DI12
to
Protective
circu t
NPN specification
PNP specification
DC24V(P.COM DI)
DI17
DI20
DI21
DI22
DI23
Example of output signal connection
to
DI36
DI37 PNP
External
power
supply
NPN
to
DI36
DI37
GND(N.COM DI)
Exte nal
power
supply
GND(N.COM DI)
CONTROLLER INFORMATION
Controller side
Controller side
Controller side
Controller side
Emergency input signal connections
Connection when using the standard RPB with an external
emergency stop circuit.
Connections using the RPB-E enabling switch compatible programming
unit with external emergency stop circuit (PNP specification)
RCX240
Emergency
stop switch
Emergency stop switch
RPB connector
13
14
15
16
17
18
19
20
14
RPB
Emergency stop switch
Robot
positioner
SAFETY
connector
Pulse string
driver
Internally connected to
P COM (STD DI0)
24V Internally connected to
N COM (STD DI0)
3 E STOPIN1
4 E STOPIN2
11
RPB E
12
SAFETY
connector
13 E STOP24V
14 E STOPRDY
2 MP READY
External emergency
stop circuit
Robot
controller
Use the external circuit
for controlling
Motor power
relay coil
GND
L
Motor power
supply circuit
N
Interna ly connected to
P COM (STD DI0)
24V Internally connected to
N COM (STD DI0)
iVY
L1
Control power
supply circuit
3
4
5
6
7
8
9
10
1
11
12
Service key
switch
E STOPIN1
E STOPIN2
E STOPIN3
E STOPIN4
LCKIN1
LCKIN2
LCKIN3
LCKIN4
DI02
P COM
13 E STOP24V
14 E STOPRDY
2 MP READY
Emergency
stop switch
External emergency
stop circuit
N1
Motor power
relay coil
Option
Use the external circuit
for controlling
GND
L
Motor power
supply circuit
N
L1
Control power
supply circuit
406
Enabiling
switch
RPB connector
13
N1
Connector input / output signals
Note
YP-X
Pick & place
robots
GND (N.COMDI)
specification Maximum
capacity of each terminal
(resistance load) : 0.1A
+Common terminal : DC+24V
- Common terminal : GND
SCARA
robots
GND
Transistor output›
‹NPN
specification or PNP
YK-XG
DC+24V (P.COMDI)
Relay output›
‹Maximum
capacity of each
Cartesian
robots
DC24V
Note
XY-X
: Source type
PNP specification
: Sink type
Name
Relay common
CPU_OK (B contact)
CPU_OK (A contact)
Servo ON output (B contact)
Servo ON output (A contact)
Alarm (B contact)
Alarm (A contact)
AUTO mode output
Return-to-origin complete
Sequence program in-progress
Robot program in-progress
Program reset
General output 20
General output 21
General output 22
General output 23
General output 24
General output 25
General output 26
General output 27
PHASER
Photo-coupler input›
‹NPN
specification
I/O No.
COMMON
DO01b
DO01a
DO02b
DO02a
DO03b
DO03a
DO10
DO11
DO12
DO13
DO14
DO20
DO21
DO22
DO23
DO24
DO25
DO26
DO27
Linear motor
single-axis robots
Common terminal
: P.COMDI
N.COMDI
PIN
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
FLIP-X
Name
I/O command execution trigger input
Servo ON input
Sequence control
Interlock
Program start
AUTO mode input
Return-to-origin
Program reset
MANUAL mode input
Absolute reset / Return-to-origin
General input 20
General input 21
General input 22
General input 23
General input 24
General input 25
General input 26
General input 27
General input 30
General input 31
General input 32
General input 33
General input 34
General input 35
General input 36
General input 37
Single-axis robots
I/O No.
DI05
DI01
DI10
DI11
DI12
DI13
DI14
DI15
DI16
DI17
DI20
DI21
DI22
DI23
DI24
DI25
DI26
DI27
DI30
DI31
DI32
DI33
DI34
DI35
DI36
DI37
terminal (resistance load)
: DC 24V 0.5A
Common terminal
: COMMON
External power supply
input
SAFETY connector signals
RPB connected
Name
SERVICE mode
Motor power ready signal
Emergency stop input 1
Emergency stop input 2
NC
NC
NC
NC
NC
NC
DC+24V (P.COM DI)
GND (N.COM DI)
Emergency stop input supply
Emergency stop READY signal
NC
I/O No.
DI02
MP READY
E-STOPIN 1
E-STOPIN 2
E-STOPIN 3
E-STOPIN 4
LCKIN 1
LCKIN 2
LCKIN 3
LCKIN 4
P.COM
N.COM
E-STOP 24V
E-STOPRDY
NC
RPB-E connected
Name
SERVICE mode
Motor power ready signal
Emergency stop input 1
Emergency stop input 2
Emergency stop input 3
Emergency stop input 4
Enabling switch input 1
Enabling switch input 2
Enabling switch input 3
Enabling switch input 4
DC+24V (P.COM DI)
GND (N.COM DI)
Emergency stop input supply
Emergency stop READY signal
NC
CONTROLLER INFORMATION
I/O No.
DI02
MP READY
E-STOPIN 1
E-STOPIN 2
NC
NC
NC
NC
NC
NC
P.COM
N.COM
E-STOP 24V
E-STOPRDY
NC
CLEAN
Terminal
number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Variable
Monitor
On-line command
Data file
Internal timer
Program break point
407
Option
Operator
iVY
Function
Robot
controller
Command
Pulse string
driver
Operation mode
Description
Automatic mode (main task: execution of program, execution of step), Program mode (main task: creation of program),
Manual mode (main task: jog movement, point teaching), System mode (main task: parameter editing, data initialization),
Utility mode (main task: operation of motor power source)
Array declarator command (DIM statement), Assignment command (numeric value assignment statement, character string
assignment statement, point definition statement), Movement related command (MOVE statement, DRIVE statement,
PMOVE statement), Condition branching command (IF statement, FOR statement, WHILE statement), External output
command (DO statement, MO statement, LO statement, TO statement, SO statement), Parameter command (ACCEL
statement, OUTPOS statement, TOLE statement), Task related command (START statement, SUSPEND statement, CUT
statement), Condition wait command (WAIT statement), etc.
Arithmetic function (SIN function, COS function, TAN function), Character string function (STR$ function, LEFT$ function,
MID$ function, RIGHT$ function), Point function (WHERE function, JTOXY function, XYTOJ function), Parameter function
(ACCEL statement, OUTPOS statement, TOLE statement), etc.
Simple variable (integer type variable, real number type variable, character string type variable), Array variable (integer type
variable, real number type variable, character string type variable), Point variable, Shift variable, Element variable (point
element variable, shift element variable), Input/output variable, etc.
Arithmetic operator (+, -, , /, MOD), Logical operator (AND, OR, XOR),
Comparison operator (=, <, >, <>, <=, >=)
Monitor of input/output (200ms interval)
Key operation command (AUTO, RUN, RESET, STEP), Data handling command (READ, WRITE, ?VER, ?CONFIG), Utility
command (COPY, ERA, INIT), Robot language command (independently executable command)
Program, Point, Parameter, Shift, Hand, All, Error history, etc.
10ms interval
4 points at maximum
Robot
positioner
Standard functions of the controller
Function
Compact
single-axis robots
PIN
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
APPLICATION TRANSERVO
RCX240
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/
Robot Language Table
Compact
single-axis robots
APPLICATION TRANSERVO
RCX240
General commands
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Language
DECLARE
DEF FN
DIM
EXIT FOR
FOR to NEXT
GOSUB to
RETURN
GOTO
HALT
HOLD
IF
LET
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.
Terminates a FOR statement to NEXT statement loop.
Controls repetitive operations
Jumps to a subroutine with the label specified by a
GOSUB statement and executes the subroutine.
Unconditionally jumps to the line specified by a label.
Stops a program and resets it.
Pauses a program.
Allows control flow to branch according to conditions.
Executes a specified assignment statement.
Jumps to a subroutine with each label specified by a GOSUB
statement according to conditions and executes the subrou ine.
Jumps to each line specified by a label according to conditions.
All characters that follow REM or an apostrophe (’) are
viewed as comments.
XY-X
Cartesian
robots
YK-XG
SCARA
robots
SELECT CASE
Allows control flow to branch according to conditions.
to END SELECT
Switches the currently executed program to a specifi ed
SWI
program, and executes from the first line after compiling.
WHILE to WEND Controls repetitive operations.
Label statement Defines “labels” in program lines.
Robot operation
YP-X
Pick & place
robots
Language
ABSRST
DRIVE
DRIVEI
MOVE
MOVEI
ORIGIN
PMOVE
CLEAN
SERVO
Function
Performs return-to-origin along robot absolute motor axes.
Performs an absolute movement of each axis in the main group.
Performs a relative movement of each axis in the main group.
Performs an absolute movement of the main robot axes.
Performs a relative movement of the main robot axes.
Performs return-to-origin on an incremental mode axis or
absolute search on a semi-absolute mode axis.
Performs a pallet movement of the main robot axes.
Controls the servo ON/OFF of the specified axes in the main group
or all axes (in main group and sub group).
CONTROLLER INFORMATION
LO
MO
OUT
RESET
SET
SO
TO
WAIT
Robot
positioner
Function
Waits for the specified length of time (ms).
Outputs the specified value to the DO ports.
Outputs the specified value to the LO port to prohibit axis
movement or permit axis movement.
Outputs the specified value to the MO ports.
Turns ON the bits of the specifi ed output ports and the
command statement ends.
Turns OFF the bits of the specified output ports.
Turns ON the bits of the specified output ports
Outputs the specified value to the SO port.
Outputs the specified value to the TO port.
1. Wai t s unt i l t h e c o n dit i o n in D I / D O c o n di t i o na l
expression are met.
2. Waits until positioning on the robot axes is complete
(within the tolerance range).
Coordinate control
Pulse string
driver
Language
CHANGE
HAND
RIGHTY /
LEFTY
Robot
controller
SHIFT
Function
Switches the hand of the main robot.
Defines the hand of the main robot.
Selects whether the main robot will be “right-handed”
or “left-handed” when moving to a point specified on a
Cartesian coordinate system.
Sets the shift coordinates for the main robot by using the
shift data specified by a shift variable.
Condition change
iVY
Option
Language
ACCEL
ARCH
ASPEED
AXWGHT
DECEL
ORGORD
OUTPOS
PDEF
SPEED
TOLE
WEIGHT
408
Language
ONLINE /
OFFLINE
SEND
Function
Chang e s c o mmuni c at i o n m o de and init ialize t he
communication port.
Sends the read file data into a write file.
Screen control
Language
PRINT
Function
Displays the value of specified variable on the MPB/RPB screen.
Key control
Language
INPUT
Function
Assigns a value to the variable specified from the MPB/RPB.
Procedure
Language
Function
Calls up sub-procedures defi ned by the SUB and END
SUB statements.
Terminates the sub-procedure defi ned by the SUB and
EXIT SUB
END SUB statements.
Does not permit variables declared with a program
written outside a subprocedure (SUB to END SUB) to be
SHARED
passed on as dummy arguments, but allows them to be
referred to with a sub-procedure.
SUB to END SUB Defines a sub-procedure.
CALL
Task control
Language
CHGPRI
CUT
EXIT TASK
RESTART
START
SUSPEND
Function
Changes the priority of the specified task.
Terminates a task currently being executed or temporarily
stopped.
Terminates its own task currently being executed.
Restarts a task that is temporarily stopped.
Sets the task number and priority of the specified task
and starts that task.
Temporarily stops another task being executed.
Error control
I/O control
Language
DELAY
DO
Communication control
Function
Changes the acceleration coefficient parameter of the main group.
Changes the arch position parameter of the main group.
Changes the automatic movement speed of he main group.
Changes the axis tip weight parameter of the main group.
Changes the deceleration rate parameter of the main group.
Sets the axis sequence parameter to perform return-toorigin and absolute search in the main group.
Changes the OUT position parameter of the main group.
Defines the pallet used to execute a pallet movement command.
Changes the program speed for the main group.
Changes the tolerance parameter of the main group.
Changes the tip weight parameter of the main robot.
Language
ON ERROR
GOTO
RESUME
ERL
ERR
Function
If an error occurs during program execution, this command
allows the program to jump to the error processing routine
specified by the label without stopping the program, or
stops the program and displays the error message.
Resumes the program execution after recovery from an
error. This command is used in the error processing routine.
Gives the line number where an error occurred.
Gives the error code number when an error occurred.
PATH control
Language
PATH
PATH END
PATH SET
PATH START
Function
Sets the PATH motion on the main robot axis.
Terminates the path setting for PATH motion.
Starts the path setting for PATH motion.
Starts the PATH motion.
Torque control
Language
Function
Executes an absolute movement command on each axis
DRIVE
(with torque limit option) in the main group.
Changes the ma ximum torque instr uc tion for the
TORQUE
specified main group axis.
Sets the current limit time-out period on the specified
TRQTIME
main group axis when using a torque limit setting option
in the DRIVE statement.
Sets the current limit time-out period on the specified
TRQTIME
main group axis when using a torque limit setting option
in the DRIVE statement.
Accessories and part options
Power connector + wiring connection lever
Safety connector
RPB terminator (dummy connector)
Attach this to the RPB connector during operation
with the programming box RPB removed.
SCARA
robots
YP-X
Pick & place
robots
L type stay (for installing front side, rear side.)
YK-XG
Standard I/O (STD.DIO) connector
Cartesian
robots
KAS-M5163-00
XY-X
Model
Note. Jointly used by RCX221 / 222.
PHASER
KX0-M5163-00
Linear motor
single-axis robots
Model
FLIP-X
KAS-M5382-00
Single-axis robots
Model
Note. Jointly used by SR1-P / SR1-X, RCX221 / 222.
Compact
single-axis robots
Standard accessories
APPLICATION TRANSERVO
RCX240
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/
Use to install the controller.
Model
KX0-M533G-00
Model
KX0-M410H-00
Absolute battery
Absolute battery basic specifications
Battery for absolute data back-up.
Item
Absolute battery installation conditions
1 to 2 batteries are required for each 2 axes.
1 battery…Data storage time of approximately
6 months (with no power applied)
2 batteries…Data storage time of
approximately 1 year (with no power applied)
Note. Absolute battery is not required for either of the 2 axes if
using incremental or semi-absolute specifications.
CLEAN
Absolute battery
Model
KAS-M53G0-10
Battery type
Lithium metallic battery
Battery capacity 3.6V/2,700mAh
Data holding time 1year Note1
(in state with no power applied)
Dimensions
ϕ17 × L53mm
Weight Note2
22g
Note1. When using 2 batteries. Note2. Weight of battery itself.
Options
L type stay (for side surface installation)
Support software for PC VIP+
VIP+ is a simple to use application software that makes tasks such as robot operation, writing-editing
programs, and point teaching easy to visually understand.
Model
VIP+ software model
KX0-M410H-10
KX0-M4966-00
Data cable (9Pin-9Pin) 5m
KAS-M538F-10
Programming box RPB / RPB-E
Environment
RPB-E
Applicable controllers
Model
Enable
–
switch
CE marking Not supported
RCX221 / RCX222 / RCX40 / RCX141 / RCX142 / RCX240
Note. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.
Note. Ethernet is the registered trademark of US XEROX Corp.
P.410
3-position
Applicable
P.413
409
Option
RPB
RPB-E
KBK-M5110-10 KBK-M5110-00
iVY
RPB
Microsoft Windows 2000/XP/
Windows Vista Note The 64 bit version is not subject to the operation warranty.
CPU
Exceeding the environment recommended by the OS being used
Memory
Exceeding the environment recommended by the OS being used
Hard disk
Vacant capacity of more than 40MB in the installation destination drive
Ethernet
Communication method RC232C,
Note. The Ethernet usable unit is required separately for the Ethemet communication.
OS
Robot
controller
This device can perform all operations such as
manual robot operation, program entry and edit,
teaching and parameter settings.
Pulse string
driver
Note. Data cable jointly used for POPCOM, VIP, VIP+.
Robot
positioner
Use to install the controller.
CONTROLLER INFORMATION
Note. Jointly used by SR1-X, RCX222.
VIP+
Compact
single-axis robots
APPLICATION TRANSERVO
Support software for PC
Applicable controllers
RCX221 RCX222 RCX141
RCX142 RCX240
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.
FLIP-X
Single-axis robots
Features
New support software VIP with improved ease of use
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
1 GUI updated for enhanced usability
6 Input the data in the work sheet form (Parameter, Point data)
It is also possible to copy and paste the data from the other spread
sheet (chart calculation software).
The user interface
has been improved
with the VIP
Windows function
kept as it is so as to
achieve more ease
of use.
7 Syntax coloring when editing the program
2 Data displayed in the tree view form
YP-X
Pick & place
robots
The data included in the controller is displayed legibly.
When reserved words (character
string reserved as the robot
language) are inputted, they are
colored automatically, making them
noted at one glance for easier
program editing.
CLEAN
8 Program execution monitor
CONTROLLER INFORMATION
The step being
performed during the
program execu ion
can be monitored.
Thus, it ispossible to
check which step is
performed without
stopping he program,
thereby debugging of
the program is made
much easier.
3 Fully equipped tool bar
Each of various functions
can be executed by simple
one click on the tool bar.
4 Expanded monitor function
Robot
positioner
Pulse string
driver
The I/O conditions
and variables in the
controller can be
monitored at real time.
In the advanced mode,
it is also possible to
attach any label (Note)
to general purpose
input/output and others.
9 List appointing (point where the system is restored)
Note. The label is stored in PC.
Robot
controller
5 Data operation using the new drag & drop function
The data can be stored easily by using the drag & drop function.
Likewise, the stored data can be restored to the controller by operating
the mouse only.
iVY
Option
Select the data to be
stored.
410
Drag the selected data
to the document window
and drop it there.
Specify the file name
and this completes the
storage procedure.
It is possible to create
the system restoration
point at any timing. By
doing so at important
points in the system
constructing process
when, for example,
some hing faulty is
found after the system
was changed, the
system can be returned
to the state before such
change easily.
1 Easy to use
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
The program, point,
parameter, shift, and hand
can be edited on the PC
alone. Equipped with the
function selector having
the command searching
function which enables to
input the robot language
with ease.
6 On-line editing
FLIP-X
2 Programming editing
By connecting PC
and controller with
communication cable, robot
operation will be available
by he on-line command.
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
Connecting a PC and the controller with a communication cable enable
to edit data from robot controllers just as with RPB / RPB-E.
3 Data check function
7 Creating point data There are three methods available for creating the point data.
CONTROLLER INFORMATION
MDI (Manual Data Input) teaching
The numeric keyboard is used to enter
position coordinate data directly.
4 Help function
Remote teaching
The robot arm is actually moved to
the target position using the keys for
point data registration.
Robot
positioner
When more information is
needed during operation,
press the [F1] or [HELP]
key, and the help screen will
appear.
CLEAN
Provided with the
equivalent data check
function to that of a robot
controller, it is possible to
correct data errors before
operation.
Pulse string
driver
Direct teaching
Robot
controller
The robot arm is manually moved to the target position with the servo
motors off for point data registration.
iVY
Environment / Ordering method
Compact
single-axis robots
APPLICATION TRANSERVO
VIP PLUS function
P412
Option
411
Compact
single-axis robots
APPLICATION TRANSERVO
Support software for PC VIP+
Environment
FLIP-X
Single-axis robots
Communication method
Microsoft Windows 2000/XP/
Windows Vista Note The 64 bit version is not subject to the operation warranty.
Exceeding the environment recommended by the OS being used
Exceeding the environment recommended by the OS being used
Vacant capacity of more than 40MB in the installation
destination drive
RC232C, Ethernet
Applicable controllers
RCX221 / RCX222 / RCX40 / RCX141 / RCX142 / RCX240
OS
CPU
Memory
Hard disk
Model
KX0-M4966-00
Note. The Ethernet usable unit is required separately for the Ethemet communication.
Note. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.
Note. Ethernet is the registered trademark of US XEROX Corp.
PHASER
Linear motor
single-axis robots
Data cables (5m)
Communication cable to connect PC and a controller.
(50)
SCARA
robots
(ϕ5.5)
YK-XG
PC
CONTROLLER
XY-X
Cartesian
robots
Data cable (9Pin-9Pin) 5m KAS-M538F-10
Note. Data cable jointly used for POPCOM, VIP, VIP+.
(50)
5000+/-50
CN1 plug
CN2 socket
Controller side
PC side
YP-X
Pick & place
robots
Data cable / converter adapter matchup table
Controller
CLEAN
CONTROLLER INFORMATION
Data cables
[9Pin-9Pin cable]
• KAS-M538F-10 (SSC-2-5L)
[9Pin-25Pin cable]
• KR7-M538F-10 (SSC-1-3L)
• KR7-M538F-30 (SSC-1-5L)
RCX221 / RCX222
RCX40
RCX141 / RCX142
RCX240
Needs no converter adapter
25Pin-9Pin converter adapter
KAX-M657E-01
Controller and data cable connection diagrams
Converter adapter
Model: KAX-M657E-01
Robot
positioner
Pulse string
driver
RCX221 / 222
RCX40
RCX141 / 142
RCX240
(9 Pin)
9 Pin
Robot
controller
iVY
Option
412
9 Pin
9 Pin
Data cables
9pin
9pin
9pin
25pin
(2)
25pin
9pin
(1)
25 Pin 25 Pin
Controller
Data cable (1) (current product)
Data cable (2) (older product)
9 Pin
PC
Length
Cable model
5m
KAS-M538F-10
3m
KR7-M538F-10
5m
KR7-M538F-30
RPB/RPB-E
RCX221
RCX222 RCX240
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.
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
YK-XG
SCARA
robots
YP-X
Pick & place
robots
RPB
FLIP-X
Name
Single-axis robots
RPB / RPB-E basic specifications
Compact
single-axis robots
Applicable controllers
Customers using the RCX141 / RCX142
controllers should use the connector
converter cable (See P427.)
APPLICATION TRANSERVO
Programming box
RPB-E
External view
RCX221 / RCX222 / RCX240
KBK-M5110-10
KBK-M5110-00
LCD (40characters 8 lines)
Normally closed contact point (with lock function)
–
3-position
Not supported
Applicable
0°C to 40°C
35% to 85%RH (non-condensing)
W180 × H250 × D50mm (Strap holder, emergency stop button not included.)
600g
5m (Standard), 12m (Options)
RPB-E Rear side
3-position enable
switch (only on RPB-E)
Display (screen)
Liquid crystal display
(LCD) shows different
types of information with
8 lines × 40 characters.
Contrast is adjustable.
Sheet keys
Emergency stop button
Pressing this button during
robot operation sets the
robot to emergency stop.
These are B contact type
switches.
This switch is usable as part
of an external (remote)
safety circuit.
Pressing this switch inwards or
releasing it cuts off the
(RPB/robot) circuit. However
that circuit is operable when
this switch is in middle position.
This enable switch is usually
operable in service mode. It
functions as part of an
external safety circuit so that
releasing the enable switch
or pressing it inwards set the
robot to emergency stop.
Robot
positioner
Pulse string
driver
These are key switches
for operating the robot or
entering programs, etc.
These are broadly
grouped into 3 blocks
consisting of function
keys, control keys, and
data keys.
CONTROLLER INFORMATION
Part names and function
CLEAN
Applicable controllers
Model
Display
Emergency stop button
Enable switch
CE marking
Operating temperature
Operating humidity
Dimensions
Weight
Cable length
RPB connector
Robot
controller
This is a connector for
connecting the RPB to
the controller.
iVY
Option
413
NETWORK
Compact
single-axis robots
APPLICATION TRANSERVO
Field network system with minimal wiring
Applicable controllers
RCX221 RCX222 RCX240
Network modules CC-Link
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Option unit with networking functions that can
be incorporated in YAMAHA robot controllers,
RCX221 / RCX222 / RCX240.
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 efficient wiring work,
reduction of installation and maintenance costs, etc.
96 general use inputs/outputs, 16 dedicated
inputs/outputs (4 nodes occupied).
XY-X
Cartesian
robots
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.
Basic specifications for network modules CC-Link
tem
Applicable controllers
Version supporting CC-Link
Remote station type
Number of occupied stations
Station number setting
Communication speed setting
No. of CC-Link I/O Note1
Parallel external I/O Note2
Shortest distance
between nodes Note3
Overall length Note3
Monitor LED
Network modules CC-Link
RCX221 / RCX222 / RCX240
Ver. 1.10
Remote device node
Fixed to 4 stations
1 to 61 (set from the Rotary swich on board)
10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps (set from the Rotary swich on board)
General input 96 points, General output 96 points,
Dedicated input 16 points, Dedicated output16 points
A function that simulates serial communication enables individual control of the
various points from a master sequencer, regardless of the robot program.
0.2 m or more
100m/10Mbps, 150m/5Mbps, 200m/2 5Mbps, 600m/625Kbps, 1200m/156Kbps
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.
Network modules DeviceNet
SCARA
robots
YK-XG
Option unit with networking functions that can
be incorporated in YAMAHA robot controllers,
RCX221 / RCX222 / RC240.
YP-X
Pick & place
robots
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 contr butes to efficient wiring
work, reduction of installation and maintenance
costs, etc.
CLEAN
CONTROLLER INFORMATION
Capable of simulating serial operation of
parallel I/O. With this function set properly, it is
poss ble 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.
Basic specifications for network modules DeviceNet
Item
Applicable controllers
Applicable DeviceNet specifications
Device Profile Name
Number of occupied CH Note1
MAC ID setting
Transmission speed setting
DeviceNet
I/O Note2
Normal
Compact
Parallel external I/O Note3
Network modules DeviceNet
RCX221 / RCX222 / RCX240
Volume 1 Release2 0 / Volume 2 Release2.0
Generic Device (device number 0)
Normal: Input/output 24ch each, Compact: Input/output 2ch each
0 to 63
500Kbps, 250Kbps, 125Kbps (set using DIP switch on board)
General input 96 points, General output 96 points, Dedicated input 16 points,
Dedicated output 16 points
General input 16 points, General output 16 points, Dedicated input 16 points,
Dedicated output 16 points
The master module and up to four ports can be controlled regardless of the
robot program by using the pseudoserialization function.
100m/500Kbps, 250m/250Kbps, 500m/125Kbps
Overall length Note
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)
Network
length
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 fine cable is used or when thick and fine cables are mixed in use.
Network modules Profibus
Option unit used to connect a YAMAHA robot
controllers RCX221 / RCX222 / RCX240 to Profibus.
Optimum for high speed data communication
and complicated communication processing.
Communication is made available among
devices of multiple number of manufacturers.
Robot
positioner
Pulse string
driver
Capable of simulating serial operation of
parallel I/O. With this function set properly, it is
poss ble 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 Profibus system.
Basic specifications for network modules Profibus
Item
Applicable controllers
Communication profile
Number of occupied nodes
Setting of station address
Network modules Profibus
RCX221 / RCX222 / RCX240
Profibus-DP slave
1 node
1 to 99 (set using Rotary switch on board)
6Kbps, 19.2Kbps, 93.75Kbps, 187.5Kbps, 500Kbps, 1.5Mbps, 3Mbps,
Setting of communication speed 9
6Mbps, 12Mbps (automatic recognition)
General input 96 points, General output 96 points, Dedicated intput 16 points,
Profibus I/O Note1
Dedicated output 16 points
The master module and up to four ports can be controlled regardless of the
Note2
Parallel external I/O
robot program by using the pseudoserialization function.
100m/3M 6M 12Mbps, 200m/1.5Mbps, 400m/500Kbps, 1000m/187.5Kbps,
Overall length
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.)
Robot
controller
Network modules Ethernet
iVY
Option unit used to connect a YAMAHA robot controller
to Ethernet, which can be incorporated in YAMAHA robot
controllers, RCX221 / RCX222 / RCX240. 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.
Option
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
first-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.
414
Basic specifications for network modules Ethernet
Item
Applicable controllers
Network specification
Connector specification
Baud rate
Communication mode
Network modules Ethernet
RCX221 / RCX222 / RCX240
As specified for Ethernet (IEEE802.3)
RJ-45 connector (8-pole modular connector) 1 port
10Mbps (10BASE-T)
Half Duplex (Half-duplex)
Application layer: TELNET / Transport layer: TCP / IP
Network protocol
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