RCX340 Catalog (2.3MB)

RCX340 H1-4
External view
New Product information
355
225
213
195
10.5
130
22.5
155
5.5
155
Ordering method
RCX340
Controller
No. of
controllable
axes
4 : 4 axes
3 : 3 axes
2 : 2 axes
Safety
standards
Controller option A
(OP. A)
N : Normal
E : CE
No entry Non-selection
NS : STD.DIO(NPN) 1 4
NE : EXP.DIO(NPN) 2 4
PS : STD.DIO(PNP) 1 4
PE : EXP.DIO(PNP) 2 4
GR: Gripper 8
TR : Tracking 5 9
YM : YC-Link/E master 6 11
YS : YC-Link/E slave 6
EP : Ethernet/IP 7
PB : Proﬁbus 7 10
CC : CC-Link 7
DN : DeviceNet 7
Controller option C
(OP. C)
Controller option B
(OP. B)
No entry Non-selection
--- 3
NE : EXP.DIO(NPN) 2 4
--- 3
PE : EXP.DIO(PNP) 2 4
GR: Gripper 8
TR : Tracking 5 9
YM : YC-Link/E master 6
YS : YC-Link/E slave 6
EP : Ethernet/IP 7
PB : Proﬁbus 7 10
CC : CC-Link 7
DN : DeviceNet 7
11
No entry Non-selection
--- 3
NE : EXP.DIO(NPN) 2 4
--- 3
PE : EXP.DIO(PNP) 2 4
GR: Gripper 8
TR : Tracking 5 9
YM : YC-Link/E master 6
YS : YC-Link/E slave 6
EP : Ethernet/IP 7
PB : Proﬁbus 7 10
CC : CC-Link 7
DN : DeviceNet 7
Please select desired selection items from the upper portion of the controller option A in order.
[STD.DIO] Parallel I/O board standard specifications
Dedicated input 8 points, dedicated output 8 points,
general-purpose input 16 points, general-purpose output
8 points
[EXP.DIO] Parallel I/O board expansion specifications
General-purpose input 24 points, general-purpose
output 16 points
Only one DIO STD specification board can be selected.
Therefore, this board cannot be selected in OP.B to OP.D.
Be careful not to mix NPN and PNP of DIO.
Only one tracking board can be selected.
Controller option D
(OP. D)
No entry Non-selection
--- 3
NE : EXP.DIO(NPN) 2 4
--- 3
PE : EXP.DIO(PNP) 2 4
GR: Gripper 8
TR : Tracking 5 9
YM : YC-Link/E master 6
YS : YC-Link/E slave 6
EP : Ethernet/IP 7
PB : Proﬁbus 7 10
CC : CC-Link 7
DN : DeviceNet 7
11
Controller option E
(OP. E)
Absolute
battery
No entry Non-selection
VY: iVY without light 9
LC: iVY with light 9
4 : 4 pcs.
3 : 3 pcs.
2 : 2 pcs.
1 : 1 pc.
0 : 0 pc.
11
Controller options
Select only one master or slave for YC-Link/E.
Be careful not to mix field buses (CC/DN/PB/EP).
Gripper : Planned to be available in July, 2014.
Tracking and iVY : Planned to be available in August, 2014.
1
OPTION
1
3
2
4
OP.A
Profibus : Planned to be available in September, 2014.
YC-Link/E : Planned to be available in July, 2014.
3
PWR
OP.B
PB
COM
ROB I/O
1-2
2
4
SAFETY
ROB I/O
3-4
AC IN
OP.C
(PE) M1
BAT1
M1
BAT2
M2
BAT3
M3
BAT4
OP.D
M4
EN
USB
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054, Japan
Tel 81-53-460-6103 Fax 81-53-460-6811
Specifications and appearance are subject to change without prior notice.
201406-AE
http://global.yamaha-motor.com/business/robot/
URL
E-mail [email protected]
RCX340 P2-3
YA M A H A l a u n c h e s
n e w c o n t r o l l e r R C X 3 40
M o r e a d v a n c e d YA M A H A’ s
next generation controller
13 years have passed since RCX40 that is also called “RCX controller zero (0) generation”
was sold in 2001.
RCX controller 3rd generation model “RCX340” is now put on the market by
reviewing all functions to further improve the functions of the
RCX controller.
Communication among controllers
YC-Link / E
F e a t u re
F e a t u re
1
Advanced functionality
allowing high-level equipment
construction
Functionality im pr ovem ents
Multiple robots (up to 4 robots or 16 axes) can be operated
simultaneously through the communication among robots,
“YC-LINK/E”.
Multiple robots can be controlled only with one master controller.
Flexible axis configuration supports a wide variety of
applications.
Smooth movement is achieved by greatly improving the
motion functions.
More intuitive arch motion designation is possible.
2
2
Enhanced basic
performance
Bas i c s pec i fi c ati on i m pr ov em ents
User memory capacity is increased.
( M a x . 3 0 , 0 0 0 p o i n t s / S e q u e n c e p ro g r a m
capacity is increased.)
Program processing speed is increased by
improving the CP performance.
Support tools with improved visibility and operability
-New programming box “PBX”
(Color display and memory save function are added.)
-New support software “RCX-Studio”
(Programming simulator and debugging
environment are enhanced.)
F e a t u re
3
More fulfilled expandability
C onnec ti on f u n c t i o n i mp ro v e me n t s
RS-232C and Ether net por ts are provided as
standard equipment.
Various field buses are supported.
(CC-Link, DeviceNet, EtherNet/IP, PROFIBUS)
Multiple robots are controlled using the YC-Link/E.
More flexible robot configuration can be constructed
by connecting to other company’s servo amplifiers.
3
RCX340 4-5
Functionality improvements
More intuitive arch motion designation is possible.
Advanced functionality allowing
high-level equipment construction
As the arch motion route designation method is changed, the designation method is simplified and more intuitive designation
is possible.
NEW
Conventional method
Multiple robots can be operated simultaneously through the high-speed communication.
Use of link among controllers makes it possible to store programs into only one controller.
Newly developed algorithms achieve reduction of the positioning time and improvement of the tracking accuracy.
Parameters need to be specified for all axes.
Routes are difficult to adjust.
Specified using
RCX340
Parameters need to be specified for all axes.
Routes are difficult to adjust.
XYR parameters
2nd operation (X&Y)
Specified using
Z parameters
2nd operation (X&Y)
3rd operation (Z)
1st operation (Z)
Multiple robots can be controlled only with one master controller.
The RCX340 controller allows high-speed communication among the controllers. As the master controller sends operation commands to
each slave controller, programs and points can be controlled only with the host master controller.
Additionally, as the RCX340 controller flexibly supports multi tasks, the data exchanging using the PLC can be simplified. Simultaneous
start and arrival of each robot can also be controlled freely.
Complicated and precise robot system using many axes can be constructed more simply at low costs.
NEW
Conventional
method
Master controls
all programs and
settings.
One PLC controls all controllers.
Program 1
Program 2
Program 3
Obstacle
3rd operation (Z)
Obstacle
Specified using Z parameters
Connectable
with LAN cables.
YC-Link/E
Master
Controllers without
setting programs.
Slave
Slave
Slave
Flexible axis configuration supports a wide variety of applications.
Example : Interpolation operation in dual lane
The interpolation operation in the dual lane is possible by setting the multi-coordinate axes and making the CP
commands applicable to the axis designation. This greatly shortens the cycle time of the robot with multiple axes
having the same coordinate attribute.
Example : 4-axis dispenser robot A1-X/A2-Z/A3-Y/A4-Y
NEW
Conventional method
RCX340
Program 4
A4 sealing starts after completion
of A3/A4 exchanging.
Program is set to each controller. The robots are operated while
the programs are synchronized with each other through I/O.
Sealing
Specify
A1/A2/A3
to start
the sealing.
A1-X
A3-Y
A3-Y
As a new servo motion engine is incorporated into the controller, various operations can be linked. Newly developed algorithms achieve
reduction of the positioning time and improvement of the tracking accuracy.
NEW
RCX340
Example : PTP
CP
Improvement of operation speed
MOVE
P,P1,CONT
MOVE P,P4
Link
Link
When performing the continuous operation at a
constant speed, such as sealing, the conventional
PAT H i s u s e d. W h e n g i v i n g p r i o r i t y to t h e
movement time, the liked PTP is used. An optimal
operation suitable for the application can be
selected.
PTP1
CP
MOVE
P,P1,
CONT
NEW
MOVE
P,P2,
PTP1
CTMOVE
Operation starts without stopping.
Linked PTP operation
A4-Y
As A4 also becomes the designation
axis, it cannot perform different
operation and waits at the same
target position.
A3 moves to the workpiece
setting position in task 2.
A4 moves to the sealing
position in task 2.
Operation is impossible during
A3 sealing.
A3/A4 exchanging starts after
completion of sealing.
Only the target axis is specified for the sealing.
Other axes can execute different operations in parallel in
other tasks.
Visualization using the servo analysis functions
and high response using the functions increase
the followingness.
This improves the tracking
accuracy when compared to
conventional models.
NEW
RCX240
RCX340
PTP
Link
PTP2
Link
4
Interpolation operation to the final target position
at specified speed
Linked PTP operation
Next operation starts during deceleration.
Conveyor tracking
A3-Y
Link
TIME
Example : PTP
A4-Y
Tracking accuracy is improved.
CP
Link
CP
NEW
A4-Y
PATH
Next operation starts after
completion of deceleration.
PTP2
MOVE C, P2,P3,CONT
A3-Y
Proper use according to applications
Use of linked PTP makes it possible to link all
operations as much as possible.
As operations with different
acceleration/deceleration time are linked at the
maximum level by giving priority to the operation
time, the movement time can be greatly
shortened.
Conventional
method
A1-X
A4-Y
Smooth movement is achieved by greatly improving the motion functions.
Expansion of CONT option functions
A2-Z
A1-X
A2-Z
A1-X
A4 sealing starts immediately after
completion of movement to the
A1/A2 sealing position.
A2-Z
A2-Z
The speed is made faster by liking dif ferent
operations, such as PTP, interpolation operation,
and conveyor tracking.
Specified using Z parameters
RCX340
Up to 4 robots or 16 axes can be controlled only with one master
RCX340.
Simultaneous start and arrival of each robot can also be controlled
freely.
PLC
1st operation (Z)
Movement time is shortened!
15 mm/sec.
500 mm/sec.
TIME
PTP1/PTP2 operation patterns are calculated as
the linking is considered as preconditions.
Greater effects are obtained as operations are
linked at the maximum level regardless of kinds
of operations to be linked.
PTP
PTP
15 mm/sec. 500 mm/sec.
Tracking deviation is reduced greatly.
PTP operation to make the movement time to
the final target position shortest
5
RCX340 4-5
Basic specification improvements
Connection function improvements
Enhanced basic performance
More fulfilled expandability
Functions, such as robot languages, multi tasks, sequence functions, communications,
RS-232C and Ethernet ports are provided as standard equipment.
In addition to CC-Link and DeviceNet, a wide variety of high-speed and large capacity field
networks, such as EtherNet/IP are supported as options.
It is also easy to link to other company’s controller or other company’s vision system.
Thus, the RCX340 is called “exactly connectable controller”.
and field buses are improved to make them easier to use.
Motion optimization
Compact design
To bring out the robot performance at its
maximum level, the motion optimization
corresponding to the operation pattern is
further strengthened.
Robot operations with excellent quality,
such as shortening of the operation time or
suppression of vibrations at stop are
achieved.
Optimal acceleration/deceleration motion
Acceleration/deceleration motion that operates
at a high speed while suppressing the vibration
is generated.
Data table is added.
The outside dimensions are approx. 355
mm (W) x 195 mm (H) x 130 mm (D). The
volume ratio is reduced approx. 85% when
compared to the conventional 4-axis
controller to achieve the compact design
and make the installation inside the control
panel easy.
RCX340
RCX240
Improvement of cycle time
The speed is made faster with the YK-XG series.
Downsized approx. 15%
when compared to RCX240.
Example : YK400XG
Up to four RCX340 controllers
(maximum number of controllable axes is 16) can be connected.
Communication
among controllers
YC-Link / E
More flexible robot configuration
A wide variety of field buses are supported.
/Up to four controllers are connected to perform
the centralized control of multiple robots.
RS-232C and Ethernet ports are provided as standard equipment.
In addition, fulfilled field buses, such as CC-Link, EtherNet/IP,
DeviceNet, and Profibus *1 are supported to allow connection and
control of a wide variety of devices. For 5 axes or more, up to four
RCX340 controllers can be connected using YC-Link/E to perform
the centralized control of multiple robots.
*1. Planned to be available in September, 2014.
Standard cycle time operation 0.49 sec. 0.45 sec.
Movement time (sec.)
Connecting to other company’s servo amplifier
allows more flexible robot configuration.
As other company’s servo amplifier is used instead of the RCX340
controller, it can be operated as a robot axis.
Additionally, the conventional models have the restrictions on the
robot configuration as follows. Axis allocation needs to be selected
from the fixed patterns or XYZR coordinate attribute is fixed inside
the controller.
However, the RCX340 controller allows you to feely set the
coordinate attribute so as to support various robot configurations.
*1. For further information on applicable modes, contact YAMAHA.
RCX340
RCX240
General-purpose*1.
servo amplifier
User memory capacity is increased.
The number of points is greatly increased.
800
30,000 points
3-times
increase!
600
400
10,000 points
200
RCX240
Centralized
program control
Standard equipment,
Ethernet
Up to four RCX340 controllers (16 axes) can be connected.
0
RCX340
Total capacity of programs and points
0
30
60
90
120
150
180
Arm rotation angle (°)
RCX240
364 KB
General-purpose motor
RCX340
YC-Link / E
2.1MB
Easier to use and quicker setup when compared to YAMAHA robots/Effective maintenance
Program input support function
Candidates after command
and how to use are displayed.
Various editors
Power capacity
2500VA
Dimensions
W355 x H195 x D130 mm (main unit only)
Weight
6.5kg (main unit only)
Power supply voltage Single-phase 200 to 230V AC ±10%, 50/60Hz
No. of controllable
Max. 4 axes (simultaneous control: 6 axes)
axes
This can be expanded to up to 16 axes (4 robots) using the controller link.
Drive method
AC full digital servo
Joint coordinates, Cartesian coordinates
Position display units
Pulses, mm (1/1000 steps), degree (1/1000 steps)
Speed setting
Program language
1 to 100% (1% steps, This setting can be made even by programming.)
Automatic acceleration setting by robot model and tip weight parameter
Setting by acceleration coefficient and deceleration rate parameters (1% steps)
* Can be changed by programming.
Zone control
(Only the SCARA robot can set an optimum speed corresponding to the arm position.)
YAMAHA BASIC II conforming to JIS B8439 (SLIM language)
Multi-task
Max. 16 tasks
Sequence program
1 program
Memory capacity
This programming box supports three languages, “Japanese”, “English”, and “Chinese”. Use of color
display greatly improves the visibility.
Function addition and edit operations become easy to allow even a novice operator with less
programming skill to operate the programming box.
A function to save the controller data into a USB memory is also incorporated into this programming box.
Programming
New programming box PBX
2.1MB (Total of program and point data)
(Available capacity for program when the maximum number of points is used: 300KB)
Program
100 programs (maximum number of programs)
9999 lines (maximum number of lines per program)
Point
30000 points (maximum number of points)
Point teaching method MDI (coordinate data input), direct teaching,
teaching playback, offline teaching (data input from external unit)
System backup
Lithium battery (service life about 4 years at 0 to 40°C)
(Internal memory backup)
Options
PTP motion (point to point), ARCH motion, linear interpolation, circular interpolation
Coordinate systems
/deceleration setting
Changing various monitor
panel layouts and floating
display are also possible.
Transistor output (PNP open collector)
Origin sensor input
Connectable to 24V DC B-contact (normally closed) sensor
External communications
RS-232C: 1CH (D-SUB 9-pin (female))
Ethernet: 1CH (In conformity with IEEE802.3u/IEEE802.3)
100Mbps/10Mbps (100BASE-TX/10BASE-T)
Applicable to Auto Negotiation
USB: 1CH (B type)
RS-422: 1CH (Dedicated to PBX)
Operating temperature
0 to 40°C
Storage temperature
-10 to 65°C
Operating humidity
35 to 85% RH (no condensation)
Noise immunity
Conforms to IEC61000-4-4 Level 3
Protective structure
IP10
4 slots
Option slot
Standard
Dedicated input 8 points, dedicated output 9 points
Parallel
I/O board specifications General-purpose input 16 points, general-purpose output 8 points
(Max. 1 board when NPN/PNP specifications are selected.)
Expansion
General-purpose input 24 points, general-purpose output 16 points
specifications (Max. 4 boards when NPN/PNP specifications are selected.)
CC-Link board
4 stations occupied, Ver. 2.0 Dedicated input 16 points, dedicated output 16 points
General-purpose input 96 points,
DeviceNet board
general-purpose output 96 points
EtherNet/IP board
Option boards
Control method
Emergency stop ready input, 2 systemsAuto mode input, 2 systems
(Enabled only when the global specifications are used.)
Emergency stop contact output, 2 systems
Enable contact output, 2 systems (Enabled only when the PBX-E is used.)
Motor power ready output, 2 systems
Brake output
Position detection method Resolver or magnetic linear scale
Acceleration
Debugging information
on multi tasks are displayed
at the same time.
Input
Output
General specifications
List of operation
items and data
Program debugging functions are
enhanced to support multi tasks.
Axis control
Easy to use operation system
SAFETY
YAMAHA single-axis robots, linear single-axis robots,Cartesian robots,
SCARA robots (except for YK120X and YK150X), P&P robots
Connectedmotor capacity 1600W or less (in total for 4 axes)
Applicable robots
External I/O
T h e p ro g r a m d e b u g g i n g f u n c t i o n s a re e n h a n c e d t o s u p p o r t m u l t i t a s k s . T h e q u i c k s e t u p i s p o s s i b l e w i t h
easy-to-use operability and program input support function.
Basic specifications
Basic specifications
New support software “RCX-Studio” with improved visibility and operability
6
Centralized control of multiple robots
Programming box
PBX, PBX-E
Support software for personal computer RCX Studio
Absolute battery
3.6V 2750mAH/axis Backup retention time: About 1 year
7

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