Specifications

ManualsBrandsYamaha ManualsComputer HardwareERCX

030

Controllers

Product Lineup / Selection Guide

CONTROLLERS

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 difﬁ cult 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 ﬁ

e 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 ﬂ uctuations 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 )

This is why the YAMAHA controllers is terriﬁ c!

Robot positioner

Robot driver

Robot controllers

TS-S

ERCX

RCX221

RCX240

RCX222

DRCX

ERCD

SR1-PSR1-X

RDP RDXTS-P TS-X

1axis

2 axes

3 / 4 axes 5 to 8 axes

YC-LINK couples single-axis controllers to a 4-axis controller

Summary of content (76 pages)

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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.
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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 MOVA 1, 100 DO 1, 1 WAIT 2, 1 YAMAHA 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.
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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.
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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.
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Product Lineup / Selection Guide 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.
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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.
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Product Lineup / Selection Guide 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.
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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.
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Product Lineup / Selection Guide 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.
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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.
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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+ ···········
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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.
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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
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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
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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 2
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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.
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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
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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.
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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.
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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.
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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 T
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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.
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Accessories and part options Power connector Power connector EXT connector For braking power and safety circuit connections.
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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.
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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.
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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.
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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.
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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.
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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.
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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
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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.
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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.
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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.
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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
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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 TOF
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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.
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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.
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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-
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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.
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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)
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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.
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[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.
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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.
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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.
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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.
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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.
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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.
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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
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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.
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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 les
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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
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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.
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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.
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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.
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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.
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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.
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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).
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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.
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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, Controllab
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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
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Standard I/O [connector name: STD.
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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.
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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.
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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.
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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.
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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)
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Power capacity The required power supply capacity and heat emission will vary depending on the robot type and number of axes.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.