rcx320两轴控制器rcx320_e_200225英文版_W

1、Robot controller1 to 2 axisRCX3 seriesRCX320 Robot controller with advanced functionsA 2-axis model of the RCX340 controller has been launched finally.The high-level equipment construction such as simultaneous control of multiple robots is achieved by the advanced functionality and flexible expandab

2、ility.9Programming boxPBX/PBX-EP.575Support software for PCRCX-Studio ProRCX320RCX-Studio Pro P.571 Ordering methodRCX320 Controller Note 1. STD.DIO Parallel I/O board standard specifications Dedicated input 8 points, dedicated output 9 points, general-purpose input 16 points, general-purpose output

3、 8 pointsDo not mix with field bus (CC/DN/PB/EP/PT/ES).Note 2. EXP.DIO Parallel I/O board expansion specifications General-purpose input 24 points, general-purpose output 16 pointsNote 3. Only one DIO STD specification board can be selected. Therefore, this board cannot be selected in OP.B to OP.D.N

4、ote 4. Select either NPN or PNP in DIO.Note 5. Only one tracking board can be selected.Note 6. Select only one master or slave board for YC-Link/E. For details, refer to “YC-Link/E ordering explanation” below.Additionally, when ordering YC-Link/E, please specify what robot is connected to what numbe

5、r controller.Note 7. Select only one fieldbus in a controller (CC/DN/PB/ EP/PT/ES).Note 8. The regenerative unit (option) is required when oper- ating a model designated by YAMAHA or a load with a large inertia. YC-Link/E explanationUsing the inter-controller communication “YC-Link/E”, the RCX320 an

6、d RCX340 are connected and up to 14 axes (4 robots) can be expanded. The YC-Link/E can be executed by the program of only the master controller. This contributes to great reduction of the system startup time.Master unitSlave unitSlave unitSlave unitController 1 Master YM1Controller 2Slave YS2Control

7、ler 3Slave YS3Controller 4Slave YS4 The “RCX320” and “RCX340” controllers support both the master and slave specifications. Up to four “RCX320” and “RCX340” controllers can be connected. The network board is inserted into only the master controller (YM1).544iVY2Electric gripperLinear conveyor module

8、sLCM100Motor-less single axis actuatorRobonityCompactLinear motorCartesian robotsXY-XSCARArobotsYK-XPick & place robotsYP-Xsingle-axis robots Single-axis robots singl -axis robotsArticulated robotsYARobotPulse stringRobotTRANSERVOFLIP-XPHASERCLEANCONTROLLER INFORMATIONOptionpositionerdrivercontrolle

9、rExample of YC-Link/E connectionsPlease select desired selection items from the upper portion of the controller option A in order.Controller option board positionOP.AOP.BAbsolute battery2: 2 pcs.1: 1 pc.0: 0 pc.Vision SystemNo entry: Non-selectionVY: iVY2 without lightVL: iVY2 with lightController o

10、ption B (OP.B)No entry: Non-selection- Note 3NE : EXP.DIO(NPN) Note 2 Note 4- Note 3PE : EXP.DIO(PNP) Note 2 Note 4GR: GripperTR : Tracking Note 5YM1: YC-Link/E master Note 6YS2 to 4:YC-Link/E slave Note 6EP : EtherNet/IPTM Note 7PB : PROFIBUS Note 7CC: CC-Link Note 7DN : DeviceNetTM Note 7PT : PROF

11、INET Note 7ES : EtherCAT Note 7Controller option A (OP.A)No entry: Non-selectionNS : STD.DIO(NPN) Note 1 Note 4NE : EXP.DIO(NPN) Note 2 Note 4PS : STD.DIO(PNP) Note 1 Note 4PE : EXP.DIO(PNP) Note 2 Note 4GR: GripperTR : Tracking Note 5YM1: YC-Link/E master Note 6YS2 to 4:YC-Link/E slave Note 6EP : E

12、therNet/IPTM Note 7PB : PROFIBUS Note 7CC: CC-Link Note 7DN : DeviceNetTM Note 7PT : PROFINET Note 7ES : EtherCAT Note 7Regenerative unit Note8No entry: NoneR: YHX-RUSafety standardsN: NormalE: CENo. of controllable axes2: 2 axes1: 1 axesMain functionsP.6RCX320Instruction manuals can be downloaded f

13、rom our company website. Please use the following for more detailed information. /business/robot/545iVY2Electric gripperLinear conveyor modulesLCM100Motor-less single axis actuatorRobonityCompactLinear motorCartesian robotsXY-XSCARArobotsYK-XPick & place robotsYP-Xsingl

14、e-axis robots Single-axis robots singl -axis robotsRobotPulse stringRobotArticulated robotsYATRANSERVOFLIP-XPHASERCLEANCONTROLLER INFORMATIONOptionpositionerdrivercontrollerCE markingControllable robot Basic specificationsItemRCX320Basic specificationsApplicable robotsYAMAHA single-axis robots, line

15、ar single-axis robots, P&P robotsConnected motor capacity1200W or less (in total for 2 axes)Power capacity2400VADimensionsW213 H195 D130mm (main unit only)Weight3.6kg (main unit only)Input power supplyControl power supplySingle-phase 200 to 230V AC +/-10% 50/60HzMain power supplySingle-phase 200 to

16、230V AC +/-10% 50/60HzAxis controlNo. of controllable axesMax. 2 axesUp to four units of the RCX320 and RCX340 can be connected using the inter-controller communication “YC-Link/E”.Drive methodAC full digital servoPosition detection methodResolver or magnetic linear scaleControl methodPTP motion (po

17、int to point), ARCH motion, linear interpolation, circular interpolationCoordinate systemsJoint coordinates, Cartesian coordinatesPosition display unitsPulses, mm (1/1000 steps), degree (1/1000 steps)Speed setting0.01 to 100% (below 1% can be changed by programming)Acceleration/deceleration settingO

18、ptimized by robot model and tip weight parameterSetting by acceleration coefficient and deceleration rate parameters (1% steps)* Can be changed by programming.Zone control (For SCARA robots only, optimized according to arm posture)ProgrammingProgram languageYAMAHA BASIC II conforming to JIS B8439 (S

19、LIM language)Multi-taskMax. 16 tasksSequence program1 programMemory capacity2.1MB (Total of program and point data)(Available capacity for program when the maximum number of points is used: 300KB)Program100 programs (maximum number of programs) 9999 lines (maximum number of lines per program)Point30

20、000 points (maximum number of points)Point teaching methodMDI (coordinate data input), direct teaching, teaching playback, offline teaching (data input from external unit)System backup(Internal memory backup)Lithium battery (service life about 4 years at 0 to 40C)Internal flash memory512 KBExternal

21、I/OSAFETYInputEmergency stop ready input, 2 systemsAuto mode input, 2 systems (Enabled only when the global specifications are used.)OutputEmergency stop contact output, 2 systemsEnable contact output, 2 systems (Enabled only when the PBX-E is used.) Motor power ready output, 2 systemsBrake outputTr

22、ansistor output (PNP open collector)Origin sensor inputConnectable to 24V DC B-contact (normally closed) sensorExternal communicationsRS-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 RS-422: 1

23、CH (Dedicated to PBX)General specificationsOperating temperature0 to 40CStorage temperature-10 to 65COperating humidity35 to 85% RH (no condensation)AtmosphereIndoor location not exposed to direct sunlight. *No corrosive , flammable gases, oil mist, or dust particlesAnti-vibrationAll XYZ directions

24、10 to 57Hz unidirectional amplitude 0.075mm 57 to 150Hz 9.8m/s2Protective functionsPosition detection error, power module error, temperature error, overload, overvoltage, low voltage, excessive position deviation, overcurrent, motor current errorNoise immunityConforms to IEC61000-4-4 Level 3Protecti

25、ve structureIP20Appliance classesClass IOptionsOption boardParallel I/O boardStandard specificationsDedicated input 8 points, dedicated output 9 pointsGeneral-purpose input 16 points, general-purpose output 8 points NPN/PNP specifications are selected. (maximum 1 board)Expansion specificationsGenera

26、l-purpose input 24 points, general-purpose output 16 points NPN/PNP specifications are selected. (maximum 4 boards)CC-Link board Ver1.1/2.0Remote I/ODedicated input/output: 16 points each General-purpose input/output: 96 points eachRemote registerInput/output: 16 words eachDeviceNetTM boardEtherNet/

27、IPTM boardPROFIBUS boardPROFINET boardEtherCAT boardYC-Link/E board (master/slave)Communication cycle: 1 ms, control cycle: minimum 1 ms / maximum 8 ms, maximum number of robot units: four unitsMaximum number of control axes: total 14 axes (including two master controller axes), maximum 12 axes for

28、slaves onlyYRG (gripper) boardPosition detection method: optical rotary encoder, minimum setting distance: 0.01 mmSpeed setting: 20 to 100% relative tothe maximum parameter speed, number of connected gripper units: maximum two units Drive power: DC 24V +/-10%, 1.0A MaxTracking boardNumber of connect

29、ed encoders: maximum twounits, supported encoders: 26LS31/26C31 equivalent line driver (RS422 compliant) Encoder power supply: DC5V (2 counter (ch) total 500 mA or less) (supplied from controller)iVY2 unitCamera pixels: maximum 5 million pixels, number of registered models: 254 models, number of con

30、nected cameras: maximum two unitsPower supply: DC24V +/-10% 1.5A MaxProgramming boxPBX, PBX-EAbsolute battery3.6V 2750mAH / axis Backup retention time: About 1 yearSupport software for personal computerRCX-Studio ProField networksEthernetXY-X P.259FLIP-X P.19PHASER P.23YP-X P.44RCX320 Dimensions9.52

31、132- 5.5 5.513029155 Power supply capacity and heat emissionThe required power supply capacity and heat emission will vary depending on the robot type and number of axes.Using the following table as a general guide consider the required power supply preparation and control panel size, controller ins

32、tallation, and cooling method. When connected to 2 axis(Cartesian robot and/or multi-axis robot)Motor capacity vs. current sensor tableConnected motor capacityCurrent sensor100W or less05200W10400W or more20Note. Motor output of the B14H is 200W but the current sensor is 05.Note. Even if axial curre

33、nt sensor values for each axis are interchanged no problem will occur. Regenerative unit YHX-RU Basic specifications Regenerative unit connection cableUsed when connecting a regenerative unit. Regenerative unit selection tableWhether the regenerative unit is needed is automatically determined by the

34、 robot model.XY-XPHASERFLIP-XYP-XCleanArm type, Gantry type, Moving arm type, Pole typeXZ type2 axes2 axesNo entry (None)Regenerative unitR (YHX-RU): Applicable: Select per conditions546iVY2Electric gripperLinear conveyor modulesLCM100Motor-less single axis actuatorRobonityCompactLinear motorCartesi

35、an robotsXY-XSCARArobotsYK-XPick & place robotsYP-Xsingle-axis robots Single-axis robots singl -axis robotsArticulated robotsYARobotPulse stringRobotTRANSERVOFLIP-XPHASERCLEANCONTROLLER INFORMATIONOptionpositionerdrivercontroller18016462.5MF7D MF15D MF20D MF30D MF50D MF75D N15D N18DPXYx FXYx FXYBx S

36、XYx SXYBx NXY MXYx HXYx HXYLx SXYx (ZF) SXYx (ZFL20) SXYBx (ZF) SXYBx (ZFL20) MXYx HXYxYP220BX164195225213SXYxC0.5mModelYHX-RU-50CParts No.KEK-M5363-00ItemYHX-RUModelKEK-M5850-0ADimensionsW62.5H180D110mmWeight1.45kgAbsorbable electric power100 W (Equivalent to RGU 3)* 200 W when 2 are connectedPower

37、 SupplyInput254 to 357 V DC(Controller DCBUS Connecting)ConnectorRegenerative unit connector(for unit connection and extension)Installation EnvironmentWorking Temperature0 to 40 CWorking Humidity35 to 85% RH (No Condensation)Location of UseAltitude 2,000 m or lower and indoor (free from corrosive ga

38、ses and dust)Storage Temperature-10 to 65 CVibration Withstanding1GProtective Construction / RatingIP20 / Class 1Regenerative unit YHX-RUDimensions4-M4 Tap110100100Axial current sensor valuePower capacity (VA)Generated heat amount (W)X axisY axis050550053100570058200515007810109006320101700832020240

39、0100Conditions where regenerative unit is needed on multi robots Motor capacity exceeds a total of 450W. Motor capacity for perpendicular axis exceeds a total of 240W. The following conditions apply when perpendicular axis capacity is 240W or less. perpendicular axis is 200W. perpendicular axis is 1

40、00W and stroke is 700mm or more. there are 2 perpendicular axes at 100W, and includes leads of 5mm. B14H which maximum speed exceeds 1250mm per second.RCX320Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. https:/global.yamaha-mo

41、/business/robot/ Installation conditions Use the screws to secure the controller to the installation plate inside the control panel so that it is in a horizontal position. Besure to use the metallic installation plate. Install the RCX320 in a well ventilated location, with space on all sides

42、of the RCX320 (See fig. at right.). Ambient temperature : 0 to 40CSide100 mm or moreParallel DIO cable Ambient humidity: 35 to 85% RH(no condensation)FrontRobot cable Expanded specification I/O connector signal list Standard specification I/O connector signal listNote. The IDs are set using the para

43、meter.547iVY2Electric gripperLinear conveyor modulesLCM100Motor-less single axis actuatorRobonityCompactLinear motorCartesian robotsXY-XSCARArobotsYK-XPick & place robotsYP-Xsingle-axis robots Single-axis robots singl -axis robotsRobotPulse stringRobotArticulated robotsYATRANSERVOFLIP-XPHASERCLEANCO

44、NTROLLER INFORMATIONOptionpositionerdrivercontrollerPinI/O No. (ID=1)I/O No. (ID=2)I/O No. (ID=3)I/O No. (ID=4)Signal name1-Reserved2DI 10DI 40DI 70DI 120General-purpose input 10,40,70,1203-Reserved4DI 11DI 41DI 71DI 121General-purpose input 11,41,71,1215-Reserved6-Reserved7-Reserved8DI 20DI 50DI 10

45、0DI 130General-purpose input 20,50,100,1309DI 21DI 51DI 101DI 131General-purpose input 21,51,101,13110DI 22DI 52DI 102DI 132General-purpose input 22,52,102,13211DI 23DI 53DI 103DI 133General-purpose input 23,53,103,13312DI 24DI 54DI 104DI 134General-purpose input 24,54,104,13413DI 25DI 55DI 105DI 13

46、5General-purpose input 25,55,105,13514DI 26DI 56DI 106DI 136General-purpose input 26,56,106,13615DI 27DI 57DI 107DI 137General-purpose input 27,57,107,13716-Reserved17-Reserved18DO 10DO 30DO 50DO 70General-purpose output 10,30,50,7019DO 11DO 31DO 51DO 71General-purpose output 11,31,51,7120DO 12DO 32

47、DO 52DO 72General-purpose output 12,32,52,7221DO 13DO 33DO 53DO 73General-purpose output 13,33,53,7322DO 14DO 34DO 54DO 74General-purpose output 14,34,54,7423DO 15DO 35DO 55DO 75General-purpose output 15,35,55,7524DO 16DO 36DO 56DO 76General-purpose output 16,36,56,7625DO 17DO 37DO 57DO 77General-pu

48、rpose output 17,37,57,7726DI 12DI 42DI 72DI 122General-purpose input 12,42,72,12227DI 13DI 43DI 73DI 123General-purpose input 13,43,73,12328DI 14DI 44DI 74DI 124General-purpose input 14,44,74,12429DI 15DI 45DI 75DI 125General-purpose input 15,45,75,12530DI 16DI 46DI 76DI 126General-purpose input 16,

49、46,76,12631DI 17DI 47DI 77DI 127General-purpose input 17,47,77,12732DI 30DI 60DI 110DI 140General-purpose input 30,60,110,14033DI 31DI 61DI 111DI 141General-purpose input 31,61,111,14134DI 32DI 62DI 112DI 142General-purpose input 32,62,112,14235DI 33DI 63DI 113DI 143General-purpose input 33,63,113,1

50、4336DI 34DI 64DI 114DI 144General-purpose input 34,64,114,14437DI 35DI 65DI 115DI 145General-purpose input 35,65,115,14538DI 36DI 66DI 116DI 146General-purpose input 36,66,116,14639DI 37DI 67DI 117DI 147General-purpose input 37,67,117,14740-Reserved41-Reserved42-Reserved43DO 20DO 40DO 60DO 100Genera

51、l-purpose output 20,40,60,10044DO 21DO 41DO 61DO 101General-purpose output 21,41,61,10145DO 22DO 42DO 62DO 102General-purpose output 22,42,62,10246DO 23DO 43DO 63DO 103General-purpose output 23,43,63,10347DO 24DO 44DO 64DO 104General-purpose output 24,44,64,10448DO 25DO 45DO 65DO 105General-purpose output 25,45,65,10549DO 26DO 46DO 66DO 106General-purpose output 26,46,66,10650DO 27DO 47DO 67DO 107General-purpose output 27,47,67,107PinI/O No.Signa