Skip to Main Contents

Yamaha Motor Revs Your Heart

Industrial robots (Electric actuators)

Field Networks (RCX)

Robot controller RCX series is applicable to the field networks CC-Link, DeviceNet, Profibus, Ethernet, EtherNet/IP (Only RCX240/241S).

CC-Link

  • Option unit with networking functions that can be incorporated in YAMAHA robot controllers,RCX221 / RCX222 / RCX240 / RCX240S.
  • 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).
  • 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 CCLink system.
CC-Link
Item Network modules CC-Link
Applicable controllers RCX221 / RCX222 / RCX240 / RCX240S
Version supporting CC-Link Ver. 1.10
Remote station type Remote device node
Number of occupied stations Fixed to 4 stations
Station number setting 1 to 61 (set from the Rotary swich on board)
Communication speed setting 10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps (set from the Rotary swich on board)
No. of CC-Link I/O*1 General input 96 points, General output 96 points,
Dedicated input 16 points, Dedicated output16 points
Parallel external I/O*2 A function that simulates serial communication enables individual control of the various points from a master sequencer, regardless of the robot program.
Shortest distance between nodes*3 0.2 m or more
Overall length*3 100m/10Mbps, 150m/5Mbps, 200m/2.5Mbps, 600m/625Kbps,1200m/156Kbps
Monitor LED RUN, ERR, SD, RD
*1.
Controller I/Os are updated every 10ms
*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.)
*3.
These values apply when a cable that supports CC-Link Ver.1.10 is used.

DeviceNet

  • Option unit with networking functions that can be incorporated in YAMAHA robot controllers,RCX221 / RCX222 / RCX240 / RCX240S.
  • 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.
  • 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 DeviceNet system.
DeviceNet
Item Network modules DeviceNet
Applicable controllers RCX221 / RCX222 / RCX240 / RCX240S
Applicable DeviceNet specifications Volume 1 Release2.0 / Volume 2 Release2.0
Device Profile Name Generic Device (device number 0)
Number of occupied CH*1 Normal: Input/output 24ch each, Compact: Input/output 2ch each
MAC ID setting 0 to 63
Transmission speed setting 500Kbps, 250Kbps, 125Kbps (set using DIP switch on board)
DeviceNet I/O Normal General input 96 points, General output 96 points, Dedicated input 16 points, Dedicated output 16 points
Compact General input 16 points, General output 16 points, Dedicated input 16 points, Dedicated output 16 points
Parallel external I/O*3 The master module and up to four ports can be controlled regardless of the robot program by using the pseudoserialization function.
Network length Overall length*4 100m/500Kbps, 250m/250Kbps, 500m/125Kbps
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)
*1.
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.
*2.
Controller I/Os are updated every 10ms.
*3.
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.)
*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.

Profibus

  • Option unit used to connect a YAMAHA robot controllers RCX221 / RCX222 / RCX240 / RCX240S to Profibus.
  • Optimum for high speed data communication and complicated communication processing.
  • Communication is made available among devices of multiple number of manufacturers.
  • 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 Profibus system.
Profibus
Item Network modules Profibus
Applicable controllers RCX221 / RCX222 / RCX240 / RCX240S
Communication profile Profibus-DP slave
Number of occupied nodes 1 node
Setting of station address 1 to 99 (set using Rotary switch on board)
Setting of communication speed 9.6Kbps, 19.2Kbps, 93.75Kbps, 187.5Kbps, 500Kbps, 1.5Mbps,3Mbps, 6Mbps, 12Mbps (automatic recognition)
Profibus I/O*1 General input 96 points, General output 96 points, Dedicated intput 16 points, Dedicated output 16 points
Parallel external I/O*2 The master module and up to four ports can be controlled regardless of the robot program by using the pseudoserialization function.
Overall length 100m/3M·6M·12Mbps, 200m/1.5Mbps, 400m/500Kbps,1000m/187.5Kbps, 1200m/9.6K·19.2K·93.75Kbps
Monitor LED RUN, ERR, SD, RD, DATA-EX
*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.
*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.)

EtherNet

  • Option unit used to connect a YAMAHA robot controller to Ethernet, which can be incorporated in YAMAHA robot controllers, RCX221 / RCX222 / RCX240 / RCX240S. 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.
  • 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.
Item Network modules Ethernet
Applicable controllers RCX221 / RCX222 / RCX240 / RCX240S
Network specification As specified for Ethernet (IEEE802.3)
Connector specification RJ-45 connector (8-pole modular connector) 1 port
Baud rate 10Mbps (10BASE-T)
Communication mode Half Duplex (Half-duplex)
Network protocol Application layer: TELNET
Transport layer : TCP
IP 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

EtherNet/IP(Only RCX240/RCX240S)

  • Option unit with networking functions that can be incorporated in YAMAHA robot controllers,RC240 / RCX240S.
  • High-speed transfer of massive data to and from peripheral devices at 100Mbps.
  • As connection of the robot system and the sequencer requires only 100-Base TX cable, it is possible to reduce wiring of the entire system, which contributes to efficient wiring work, reduction of installation and maintenance costs, etc.
  • Capable of simulating serial operation of parallel I/O. With this function set properly, it is possible to control various I/O units connected to the parallel I/O of the robot controller, such as sensor and relay from the sequencer side without using the robot program, as if they are I/Os of the EtherNet/IP system.
  • Minimal equipment wiring streamlines wiring tasks and helps cut equipment installation and maintenance costs.
  • Function
    Function Supported Note
    SIO  
    Remote command  
    I/O command  
    Online command × Connect to COM port (RS-232C) or add an EtherNet board (telnet).
    Connection to VIP+ ×
EtherNet/IP
Spec. Item / Model EtherNet/IP compatible module
Controller model RCX240 / RCX240S
Software version HOST : Ver.10.64 or higher
VIP+ : Ver.2.5.0 or higher
Network specifications Conforms to Ethernet (IEEE 802.3).
Applicable EtherNet/IP specifications Volume 1 : Common Industrial protocol (CIPTM) Edition 3.8
Volume 2 : EtherNet/IP Adaptation Edition 1.9
Device type Generic Device (Device No. 43)
Data size 48 bytes each for input/output
Transmission speed 10 Mbps/100 Mbps
Connector specifications RJ-45 connector (8-pole modular connector) 1 port
Cable specifications Refer to "4.1. LAN cable" in Chapter 2 of this guide.
Max. cable length 100m
EtherNet/IP input/output points*1 Input (48 bytes in total) byte 0-3
byte 4-31
Dedicated word input : 2 words
General purpose word input : 14 words
byte 32-33
byte 34-47
Dedicated bit input : 16 points
General-purpose bit input : 96 points
Output (48 bytes in total) byte 0-3
byte 4-31
Dedicated word output : 2 words
General-purpose word output : 14 words
byte 32-33
byte 34-47
Dedicated bit output : 16 points
General-purpose bit output : 96 points
Parallel external input Regardless of the robot program, the master module and up to four ports can be controlled using the emulated serialization function.
Settings, such as IP address The settings are made with the programming box (RPB) or VIP+
(via a COM port or telnet).
Monitor LEDs Activity, Network Status, Link, Module Status
CPU BOARD ASSY KX0-M4210-2XX (Refer to "3. Installing into the robot controller" in Chapter 1 of this guide.)
*1.
Controller’s I/O update intervals are 10 ms at shortest, but actual I/O update intervals may vary depending on the update time for the master station.

127 Toyooka, Kita-ku, Hamamatsu, Shizuoka 433-8103, Japan

Telephone 81-53-525-8350 /
Facsimile 81-53-525-8378

Back to
Top