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Yamaha Motor Revs Your Heart

Industrial robots (Electric actuators)

Field Networks (RCX240/240S)

Robot positioner RCX240/240S is applicable to the field networks CC-Link, DeviceNet, PROFIBUS, Ethernet, EtherNet/IP.

RCX240/240S : CC-Link, DeviceNet, PROFIBUS, Ethernet, EtherNet/IP

CC-Link
Basic specifications for network modules
Item Network modules CC-Link
Applicable controllers RCX221 / RCX222 / RCX240 / RCX240S / RCX340
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 programming box or support software)
Communication speed setting 10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps (set from the Rotary swich on board)
No. of CC-Link I/O Note1 General input 96 points, General output 96 points, Dedicated input 16 points, Dedicated output16 points
Parallel external I/O Note2 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 Note3 0.2 m or more
Overall length Note3 100m/10Mbps, 150m/5Mbps, 200m/2.5Mbps, 600m/625Kbps, 1200m/156Kbps
Monitor LED RUN, ERR, SD, RD
Note1.
In case of RCX221/RCX222/RCX240/RCX240S, the controller I/Os are updated every 10ms.
For RCX 340, the controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
Note2.
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.)
Note3.
These values apply when a cable that supports CC-Link Ver.1.10 is used.
DeviceNet
Basic specifications for network modules
Item Network modules DeviceNet™
Applicable controllers RCX221 / RCX222 / RCX240 / RCX240S / RCX340
Applicable DeviceNet™ specifications Volume 1 Release2.0 / Volume 2 Release2.0
Device Profile Name Generic Device (device number 0)
Number of occupied CH Note1 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 Note2 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 Note3 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 Note4 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)
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.
In case of RCX221/RCX222/RCX240/RCX240S, the controller I/Os are updated every 10ms.
For RCX 340, the controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
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.
PROFIBUS
Basic specifications for network modules
Item Network modules PROFIBUS
Applicable controllers RCX221 / RCX222 / RCX240 / RCX240S / RCX340
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 Note1 General input 96 points, General output 96 points, Dedicated intput 16 points, Dedicated output 16 points
Parallel external I/O Note2 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
Note1.
In case of RCX221/RCX222/RCX240/RCX240S, 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.
For RCX 340, the controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
Note2.
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

Basic specifications for network modules
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
Basic specifications for network modules
Item Network modules EtherNet/IP™
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 (CIP™) 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 user's manual.
Max. cable length 100m
EtherNet/IP™ input/output points Note 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 user's manual.)
Note.
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

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