2-axis comprehensive controller RCX320 Specification

Then newest addition to RCX3 series.

Specification
Dimensions

Basic specifications

Basic specifications
Applicable robots				YAMAHA single-axis robots, linear single-axis robots, P&P robots
Connected motor capacity				1200W or less (in total for 2 axes)
Power capacity				2400VA
Dimensions				W213 × H195 × D130mm (main unit only)
Weight				3.6kg (main unit only)
Input power supply		Control power supply		Single-phase 200 to 230V AC +/-10% 50/60Hz
Input power supply		Main power supply		Single-phase 200 to 230V AC +/-10% 50/60Hz
Axis control
No. of controllable axes				Max. 2 axes Up to four units of the RCX320 and RCX340 can be connected using the inter-controller communication “YC-Link/E”.
Drive method				AC full digital servo
Position detection method				Resolver or magnetic linear scale
Control method				PTP motion (point to point), ARCH motion, linear interpolation, circular interpolation
Programming
Program language				YAMAHA BASIC II conforming to JIS B8439 (SLIM language)
Multi-task				Max. 16 tasks
Sequence program				1 program
Memory capacity				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)
External I/O
SAFETY		Input		Emergency stop ready input, 2 systems Auto mode input, 2 systems (Enabled only when the global specifications are used.)
SAFETY		Output		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				Transistor output (PNP open collector)
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
				RS-422:	1CH (Dedicated to PBX)
Options
Option board	Parallel I/O board		Standard specifications	Dedicated input 8 points, dedicated output 9 points General-purpose input 16 points, general-purpose output 8 points NPN/PNP specifications are selected. (maximum 1 board)
	Parallel I/O board		Expansion specifications	General-purpose input 24 points, general-purpose output 16 points NPN/PNP specifications are selected. (maximum 4 boards)
	CC-Link board Ver1.1/2.0			Remote I/O		Dedicated input/output: 16 points each General-purpose input/output: 96 points each
	DeviceNet™ board
	EtherNet/IP™ board
	PROFIBUS board			Remote register		Input/output: 16 words each
	PROFINET board
	EtherCAT board
	YC-Link/E board (master/slave)			Communication cycle: 1 ms, control cycle: minimum 1 ms / maximum 8 ms, maximum number of robot units: four units Maximum number of control axes: total 14 axes (including two master controller axes), maximum 12 axes for slaves only
	YRG (gripper) board			Position detection method: optical rotary encoder, minimum setting distance: 0.01 mm Speed setting: 20 to 100% relative to the maximum parameter speed, number of connected gripper units: maximum two units Drive power: DC 24V +/-10%, 1.0A Max
	Tracking board			Number of connected encoders: maximum two units, 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 unit				Camera pixels: maximum 5 million pixels, number of registered models: 254 models, number of connected cameras:maximum two units Power supply: DC24V +/-10% 1.5A Max
Programming box				PBX, PBX-E
Absolute battery				3.6V 2750mAH / axis Backup retention time: About 1 year
Support software for personal computer				RCX-Studio Pro