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Yamaha Motor Revs Your Heart

Industrial robots

2-axis comprehensive controller RCX320 Specification

Then newest addition to RCX3 series.


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
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
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.)
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)
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)
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
EtherCAT board
YC-Link/E board
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



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

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

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