Field Networks (RCX320/340)

Robot positioner RCX320/340 is applicable to the field networks CC-Link, DeviceNet, PROFIBUS, Ethernet, EtherNet/IP, PROFINET, EtherCAT.

RCX320/340 : CC-Link, DeviceNet, PROFIBUS, Ethernet, EtherNet/IP, PROFINET, EtherCAT

Basic specifications for network modules
Item	Network modules CC-Link
Applicable controllers	RCX221 / RCX222 / RCX320 / 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, the controller I/Os are updated every 10ms.
For RCX320 / 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.

Basic specifications for network modules
Item		Network modules DeviceNet™
Applicable controllers		RCX221 / RCX222 / RCX320 / 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
DeviceNet™ I/O ^Note2	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
Network length	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, the controller I/Os are updated every 10ms.
For RCX320 / 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.

Basic specifications for network modules
Item	Network modules PROFIBUS
Applicable controllers	RCX221 / RCX222 / RCX320 / 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, 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 RCX320 / 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	RCX320 / RCX340
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

Basic specifications for network modules
Item	Network modules EtherNet/IP™
Controller model	RCX320/RCX340
Network specifications	Conforms to Ethernet (IEEE 802.3).
Applicable EtherNet/IP™ specifications	Volume 1 : Common Industrial protocol (CIP™) Edition 3.14 Volume 2 : EtherNet/IP™ Adaptation Edition 1.15
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) 2 port
Cable specifications	Refer to “2.1 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
	Input (48 bytes in total)	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
	Output (48 bytes in total)	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 por ts can be controlled using the emulated serialization function.
Settings, such as IP address	The settings are made with the programming box (PBX) or RCX-Studio Pro.
Monitor LEDs	Network Status, Module Status

Note.: 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.

Basic specifications for network modules
Item	Network modules PROFINET
Applicable controllers	RCX320/RCX340
Supported software versions	RCX320/RCX340 : V1.21 or later PBX/PBX-E : V1.08 or later RCX-Studio : V1.0.1 or later RCX-Studio Pro : V2.0.0 or later
Network specification conformance	PROFINET IO V2.2
Conformance class	Conformance Class B / IO Device
Vendor Name / Vendor_ID	YAMAHA MOTOR CO.,LTD. / 0x02D5
Station Type / Device_ID	YAMAHA RCX3 PROFINET / 0x0001
Product revision	1.00
GSD file name	GSDML-V2.3-YMC-RCX3-20150203.xml
Transmission speed	100Mbps（ Auto-negotiation）
Connector specifications	RJ-45 connector (8-pole modular connector) 2 por ts
Conforming cable specifications	CAT 5e or higher STP cable (double shield)
Max. cable length	100m
Monitor LEDs	Module Status(MS), Network Status(NS), Link/Activity:Port1-2
Input /output data size ^Note	Input : 48bytes	Dedicated word input 2 words (4 bytes)
		General-purpose word input 14 words (28 bytes)
		Dedicated bit input 16 bits (2 bytes)
		General-purpose bit input 96 bits (12 bytes)
		Reserved area 2 bytes
	Output : 48bytes	Dedicated word output 2 words (4 bytes)
		General-purpose word output 14 words (28 bytes)
		Dedicated bit output 16 bits (2 bytes)
		General-purpose bit output 96 bits (12 bytes)
		Reserved area 2 bytes

Note.: 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.

Basic specifications for network modules
Item	Network modules EtherCAT
Applicable controllers	RCX320/RCX340
Supported software versions	RCX320/RCX340 : V1.62 or later PBX/PBX-E : V1.13 or later RCX-Studio Pro : V2.1.9 or later
ESI file name	YAMAHA RCX340 EtherCAT 1_00.xml
Transmission speed	100Mbps（Auto-negotiation）
Connector specifications	RJ-45 connector (8-pole modular connector) 2 ports
Conforming cable specifications	CAT 5e or higher STP cable (double shield)
Max. cable length	100m
Monitor LEDs	RUN, ERROR, Link/Activity:Port1-2
Input /output data size ^Note	Input : 48bytes	Dedicated word input 2 words (4 bytes)
		General-purpose word input 14 words (28 bytes)
		Dedicated bit input 16 bits (2 bytes)
		General-purpose bit input 96 bits (12 bytes)
		Reserved area 2 bytes
	Output : 48bytes	Dedicated word output 2 words (4 bytes)
		General-purpose word output 14 words (28 bytes)
		Dedicated bit output 16 bits (2 bytes)
		General-purpose bit output 96 bits (12 bytes)
		Reserved area 2 bytes

Note.: 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.