Multi-axis controller RCX340

Introduces the multi-axis controllers, RCX340.

Specification
External View

Specification

Basic specifications
Applicable robots		YAMAHA single-axis robots, linear single-axis robots, Cartesian robots, SCARA robots (except for YK120X and YK150X), P&P robots
Connectedmotor capacity		1600W or less (in total for 4 axes)
Power capacity		2500VA
Dimensions		W355 × H195 × D130mm (main unit only)
Weight		6.2kg (main unit only)
Input power supply	Control power supply	Single-phase 200 to 230V AC +/-10% maximum, 50/60Hz
Input power supply	Main power supply	Single-phase 200 to 230V AC +/-10% maximum, 50/60Hz
Axis control
No. of controllable axes		Max. 4 axes (simultaneous control: 6 axes) Expandable to up to 16 axes (4 robots) using 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
Coordinate systems		Joint coordinates, Cartesian coordinates
Position display units		Pulses, mm (1/1000 steps), degree (1/1000 steps)
Speed setting		0.01 to 100% (below 1% can be changed by programming)
Acceleration/deceleration setting		Automatic acceleration setting by robot model and tip weight parameter Setting by acceleration coefficient and deceleration rate parameters (1% steps) * Can be changed by programming. Zone control (Only the SCARA robot can set an optimum speed corresponding to the arm position.)
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)
System backup (Internal memory backup)		Lithium battery (service life about 4 years at 0 to 40°C)
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)
Origin sensor input			Connectable to 24V DC B-contact (normally closed) sensor
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 USB : 1CH (B type) RS-422 : 1CH (Dedicated to PBX)
General specifications
Operating temperature			0°C to 40°C
Storage temperature			-10°C to 65°C
Operating humidity			35 to 85% RH (no condensation)
Noise immunity			Conforms to IEC61000-4-4 Level 3
Protective structure			IP20
Appliance classes			Class I
Options
Option board ^Note		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 Remote register Input/output: 16 words each
		DeviceNet™ board
		EtherNet/IP™ board
		PROFIBUS board
		PROFINET 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 16 axes (including four 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 four 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)
RCXiVY2+ 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 2020