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Industrial robots


Multi-axis controller RCX340

Introduces the multi-axis controllers, RCX340.



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
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.)
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.)
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
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)
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
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
There are four slots in which option boards can be installed.

External View


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

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

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