RCXiVY2+ (RCX320 / RCX340) Specifications

Yamaha's own unique solution for integrated robot vision

Basic specifications
External view
Ordering method

Basic specifications

Robot vision basic specifications
Item		RCXiVY2+ unit
Basic specifications	Applicable controllers	RCX340/RCX320
	Number of screen pixels	728(H) × 544(V) (400,000 pixels) 1456(H) × 1088(V) (1,600,000 pixels) 2048(H) × 1536(V) (3,200,000 pixels) 2592(H) × 1944(V) (5,000,000 pixels) ^Note1
	Model setting capacity	254 models
	Number of connectable cameras	2 cameras
	Connectable camera	GigE camera PoE: IEEE802.3af 1 ch up to 7W
	External interface	Ethernet (1000BASE-T) ^Note2 USB 2.0 2Ch (Up to 5V 2.5W / ch) ^Note3
	External monitor output	DVI-I ^Note4 Monitor resolution: 1024 × 768 Vertical periodic frequency: 60 Hz Horizontal periodic frequency: 48.4 kHz
	Power supply	24 VDC +/-10%, Maximum 1.5 A
	Dimensions	W45 × H195 × D130 (RCXiVY2+ unit only)
	Weight	0.8kg (RCXiVY2+ unit only, when the lighting control board option is selected)
	Operating environment	Compliant with the RCX340/RCX320 controller.
	Storage environment	Compliant with the RCX340/RCX320 controller.
Search method		Edge search (correlated edge filter, sobel filter), Measurement function, Blob search
Image capturing	Trigger mode	S/W trigger, H/W trigger
Image capturing	External trigger input	2 points
Function		Position detection, coordinate conversion, automatic point data generation, distortion and inclination correction
Camera installation position		Fixed to the fixed camera (up, down) or robot (Y-axis, Z-axis). Perpendicular to the workpiece to be captured.
Setting support function		Calibration, image save function, model registration ^Note5, fiducial mark registration ^Note5, measurement function registration ^Note5, blob registration ^Note5, monitor function ^Note5
Lighting control options	Number of connectable lighting units	Maximum 2
	Modulated light format	PWM modulated light control (0 to 100%), PWM frequency switchable 62.5 kHz/ 125 kHz Continuous light, strobe light (follows camera exposure)
	Lighting output	12VDC or 24VDC (external supply shared by both channels)
	Lighting output	For 12VDC supply: Total of less than 40W for both channels. For 24VDC supply: Total of less than 80W for both channels.

Note1.: Since the rolling shutter is used, the tracking is not supported.

Note2.: For setting and monitor operations

Note3.: It is planned to support this USB later.

Note4.: Also usable with an analog monitor by using a conversion adaptor.

Note5.: RCXiVY2+ Studio function (requires a Windows PC)

Tracking board basic Specifications
Item		Tracking board
Basic specifi cations	Applicable controllers	RCX340/RCX320
	Number of connected encoders	Up to 2 units.
	Encoder power supply	5VDC (2 counters total 500 mA or less) (Supplied from controller)
	Applicable encoder	26LS31/26C31 or equivalent line driver (RS-422 compliance).
	Input phase	A, A, B, B, Z, Z
	Max. response frequency	2MHz or less
	Counter	0 to 65535
	Multiplier	4x
	Other	With disconnection detection function