Yamaha CEmarking RCX221, Supporting Supplement Manual

Page: 79 / 92

4
1
2
3
5
6
Chapter 6 SPECIFICATIONS
6-5
6.1.1.3 RCX222
Item RCX222 RCX222 HP
Basic
specifi cations
Applicable robots YAMAHA single-axis robots, cartesian robots, P&P robots
Connectable motor
capacity
800W or less (2 axes total) 900 to 1200W (2 axes total)
Power capacity 1700VA 2400VA
Dimensions
W130 × H210 × D158 mm
(main unit) W158 × H210 × D158 mm
(main unit)
Weight 2.9kg (main unit) 3.1kg (main unit)
Power supply voltage Single phase 200 to 230V AC ±10% (50/60Hz)
Axis control
No. of controllable axes 2 axes maximum (simultaneous control: 2 axes)
Drive method AC full digital servo
Position detection
method
Resolver
Control method
PTP motion (point to point), ARCH motion, linear interpolation,
circular interpolation
Coordinate system Joint coordinates, Cartesian coordinates
Position display units Pulses, mm (millimeters), deg (degrees)
Speed setting 1 to 100% (1% increments; setting can be changed by program)
Acceleration/deceleration
setting
Automatic acceleration setting by robot model and tip weight
parameter
Setting by accel coefficient and decel. rate parameters (1% steps)
(Can be changed by programming.)
Programming
Program language YAMAHA BASIC conforming to JIS B8439 (SLIM language)
Multitask 8 tasks maximum
Sequence program 1 program
Memory capacity
364KB (Total of program and point data) (Available size for
program when maximum number of points is used: 84KB)
Programs
100 programs (maximum number of programs)
9999 lines (maximum lines per program)
98KB (maximum capacity per program, maximum capacity per
object program)
Points 10000 points (maximum number of points)
Point teaching
MDI (coordinate data input), direct teaching, teaching
playback, offline teaching (data input from external unit)
Internal memory backup Lithium battery (Service life is about 4 years at 0 to 40°C)
Internal fl ash memory 512KB (ALL data only)
External memory backup SD memory card
6.1 Controller