Yamaha RCX142, User Manual

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9-
1
9
Specifications
1. Controller basic specifications
1.1 RCX142 basic specifications
Item Specifications
Applicable robots
Maximum power consumption
Dimensions
Weight
Power supply voltage
No. of axes
Drive method
Position detection method
Control method
Coordinate systems
Position display units
Speed setting
Acceleration/deceleration
setting
Program language
Multitask
Sequence program
Memory size
Program
Point
Teaching
Memory backup
STD. DIO
I/O input
I/O output
SAFETY
Emergency stop input
Service mode input
Break output
Origin sensor input
External communications
Operating temperature
Storage temperature
Operating humidity
Noise immunity
Protective structure
Parallel DIO board
CC-Link board
DeviceNet board
Profibus board
Ethernet board
Programming box
Absolute battery
PC software
Basic
specifications
Axis control
Programming
External I/O
General
specifications
Options
YAMAHA Cartesian robots, SCARA robots (except
YK120X and YK150X), single-axis robots, P&P robots
2500VA
W180
×
H250
×
D235 (main unit)
6.5kg (main unit)
Single phase AC 200 to 230V
±
10%, 50/60Hz
4 axes maximum (simultaneous control: 4 axes)
AC full digital servo
Resolver
PTP motion (point to point), ARCH motion, linear
interpolation, circular interpolation
Joint coordinates, Cartesian coordinates
Pulses, mm (millimeters), deg (degrees)
1-100%, 1% increments (setting possible during program
execution)
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.)
Zone control
(Optimum speed setting matching SCARA robot arm
position)
YAMAHA BASIC conforming to JIS B8439 (SLIM
language)
8 tasks maximum
1 program
364KB (Total of program and point data) (Available size for
program when maximum number of points is used: 84KB)
100 programs (maximum number of programs)
9999 lines (maximum lines per program)
98KB (maximum capacity per program, maximum
capacity per object program)
10000 points (maximum number of points)
MDI (coordinate data input), direct teaching, teaching
playback, offline teaching (data input from external unit)
Lithium battery (service life about 4 years at 0 to 40
°
C)
General-purpose 16 points, dedicated 9 points (NPN/PNP
specifications selectable)
General-purpose 8 points, dedicated 11 points
Relay contact
1 point (NPN/PNP specifications conform to STD.DIO
setting.)
Relay contact
Connectable to DC24V B-contact (normally closed) sensor
RS-232C : 1 channel (D-SUB 9-pin female connector)
RS-422
: 1 channel (for MPB only)
0 to 40
°
C
-10 to 65
°
C
35 to 85% RH (no condensation)
Conforms to IEC61000-4-4 Level 3
IP10
General-purpose input 24 points/board, output 16
points/board (4 boards maximum, compatible with
NPN/PNP specifications)
Dedicated input 11 points, dedicated output 11 points
General-purpose input 96 points, general-purpose output 96 points
Dedicated input 11 points, dedicated output 11 points
General-purpose input 96 points, general-purpose output 96 points
Dedicated input 11 points, dedicated output 11 points
General-purpose input 96 points, general-purpose output 96 points
Conforms to IEEE802.3, 10Mbps (10BASE-T)
MPB, MPB-E2
B3 (2000mAh), (replacement guideline: approx. 1.5 years)
VIP
c
CAUTION
• Specifications and appearance
are subject to change without
prior notice.
• See "7. I/O connections" in
Chapter 3 for a definition of NPN
and PNP specifications.