Yamaha RCX40, User Manual

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Overview of the RCX series
The YAMAHA RCX series robot controllers were developed based on years of YAMAHA
experience and achievements in robotics and electronics. These controllers are specifically
designed to operate YAMAHA industrial robots efficiently and accurately.
Despite its compact size, the RCX series controllers serve as multi-axis controllers with a
variety of functions.
Major features and functions are:
1. Multi-task function
Up to 8 tasks* can be run simultaneously in a specified priority. (Low priority tasks
are halted while high priority tasks are run.)
I/O parallel processing and interrupt processing are also available, so that operational
efficiency of the total robot system including peripheral units is greatly improved.
(*: Refer to the programming manual for more details on multi-tasking.)
2. Robot language
The RCX series controller comes with a BASIC-like high-level robot language that
conforms to the industrial robot programming language SLIM*1. This robot language
allows easy programming even of complex movements such as multi-task operations
and uses a compiling method*2 for rapid execution of programs.
(*1: Standard Language for Industrial Manipulators)
(*2: This compiling method checks the syntax in a robot language program, converts
it into intermediate codes, and creates an execution file (object file) before actually
performing the program.)
3. Movement command
• Arch motion
Spatial movement during pick-and-place work can be freely set according to the
work environment. This is effective in reducing cycle time.
• Three-dimensional CP control
Three-dimensional interpolation control for linear and circular movements is
possible.
4. Maintenance
Software servo control provides unit standardization. This means compatibility with
most YAMAHA robot models, thus simplifying maintenance and adjustment.
5. CE marking*
As a product of YAMAHA robot series, the RCX series robot controller is designed to
conform to machinery directives, low-voltage directives and EMC (Electromagnetic
compatibility) directives. In this case, the robot controller is set to operate under SAFE
mode. (* For CE marking compatibility, see the CE marking compatibility manual.)
This manual explains how to handle and operate the YAMAHA robot controllers correctly
and effectively, as well as I/O interface connections.
Read this manual carefully before installing and using the robot controller. Also refer to
the separate “Programming Manual” and “Robot User’s Manual” as needed.