Yamaha CEmarking RCX221, Руководство по дополнительному оборудованию

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Chapter 6 SPECIFICATIONS
6-1
6.1 Controller
c
CAUTION
Specifi cations and appearance are subject to change without prior notice.
6.1.1 Basic specifications
6.1.1.1 RCX240
Item RCX240 RCX240S
Basic
specifications
Applicable robots
YAMAHA single-axis robots, linear single-axis robots, cartesian
robots, SCARA robots (except YK120X and YK150X), P&P robots
Connected motor capacity 1600W or less (in total for 4 axes) 800W or less (in total for 4 axes)
Power capacity 2500VA 1500VA
Dimensions W180 × H250 × D235 (main unit)
Weight 6.5kg (main unit)
Power supply voltage Single phase 200 to 230V AC ±10%, 50/60Hz
Axis control
No. of axes 4 axes maximum (simultaneous control: 4 axes)
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 (millimeters), deg (degrees)
Speed setting 1-100%, 1% increments (setting possible during program execution)
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.)
Zone control
(Optimum speed setting matching SCARA robot arm position)
Programming
Program language YAMAHA BASIC conforming to JIS B8439 (SLIM language)
Multitask 8 tasks maximum
Sequence program 1 program
Memory size
364KB (Total of program and point data) (Available size for
program when maximum number of points is used: 84KB)
Program
100 programs (maximum number of programs)
9999 lines (maximum lines per program)
98KB (maximum capacity per program, maximum capacity per
object program)
Point 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 about 4 years at 0 to 40°C)
Internal fl ash memory 512KB (“ALL” data only)
6.1 Controller