*mydirectindustry

Controllers

Product catalog summary

Controllers Overview
An optimal controller can be selected from various command input formats, allowing for quick operation of robots without complex settings due to pre-registered servo parameters and deceleration patterns.

Product Lineup
The document lists various high-performance controllers supporting YAMAHA robots, including models like TS-S2, TS-SH, TS-X, TS-P, RCX221, RCX222, RCX240, RCX240S, RCX340, RDV-X, RDV-P, TS-SD, SR1-X, SR1-P, and ERCD. Each model supports different programming languages and command types, such as YAMAHA BASIC and SRC languages, and offers various functionalities like I/O point trace, remote command, and online command.

Key Features

Program Input: Supports a variety of operation settings, calculations, and conditional branching using YAMAHA SRC and BASIC languages.
Easy Setup: Complicated parameter settings are unnecessary as optimal values for servo parameters are pre-registered.
Multi-function and Expandability: Multi-axis controllers support up to 30,000 points and various field networks like CC-Link, DeviceNetTM, PROFIBUS, and EtherNet/IPTM.
Dedicated Pulse Train Control: Offers compact design and cost reduction, with enhanced response frequency and reduced position setting time.

Technical Specifications
The document provides detailed specifications for each controller model, including the number of points, number of programs, applicable networks, and compliance with CE standards. It also highlights features like real-time operation status monitoring and easy replacement due to consistent parameter settings and fastening-hole pitches.

Conclusion
YAMAHA controllers offer a range of functionalities and ease of use, making them suitable for various robotic applications. Their design allows for quick setup and operation, with support for multiple axes and expandability through various network options.

Specifications and Features
The document outlines the features of a control system designed for easy positioning and enhanced interoperability with control devices. Key functionalities include remote commands for direct manipulation of numerical data, a gateway function to reduce network costs, and a unified design for clean installation. Supported network connections include CC-Link, EtherNet/IP™, and PROFINET.

Installation and Design
The system features unified installation sizes for neat integration within control boards. It includes status indication lamps, communication connectors, and various I/O connectors. The absolute battery is easily replaceable from the front side, and DIN rail installation is standard on certain models.

Positioning and Output Functions
The system allows easy positioning by specifying a registered point number and starting the operation. It supports various output functions linked with positioning operations, such as zone output, near position output, and pressing status. Jog and point teaching functions are standard, enabling simple teaching systems.

Network and Remote Commands
The gateway function allows unified management of up to four I/O interfaces, reducing network costs. Remote commands enable direct handling of data, promoting unified data management. Consecutive queries allow real-time updates of status information, useful for monitoring and interoperation with peripheral devices.

Communication and Control
The system supports daisy-chain connections for managing up to 16 axes, with automatic device assignment for communication commands. The "KEYENCE PROTOCOL STUDIO Lite" software facilitates serial communication settings, supporting multiple languages. The system allows for multi-axis control and status monitoring without opening the control panel.

Additional Features
The document also describes torque limiting control, various command formats, and compact design improvements. It includes feedback pulse output functions, error history monitoring, and robot number management for simplified servo adjustments. The system supports multi-task functions and conditional stop functions during movement.

Torque Limiting Function: The document describes a torque limiting function that allows operations such as pushing and gripping workpieces. The torque can be limited using program commands or analog inputs, with up to four patterns available. The host unit manages the limiting time, and the status is monitored through torque limiting status output.

Movement Data Change Function: This function allows changes to movement speed or target position during operation, applicable only to the SR1 model. The speed can be adjusted between 1% to 100%, but changes are disabled in the deceleration zone.

Robot Vision System: The RCX series supports the YAMAHA robot vision "iVY System," which simplifies calibration and enhances versatility through image recognition. This system is integrated into the controller, reducing setup time.

Double-Carrier Anti-Collision Function: The controller prevents collisions between double carriers, eliminating the need for external sensors or zone judgments.

Interpolation Control: The document details 2D and 3D linear and circular interpolation controls for smooth and accurate operations, though 3D interpolation is not available in some models.

Compatibility and System Features: The RCX series is compatible with all YAMAHA robot models and supports a complete absolute position system, eliminating the need for return-to-origin procedures. The backup time for absolute data is extended to approximately one year.

Area Check Output Function: This function outputs I/O signals when the robot enters a predefined area, with up to eight areas configurable.

Dual-Drive Function: A custom order feature that synchronously controls two axes, beneficial for heavy workpiece transfers or long Y-axis strokes.

Multi-Task Function: Allows execution of up to eight tasks simultaneously, improving system efficiency by prioritizing tasks and enabling task changes during operation.

YC-Link System: This system links single-axis robot controllers with multi-axis controllers, allowing control of up to eight axes and simplifying maintenance by using a single controller for multiple robots.

Advanced Functionality: The RCX340 controller supports high-speed communication and synchronization of multiple robots, reducing costs and improving system precision.

Motion Optimization: The document highlights improvements in motion optimization, tracking accuracy, and compact design, enhancing robot performance and installation ease.

Support Software: New software, RCX-Studio Pro, offers improved visibility and operability for program debugging and robot operation.

Overview: The document provides detailed specifications and features of Yamaha robot controllers and associated equipment. It highlights the enhancements in programming capabilities, connectivity options, and ease of use for various robot models.

Key Features:

Multi-task Support: Enhanced functionality for multi-tasking with improved operability and program input support for quick setup.
Built-in Regenerative Unit: The regenerative unit is integrated, eliminating the need for additional units when connecting to existing robots.
Programming Capacity: The RCX240 and RCX340 controllers have increased program and point capacities, with the RCX340 supporting up to 30,000 points.
Language Support: The programming box supports Japanese, English, and Chinese, with a color display for better visibility.
Data Management: Controller data can be saved to USB memory, facilitating easy data management and transfer.

Programming Box PBX:

Includes emulator function and cycle time calculator.
Supports various monitor panel layouts and data comparison tools.
Facilitates easy function addition or editing, even for non-programmers.

Connectivity and Control:

Supports centralized control of robots through connections of up to four RCX340 controllers.
Standard RS-232C and Ethernet ports, with support for field buses like CC-Link, EtherNet/IP, DeviceNet, PROFIBUS, and PROFINET.
YC-Link/E allows multiple robots to be managed as if operated by a single controller, reducing setup labor costs.

Controller Specifications:

Various controllers are detailed, including RCX240, RCX340, and others, with specifications on operating methods, input power, origin search methods, and field network support.
Controllers support different robot types, including single-axis, Cartesian, SCARA, and pick & place robots.

Additional Equipment:

Details on electric grippers, linear conveyor modules, and other accessories are provided.
Support software for PCs and programming boxes are listed with their respective functionalities.

Basic Specifications
The ERCD is a controller designed for single-axis robots, specifically the FLIP-X series models T4L, T5L, C4L, and C5L. It supports a DC24V motor with a capacity of 30W or less. The dimensions are W44 × H166 × D117mm, and it weighs 0.45kg. The input power supply is DC24V with a tolerance of +/-10%, and it can handle a current of 3A to 4.5A depending on the robot in use.

Axis Control
The drive method is an AC full-digital software servo with a resolver for position detection. It operates in normal mode with point trace movement and program operation, or in pulse train mode. Speed and acceleration settings range from 1% to 100%, with a resolution of 16384 P/rev. The origin search method is incremental.

Programming and Memory
The ERCD uses YAMAHA SRC programming language and supports multitasking with up to 4 tasks. It allows for manual data input, direct teaching, and remote teaching. The memory includes 32 Kbytes of RAM with lithium battery backup, supporting up to 100 programs and 1000 points.

External Input/Output Interface
In normal mode, it has 8 dedicated input points and 6 general input points, with 3 dedicated output points and 6 general output points. In pulse train mode, it has 5 dedicated input points. The command pulse input supports various types and modes, with a maximum frequency of 2 Mpps.

Installation Conditions
The ERCD should be installed inside a control panel on a vertical wall in a well-ventilated location. The ambient temperature should be between 0°C and 40°C, and humidity should be 35% to 85% RH.

Options and Accessories
Standard accessories include a 24V power connector and I/O cables. Optional support software for PC, POPCOM+, facilitates robot operation and programming. A programming box, HPB/HPB-D, is available for manual operations and program editing.

General Specifications
The operating temperature range is 0°C to 40°C, with storage temperatures from -10°C to 65°C. It has noise resistance capacity according to IEC61000-4-4 Level 2 and includes protective functions against overload, overvoltage, and other issues.

Communication and Control
The ERCD supports RS-232C communication for external communications and includes various I/O connectors for sequence input and output, as well as pulse train input and output.

Specifications:
The document outlines the specifications for various robot controllers and motors. The maximum power consumption ranges from 400VA to 1400VA, with motor capacities from 100W to 600W. Dimensions and weights vary slightly between models, with the SR1-X and SR1-P models having specific dimensions and weights.

Power Supply:
The control and motor power supplies are single-phase AC with voltage options of 100 to 115V or 200 to 230V, with a tolerance of +/-10% and frequency of 50/60Hz.

Control and Detection:
The drive method is an AC full-digital software servo, with position detection using a multi-turn resolver or magnetic linear scale. Operating methods include programming, I/O point tracing, remote command, and RS-232C communication.

Programming and Memory:
The programming language used is YAMAHA SRC, supporting up to 4 multitasks and 100 programs with a total of 3000 steps. Point-data input can be manual or through direct teaching.

Input/Output:
The standard I/O includes dedicated and general input/output points, with emergency stop and brake output features. External communications are supported via RS-232C.

Options and Accessories:
Various options are available, including different input/output types (NPN/PNP, CC-Link, DeviceNetTM, PROFIBUS) and regenerative units for specific applications. Accessories include power connectors, safety connectors, and absolute batteries.

Installation and Environmental Conditions:
The controllers should be installed inside a control panel on a vertical wall with adequate ventilation. Operating temperature ranges from 0°C to 40°C, with humidity between 35% to 85% RH.

Safety and Communication:
Safety features include emergency stop inputs and interlock signals. Communication is facilitated through various connectors and options for network integration.

Programming Commands:
The document lists various programming commands such as MOVA, JMP, CALL, and others for controlling robot movements and operations.

Regenerative Units:
Specifications for regenerative units RG1 and RGU-2 are provided, including dimensions, weight, and voltage details.

Battery Replacement and Maintenance
The document advises replacing the absolute battery approximately every year, depending on usage conditions. The battery holder model is KBG-M5395-00, applicable to SR1-X, RCX222, and RCX240/S controllers.

Accessories and Options
Various accessories and options are available, including cables for monitor I/O, support software for PC (POPCOM+), and data cables for communication. The POPCOM+ software is compatible with Windows XP, Vista, 7, 8, and 8.1, and requires a processor and memory that meet or exceed the OS requirements.

Robot Controllers
The RCX221 and RCX222 are compact, space-saving robot controllers capable of controlling up to 2 axes. They support various robot types, including single-axis robots (FLIP-X), linear motor single-axis robots (PHASER), Cartesian robots (XY-X), and pick & place robots (YP-X).

Specifications
The controllers have a maximum power consumption of 1700VA to 2400VA, depending on the model, and require a single-phase AC200 to 230V power supply. They support multiple operating methods, including PTP, linear interpolation, and circular interpolation.

Programming and Memory
The controllers use YAMAHA BASIC programming language and support up to 8 multitasks. They have a memory capacity of 364KB, with 100 programs and 10,000 points maximum.

Installation and Safety
Installation requires a flat, level surface with adequate ventilation. The ambient temperature should be between 0 to 40°C, and humidity between 35% to 85% RH. Safety features include emergency stop inputs and outputs, with specific connection examples provided.

Regenerative Unit
The RG2 regenerative unit is applicable for certain models and is installed on the right side of the RCX221 (HP) and RCX222 (HP). It cannot be installed as a separate unit.

External Emergency Stop Circuit
This section describes the connection of an external emergency stop circuit when using the standard RPB. It includes details on the RPB and SAFETY connectors, internal control circuits, and motor drive circuits. The main power supply control circuit and control signal detection circuit are also outlined.

Power Supply Requirements
The document provides a table for power supply capacity based on robot type and number of axes. It includes axial current sensor values and corresponding power capacities for different axis configurations.

Motor Capacity and Current Sensor Table
This section outlines the relationship between connected motor capacity and current sensor values, with specific notes on motor output and sensor compatibility.

Standard I/O Signal Table
The document lists terminal numbers, signal names, and their functions for RCX221 and RCX222 models. It includes inputs and outputs for various operations such as servo control, program execution, and emergency stop monitoring.

Option I/O Signal Table
This section provides a similar table for optional I/O connections, detailing general inputs and outputs available for customization.

Robot Language and Commands
The document includes a comprehensive list of robot operation commands, I/O control functions, coordinate control, condition change, communication control, screen control, key control, procedure, task control, error control, path control, and torque control.

Standard Accessories
Details on standard accessories such as power connectors, safety connectors, RPB terminators, and absolute batteries are provided. Specifications for absolute batteries, including type, capacity, and data holding time, are included.

Options
The document describes optional equipment like programming boxes and support software for PCs, including compatibility with various operating systems.

Specifications
The document outlines the specifications for the RCX240 and RCX240S robot controllers. These controllers support up to 4 axes and are compatible with various robot types, including single-axis, Cartesian, and SCARA robots. The controllers require a single-phase AC200 to 230V power supply and have a maximum power consumption of 2500VA for the RCX240 and 1500VA for the RCX240S. The dimensions are W180 × H250 × D235mm, and they weigh 6.5kg.

Communication and Connectivity
Communication methods include RS-232C and Ethernet, with the requirement of an Ethernet unit for RCX series controllers. Data cables are available in USB and D-sub types, supporting Windows 2000/XP or later.

Programming and Control
The controllers use YAMAHA BASIC programming language and support up to 8 multitasks and 100 programs. They offer various operating methods, including PTP, linear interpolation, and circular interpolation. The position detection method includes a multi-turn resolver with data backup and a magnetic linear scale.

Memory and Backup
The memory capacity is 364KB, with a backup battery life of 4 years at 0°C to 40°C. Internal flash memory is 512KB.

Safety and Options
Safety features include emergency stop input and enabling switch input. Optional features include regenerative units, additional I/O points, and various network options like CC-Link and DeviceNet.

Installation and Environmental Conditions
The controllers should be installed inside a control panel on a flat surface with adequate ventilation. The operating temperature range is 0°C to 40°C, with humidity between 35% to 85% RH.

Additional Information
Instruction manuals and further details can be downloaded from the company's website. The document also includes tables for regenerative unit selection and power supply capacity based on robot type and configuration.

Overview: This document provides technical specifications and operational guidelines for multi-axis robots, including Cartesian and articulated robots. It covers power capacity, heat generation, sensor values, and connection configurations for different axis setups. Additionally, it details input/output signal connections, regenerative unit specifications, and safety protocols.

Specifications: The document outlines power capacity and heat generation for robots with 2, 3, and 4 axes. For example, a 4-axis robot with sensor values of 20 on each axis has a power capacity of 2500 VA and generates 113 W of heat. It also includes a table matching motor capacity with current sensor values.

Connection Procedures: Detailed instructions are provided for connecting input and output signals using NPN and PNP specifications. Examples include connections for emergency stop circuits and standard functions of the controller, such as operation modes and command functions.

Regenerative Unit Specifications: The document specifies dimensions, weight, and voltage requirements for RGU-2 and RGU-3 models. It emphasizes the need for a 20mm gap between the unit and adjacent controllers and the use of dedicated cables.

Safety and Emergency Protocols: Safety connector signals and emergency input signal connections are detailed, ensuring compliance with safety category class 4 standards. The document also describes the use of external circuits for controlling emergency stops.

Controller Functions: The document lists standard functions of the controller, including operation modes, command types, and variable management. It also covers task control, error handling, and communication control functions.

Programming and Commands: Various programming commands are explained, such as DECLARE, DIM, IF, and WHILE, along with robot operation commands like DRIVE and MOVE. The document also covers I/O control, coordinate control, and condition change functions.

Error Handling and Control Functions

Error Handling: The document outlines commands for error handling in programming, including the ability to jump to error processing routines or stop the program to display error messages. The 'RESUME' command allows program execution to continue after error recovery. 'ERL' and 'ERR' provide the line number and error code, respectively, where an error occurred.
Path Control: Commands such as 'PATH', 'PATH END', 'PATH SET', and 'PATH START' are used to manage the motion path on the main robot axis.
Torque Control: The 'DRIVE' command with a torque limit option executes movement commands, while 'TORQUE' and 'TRQTIME' adjust torque settings and time-out periods for the main group axis.

Robot Language and Accessories

Robot Types: The document lists various robot types, including articulated, single-axis, Cartesian, SCARA, and pick & place robots, along with their respective controllers and accessories.
Standard Accessories: Includes power connectors, safety connectors, terminators, and absolute batteries for data backup. Specifications for absolute batteries are provided, including type, capacity, and replacement guidelines.

Options and Specifications

Controller Options: Details on programming boxes, support software, and communication methods for robot controllers. The RCX340 controller is highlighted for its advanced functions and specifications, supporting up to 4 axes and various programming and control methods.
Environmental and General Specifications: Operating conditions, noise immunity, and protective structures are specified for the controllers and robots.
Ordering and Configuration: Instructions for selecting controller options, including safety standards, I/O board specifications, and communication protocols like EtherNet/IP, PROFIBUS, and DeviceNet.

Overview: This document provides a comprehensive guide to the RCX340 robot controller, detailing its commands, specifications, and accessories. It includes sections on general commands, arithmetic operations, date/time functions, character string operations, point and coordinate management, branching commands, error control, program control, task control, robot operations, status acquisition and change, path control, torque control, input/output control, and communication control.

General Commands: These include commands for declaring variables (DIM), executing assignments (LET), and adding comments (REM).

Arithmetic Commands: Commands such as ABS, ATN, COS, and SIN are used for mathematical operations, including acquiring absolute values, trigonometric functions, and conversions between degrees and radians.

Date/Time Functions: Commands like DATE$, TIME$, and TIMER are used to acquire current date and time information.

Character String Operations: Commands such as CHR$, LEFT$, and MID$ are used for manipulating character strings.

Point and Coordinate Management: Commands like CHANGE, HAND, and JTOXY manage robot hand settings and coordinate conversions.

Branching Commands: These include control flow commands like IF, GOTO, and SELECT CASE for conditional operations.

Error Control: Commands such as ERR/ERL and ON ERROR GOTO handle error detection and recovery.

Program Control: Commands like CALL, HALT, and SWI manage program execution and switching.

Task Control: Commands such as CHGPRI, EXIT TASK, and START manage task execution and priority.

Robot Operations: Commands like DRIVE, MOVE, and SERVO control robot movement and motor status.

Status Acquisition and Change: Commands such as ABSRPOS, CURTQST, and ACCEL acquire and set robot status parameters.

Path Control: Commands like PATH and PATH START manage robot motion paths.

Torque Control: Commands such as CURTQST and TORQUE manage torque settings and acquisition.

Input/Output Control: Commands like DELAY, DO, and WAIT manage input/output operations and conditions.

Communication Control: Commands such as CLOSE, ETHSTS, and SEND manage communication ports and data transmission.

Accessories and Options: The document lists standard accessories like power connectors, safety connectors, and absolute batteries, along with options like external power supply connectors and programming boxes. It also details the RCX-Studio Pro support software for PC, including system requirements and licensing information.

Installation Requirements
RCX-Studio Pro requires a communication port, which can be a serial communication port, Ethernet, or USB port. A USB key is also necessary for certain functionalities. The display should support a resolution of 1024×768 or higher with at least 256 colors. Additional hardware requirements include a CD-ROM drive and dedicated communication cables for D-Sub or USB, as well as an Ethernet cable of category 5 or higher.

Applicable Robot Controllers
The software is compatible with various robot controllers, including RCX340, LCC140, ERCD, SR1-X, SR1-P, RCX221, RCX222, and RCX240/S.

Data Cables
Communication cables for RCX-Studio Pro can be selected from USB or D-sub types. The USB cable supports Windows 2000/XP or later, and the data cable is jointly used for POPCOM+, VIP+, and RCX-Studio Pro.

Functional Limitations
The presence of a USB key affects certain functions such as connecting to the controller, saving file data, and using the emulator function. Without the USB key, some functionalities are limited.

Support Software for PC
TS-Manager is a support software that provides basic functions like point data editing and backup, real-time trace, various monitor functions, and operation simulation. It is compatible with controllers such as TS-S2, TS-SH, TS-X, TS-P, and TS-SD.

POPCOM+ and VIP+ Software
POPCOM+ and VIP+ are user-friendly applications for robot operation, program editing, and point teaching. They support various controllers and offer features like easy-to-use interfaces, program editing, data check functions, and help functions.

Communication and Data Management
Both POPCOM+ and VIP+ support communication via USB or D-sub cables, and they offer functionalities like drag & drop data operations, syntax coloring for program editing, and program execution monitoring.

Specifications:
1. Support Software for PC VIP+: Compatible with Windows 2000, XP, Vista, and 7 (both 32bit and 64bit). Requires a processor and memory that meet or exceed OS requirements, 40MB of hard disk space, and supports RS-232C and Ethernet communication.
2. Data Cables: Options include USB and D-Sub cables, both 5m in length.

Procedures and Features:
1. RDV-Manager Software: Dedicated to RDV-X/RDV-P controllers, it allows real-time monitoring, parameter setting, operation tracing, and offline auto-tuning. Compatible with Windows Vista, 7, 8, and 8.1.
2. RCX-Studio Pro Software: Supports RCX340 controller, offering emulator functionality, cycle time calculation, and integration with other simulators. Compatible with Windows XP, Vista, 7, 8, and 8.1.

Norms and Recommendations:
1. Emergency Stop and Safety Features: Devices like HT1/HT1-D and HPB/HPB-D include emergency stop buttons and enable switches for safety.
2. Programming Boxes: RPB/RPB-E and HPB/HPB-D allow for manual robot operation, programming, and parameter setting, with interactive displays for ease of use.

Key Components and Accessories:
1. Handy Terminal HT1/HT1-D: Features a graphic LCD display, emergency stop button, and data edit keys.
2. Programming Box HPB/HPB-D: Includes an LCD display, emergency stop button, and SD memory card slot for data backup.
3. Programming Box RPB/RPB-E: Offers a larger LCD display and supports RCX series controllers.

Critical Information:
1. Communication Methods: Ethernet communication requires an Ethernet unit for RCX series controllers.
2. Software Installation: USB drivers for communication cables can be downloaded from the manufacturer's website.
3. Safety and Compliance: Devices are designed with safety features like emergency stop buttons and enable switches, though CE marking is not supported for some models.

Display and Controls: The LCD display shows information with 8 lines of 40 characters each, and its contrast is adjustable. The control panel includes function keys, control keys, and data keys for operating the robot and entering programs. An emergency stop button is available for safety, and a 3-position enable switch is used for external safety circuits.

Programming Box (PBX/PBX-E): This device supports Japanese, English, and Chinese languages and features a color LCD for improved visibility. It allows easy operation and programming, even for users without programming skills. The PBX-E model includes a 3-position enable switch for safety. The programming box can save controller data to USB memory.

TS-Monitor: Integrated into the controller unit, the TS-Monitor displays operation status, current position, error information, and total operating time. It provides a bright, easy-to-read display and allows for easy scheduling of maintenance periods. The monitor shows status information, error messages, and I/O status at a glance.

Network Modules: The document details network modules for CC-Link, DeviceNet, and EtherNet/IP, specifying applicable controllers, communication speeds, and I/O points. These modules facilitate minimal wiring and efficient communication between devices.

Touch Operator Interface: The GP4000 Series interface allows users to check status and change settings without opening the control panel. It supports multiple languages and can connect up to 16 robot positioners. The interface provides diagnostic, I/O monitor, and information screens for easy troubleshooting and operation monitoring.

Overview: The document provides detailed technical specifications and options for Yamaha's iVY and iVY2 systems, which are integrated robot vision systems designed to enhance production line efficiency by eliminating manual teaching and positioning tasks.

iVY System Specifications:

Applicable Controllers: RCX240/RCX240S
Camera: Supports up to 2 double-speed compatible analog cameras with a resolution of 640x480 pixels.
Memory: 128MB SDRAM, 256MB miniSD card.
External Interface: Ethernet (100BASE-TX).
Functions: Includes position offset, auto registry of point data, and planned ID recognition for QR-Code and DataMatrix.

Lighting Control Board:

Supports up to 2 lighting units with PWM control and stroboscopic light options.
Lighting power input options are 12VDC or 24VDC.

Tracking Board:

Supports up to 2 encoder units with a maximum response frequency of 2MHz.
Includes a broken wire detect function.

iVY2 System Specifications:

Applicable Controllers: RCX340
Camera: Supports GigE cameras with resolutions up to 5,000,000 pixels.
Power Supply: DC24V +/-10% 1.5A Max.
Functions: Position detection and automatic point data generation.

Options and Accessories:

Includes various boards, cables, lenses, and software support tools like iVY Studio for system setup and monitoring.
Standard lenses and close-up rings are available for different viewing angles and working distances.

System Configuration: Illustrations provide examples of system setups, including connections for cameras, lighting, and tracking boards.

Additional Information: Instruction manuals and further details can be accessed via Yamaha's official website.

Specifications Overview
The document provides detailed specifications for various models of YRG series robotic grippers, including YRG-2005SS, YRG-2010S, YRG-2815S, YRG-4225S, YRG-2005W, YRG-2810W, YRG-4220W, YRG-2020FS, YRG-2840FS, YRG-2020FT, and YRG-2840FT. Each model is described with its holding power, speed, weight, and allowable load and moments.

Installation and Operation Guidelines
1. Ensure the finger is securely held when installing or uninstalling to avoid excessive force on the guide block.
2. The workpiece weight should be approximately 1/10 to 1/20 of the holding power.
3. Avoid extreme winding of cables and secure them to prevent movement.

Allowable Load and Moment
Each model has specific allowable loads and moments for pitching, yawing, and rolling. These must not be exceeded to ensure proper operation.

Gripping Power Settings
Graphs are provided to illustrate the relationship between gripping power and its setting percentage. Variations in actual gripping power may occur.

Design Recommendations
1. Design fingers to be short and lightweight.
2. Set parameters to prevent excessive shock during operation.

Contact Information
For further details on combinations of holding length and overhang, contact your YAMAHA sales dealer.

Specifications and Parameters:
The document outlines the specifications for various YRG series robotic grippers, including models YRG-2020FT, YRG-2840FT, YRG-2004T, YRG-2013T, YRG-2820T, and YRG-4230T. Key parameters include allowable load, pitching, yawing, and rolling moments, as well as maximum weight and holding positions. The gripping power is adjustable from 30% to 100% in 1% increments, with speed and acceleration controls also adjustable in similar increments.

Installation and Operation Notes:
It is crucial to set parameters to avoid excessive shock to the fingers during operation. When installing or uninstalling fingers, bolts should be tightened securely to prevent force on the guide block. The weight of the workpiece should be designed to be approximately 1/10 to 1/20 of the holding power.

Load and Moment Calculations:
The document provides formulas for calculating load (F) and moment (M) based on external forces and the distance from the finger installation surface. These calculations are essential for ensuring the gripper operates within its specified limits.

Gripping Power Graphs:
Graphs illustrate the relationship between gripping power and its setting percentage, showing variations in actual gripping power across different models.

Electric Gripper Specifications:
The electric gripper specifications include details on axis control, position detection, speed settings, and protective alarms. The grippers are compatible with RCX240/RCX240S and RCX340 controllers, supporting up to 4 units.

Accessories and Options:
Standard accessories include gripper control boards, robot cables, relay cables, and connectors for power supply and emergency stop. The document emphasizes the importance of cable management to prevent excessive force on the cable roots.

Catalog excerpts

Product Lineup CONTROLLERS An optimal controller can be selected from various command input formats. As servo parameters and deceleration patterns suitable for robots are pre-registered, robots can be operated quickly without complex settings.

Open the catalog to page 1

High performance controllers supporting YAMAHA robots TRANSERVO Stepping motor • I/O point trace • Remote command • Online command [T4L/T5L] Small type servomotor (24 V • 30 W) Linear motor • Pulse train Program •(YAMAHA SRC language) • I/O point trace • Remote command • Online command Program •(YAMAHA BASIC language) • I/O command • Remote command • Online command Program •(YAMAHA BASIC language) • I/O command • Remote command • Online command Five or more axes can also be supported RCX240 YC-LINK couples single-axis controllers to a 4-axis controller Note : Up to four SR1 series controllers...

Open the catalog to page 2

Product Lineup Program input | A variety of operation settings, calculations, and conditional branching is possible The single-axis robot controllers use the YAMAHA SRC language Note which is simple yet contains all required functions, such as I/O outputs and conditional branching, etc. The multi-axis controller RCX series uses the YAMAHA BASIC language capable of more sophisticated programming and includes all types of arithmetic operations, flexible variable settings, and various conditional branching, etc. Both are easy to use robot language conforming to the BASIC. These languages support...

Open the catalog to page 3

Easy optimal setup Complicated parameter settings are unnecessary Robot controllers are specially designed for YAMAHA robots. Optimal values for servo parameters required for robot operation, such as gain are already registered beforehand. Start operating immediately without any need for complicated settings or tuning, even if you don't have knowledge or experience about control. Servo amp Yamaha controller Control device and motion unit Gain adjustment (tuning) Motion 2. parameter settings Return-to-origin 3. System construction Control device Specify payload mass Servo parameter adjustment...

Open the catalog to page 4

Product Lineup ControllersPOINT 3 Multi-function and expandability ■ Multi-axis controllers support up to 30,000 points (10,000 points for the RCX2 series, 1,000 points for the single-axis controller (255 points for the TS series)). Up to 100 programs can be created on each controller. ■ Various field networks, CC-Link, DeviceNet™, PROFIBUS, and EtherNet/IP™ are supported. Note. Some models do not support all networks. ■ The TS series, RD series, SR1 series, and RCX series use a dual-power supply system with separate control power supply and power supply. ■ As the controllers conform to the CE...

Open the catalog to page 5

Note 1. The STH type vertical specifications and RF type sensor specifications do not support the TS-SD. Note 2. SG07 is only applicable to TS-SH. [Robot driver] Operation method | Pulse train input driver dedicated to "TRANSERVO" A robot driver dedicated to the pulse train input for "TRANSERVO". | Torque decrease in high-speed area is suppressed As a vector control method is used, the torque decrease in highspeed area is small and high-speed operation even with high payload can be performed. This greatly contributes to shortening of the tact time. | Excellent silence High-pitched operation sounds...

Open the catalog to page 6

Product Lineup P.492 TRANSERVO TS-X/TS-P P.492 FLIP-X PHASER [Robot positioner] Operation method Operation method Design that allows a clean installation | Unified installation sizes Height and installation pitch are unified throughout the series. Units can be installed neatly within the control board. Absolute battery is neatly accommodated The absolute battery is stored inside the unit. Replacement can be performed easily from the front side. (TS-X and TS-SH supported) TS-X DIN rail installation On-board installation is made easy by the DIN rail installation mechanism that is standard on the...

Open the catalog to page 7

| "Positioner function" for easy positioning | Consecutive operation, linked operation You can easily perform positioning operations by specifying the number of a point that is registered in the data, and entering a start command. By specifying a branch destination, it is possible to execute positioning operations consecutively. Additionally, by specifying linked operation, operation with the branch destination can be executed while changing the speed without positioning stops; this allows control programming to be simplified and takt to be shortened. If jog input is within a specific time, inching...

Open the catalog to page 8

Product Lineup Remote commands are functions by which the control device can directly handle data such as points and parameters using the word area of the field network. Numerical data can be operated directly by using the word area. This promotes unification of data management. O: Parallel processing possible y Parallel processing is possible/ Big "Gateway function" — a new way to connect | Decrease network cost One controller equipped with a field network board can provide unified management of up to four I/O interfaces via a daisy-chain connection. This allows network cost to be decreased...

Open the catalog to page 9

Daisy chain connection No need to connect or disconnect cables during operation (up to 16 units) From a single PC, handy terminal, or touch-panel display, it is possible to specify point data and parameters, perform operations, and monitor the status for up to 16 axes on daisy-chained controllers. For everything from design to maintenance, a connection to only the first controller is sufficient; any desired controller can be accessed simply by switching the station number, without having to connect or disconnect cables. Pro-face touch-panel Communication commands An easily handled command protocol...

Open the catalog to page 10

Product Lineup [Single-axis robot controller] Operation method | Various command methods An optimal method can be selected from various command methods, such as program, point trace, remote command, and online command. The program uses the YAMAHA SRC language that is similar to the BASIC. Various operations, such as I/O output and conditional branching, etc. can be executed using simple operations. | Applicable to complete absolute position system The SR1-X is applicable to complete absolute position system. No return-to-origin is needed. (The backup period is one year in the non-energizing state.)...

Open the catalog to page 11

All Yamaha Motor Co.,Ltd. catalogs and technical brochures

Archived catalogs

YAMAHA ROBOT CATALOG 2020/2021
673 Pages