Controller; Basic Specifications; Rcx240 - Yamaha CEmarking RCX240 Supporting Supplement Manual

6.1 Controller

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CAUTION
Specifi cations and appearance are subject to change without prior notice.

6.1.1 Basic specifications

6.1.1.1 RCX240

Item
Applicable robots
Connected motor capacity
Basic
Power capacity
specifications
Dimensions
Weight
Power supply voltage
No. of axes
Drive method
Position detection
method
Control method
Coordinate systems
Axis control
Position display units
Speed setting
Acceleration/
deceleration setting
Program language
Multitask
Sequence program
Memory size
Programming Program
Point
Point teaching
Internal memory backup
Internal fl ash memory
RCX240
YAMAHA single-axis robots, linear single-axis robots, cartesian
robots, SCARA robots (except YK120X and YK150X), P&P robots
1600W or less (in total for 4 axes)
2500VA
W180 × H250 × D235 (main unit)
6.5kg (main unit)
Single phase 200 to 230V AC ±10%, 50/60Hz
4 axes maximum (simultaneous control: 4 axes)
AC full digital servo
Resolver or magnetic linear scale
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)
512KB ("ALL" data only)
Chapter 6 SPECIFICATIONS
6.1 Controller
RCX240S
800W or less (in total for 4 axes)
1500VA
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