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1. Controller basic specifications
Item
Applicable robots
Connectable motor
capacity
Power capacity
Basic
specifi cations
Dimensions
Weight
Power supply voltage
No. of controllable axes
Drive method
Position detection
method
Control method
Coordinate system
Axis control
Position display units
Speed setting
Acceleration/deceleration
setting
Program language
Multitask
Sequence program
Memory capacity
Programs
Programming
Points
Point teaching
Internal memory backup
Internal fl ash memory
External memory backup
1. Controller basic specifications
RCX221
YAMAHA single-axis robots, linear single-axis robots,
cartesian robots, P&P robots
Less than 800W (2 axes total)
1700VA
W130 × H210 × D158 mm
(main unit)
2.9kg (main unit)
Single phase 200 to 230V AC ±10% (50/60Hz)
2 axes maximum (simultaneous control: 2 axes)
AC full digital servo
Resolver, 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 to 100% (1% increments; setting can be changed by program)
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.)
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 is about 4 years at 0 to 40°C)
512KB (ALL data only)
SD memory card
RCX221 HP
800 to 1200W (2 axes total)
2400VA
W158 × H210 × D158 mm
(main unit)
3.1kg (main unit)
Chapter
8
8-1
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