Specifications

APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robots
FLIP-X
Linear motor
single-axis robots
PHASER
Cartesian
robots
XY-X
SCARA
robots
YK-XG
Pick & place
robots
YP-X CLEAN
CONTROLLER
INFORMATION
399
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
RCX221/RCX222
Standard I/O [connector name: STD. DIO] signal table
Terminal
number
Signal
name
Name
RCX221 RCX222
1DI01 Servo ON
2 DI10 Sequence program control
3 DI03 Step run
4 CHK1 Check input 1
5 DI05 I/O command run
6DI06 Spare
Note 1
7DI07 Spare
Note 1
8 DI20 General input 20
9 DI21 General input 21
10 DI22 General input 22
11 DI23 General input 23
12 DI24 General input 24
13 DI25 General input 25
14 DI26 General input 26
15 DI27 General input 27
16 DO00 EMG monitor (emergency stop monitor)
17 DO01 CPU OK
18 DO10 AUTO mode
19 DO11 Return-to-origin complete
20 DO12 Sequence program in progress
21 DO13 Auto operation in progress
22 DO14 Program reset output
23 DO15 Battery alarm output
Note 2
24 DO16 END
25 DO17 BUSY
26 DI12 Auto operation start
27 DI13 AUTO mode switching
28 DI14
ABS reset
(Not in use normally)
Return-to-origin
Note 3
29 DI15 Program reset
30 DI16 MANUAL mode
31 DI17
Return-to-origin
(In use normally)
ABS reset
Note 4
32 DI30 General input 30
33 DI31 General input 31
34 DI32 General input 32
35 DI33 General input 33
36 DI34 General input 34
37 DI35 General input 35
38 DI36 General input 36
39 DI37 General input 37
40 CHK2 Check input 2
41 DO02 Ser vo-on state
42 DO03 Alarm
43 DO20 General output 20
44 DO21 General output 21
45 DO22 General output 22
46 DO23 General output 23
47 DO24 General output 24
48 DO25 General output 25
49 DO26 General output 26
50 DO27 General output 27
Use of DI06, DI07 is prohibited.Note 1.
DO15 is a memory backup battery voltage drop alarm output.Note 2.
Set origin return for axes using incremental specifi cations and axes using semi-absolute Note 3.
specifi cations.
Set origin return on axes using absolute specifi cations.Note 4.
Area check output can be assigned to DO20 to DO27.
(Area check output assignment differs depending on the controller software version. See the user’s manual
for details.)
Option I/O [connector name: OP. DIO] signal table
Terminal
number
Signal
name
Name
1– Spare
2DI40 General input
3– Spare
4DI41 General input
5– Spare
6– Spare
7– Spare
8DI50 General input
9DI51 General input
10 DI52 General input
11 DI53 General input
12 DI54 General input
13 DI55 General input
14 DI56 General input
15 DI57 General input
16 – Spare
17 – Spare
18 DO30 General output
19 DO31 General output
20 DO32 General output
21 DO33 General output
22 DO34 General output
23 DO35 General output
24 DO36 General output
25 DO37 General output
26 DI42 General input
27 DI43 General input
28 DI44 General input
29 DI45 General input
30 DI46 General input
31 DI47 General input
32 DI60 General input
33 DI61 General input
34 DI62 General input
35 DI63 General input
36 DI64 General input
37 DI65 General input
38 DI66 General input
39 DI67 General input
40 – Spare
41 – Spare
42 – Spare
43 DO40 General output
44 DO41 General output
45 DO42 General output
46 DO43 General output
47 DO44 General output
48 DO45 General output
49 DO46 General output
50 DO47 General output
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/