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
407
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
RCX240
SAFETY connector signals
Terminal
number
RPB connected RPB-E connected
I/O No. Name I/O No. Name
1 DI02 SERVICE mode DI02 SERVICE mode
2 MP READY Motor power ready signal MP READY Motor power ready signal
3 E-STOPIN 1 Emergency stop input 1 E-STOPIN 1 Emergency stop input 1
4 E-STOPIN 2 Emergency stop input 2 E-STOPIN 2 Emergency stop input 2
5 NC NC E-STOPIN 3 Emergency stop input 3
6 NC NC E-STOPIN 4 Emergency stop input 4
7 NC NC LCKIN 1 Enabling switch input 1
8 NC NC LCKIN 2 Enabling switch input 2
9 NC NC LCKIN 3 Enabling switch input 3
10 NC NC LCKIN 4 Enabling switch input 4
11 P.COM DC+24V (P.COM DI) P.COM DC+24V (P.COM DI)
12 N.COM GND (N.COM DI) N.COM GND (N.COM DI)
13 E-STOP 24V Emergency stop input supply E-STOP 24V Emergency stop input supply
14 E-STOPRDY Emergency stop READY signal E-STOPRDY Emergency stop READY signal
15 NC NC NC NC
Connector input / output signals
Standard functions of the controller
Function Description
Operation mode
Automatic mode (main task: execution of program, execution of step), Program mode (main task: creation of program),
Manual mode (main task: jog movement, point teaching), System mode (main task: parameter editing, data initialization),
Utility mode (main task: operation of motor power source)
Command
Array declarator command (DIM statement), Assignment command (numeric value assignment statement, character string
assignment statement, point defi nition statement), Movement related command (MOVE statement, DRIVE statement,
PMOVE statement), Condition branching command (IF statement, FOR statement, WHILE statement), External output
command (DO statement, MO statement, LO statement, TO statement, SO statement), Parameter command (ACCEL
statement, OUTPOS statement, TOLE statement), Task related command (START statement, SUSPEND statement, CUT
statement), Condition wait command (WAIT statement), etc.
Function
Arithmetic function (SIN function, COS function, TAN function), Character string function (STR$ function, LEFT$ function,
MID$ function, RIGHT$ function), Point function (WHERE function, JTOXY function, XYTOJ function), Parameter function
(ACCEL statement, OUTPOS statement, TOLE statement), etc.
Variable
Simple variable (integer type variable, real number type variable, character string type variable), Array variable (integer type
variable, real number type variable, character string type variable), Point variable, Shift variable, Element variable (point
element variable, shift element variable), Input/output variable, etc.
Operator
Arithmetic operator (+, -,
, /, MOD), Logical operator (AND, OR, XOR),
Comparison operator (=, <, >, <>, <=, >=)
Monitor Monitor of input/output (200ms interval)
On-line command
Key operation command (AUTO, RUN, RESET, STEP), Data handling command (READ, WRITE, ?VER, ?CONFIG), Utility
command (COPY, ERA, INIT), Robot language command (independently executable command)
Data fi le Program, Point, Parameter, Shift, Hand, All, Error history, etc.
Internal timer 10ms interval
Program break point 4 points at maximum
PIN I/O No. Name Note
1 DI05
I/O command execution trigger input
Common terminal
: P.COMDI
N.COMDI
‹
Photo-coupler input
›
NPN specifi cation
: Source type
PNP specifi cation
: Sink type
2 DI01 Servo ON input
3 DI10 Sequence control
4 DI11 Interlock
5 DI12 Program start
6 DI13 AUTO mode input
7 DI14 Return-to-origin
8 DI15 Program reset
9 DI16 MANUAL mode input
10 DI17 Absolute reset / Return-to-origin
11 DI20 General input 20
12 DI21 General input 21
13 DI22 General input 22
14 DI23 General input 23
15 DI24 General input 24
16 DI25 General input 25
17 DI26 General input 26
18 DI27 General input 27
19 DI30 General input 30
20 DI31 General input 31
21 DI32 General input 32
22 DI33 General input 33
23 DI34 General input 34
24 DI35 General input 35
25 DI36 General input 36
26 DI37 General input 37
PIN I/O No. Name Note
27 COMMON Relay common
‹
Relay output
›
Maximum capacity of each
terminal (resistance load)
: DC 24V 0.5A
Common terminal
: COMMON
28 DO01b CPU_OK (B contact)
29 DO01a CPU_OK (A contact)
30 DO02b Servo ON output (B contact)
31 DO02a Servo ON output (A contact)
32 DO03b Alarm (B contact)
33 DO03a Alarm (A contact)
34 DO10 AUTO mode output
35 DO11 Return-to-origin complete
36 DO12 Sequence program in-progress
37 DO13 Robot program in-progress
38 DO14 Program reset
39 DO20 General output 20
‹
Transistor output
›
NPN specifi cation or PNP
specifi cation Maximum
capacity of each terminal
(resistance load) : 0.1A
+Common terminal : DC+24V
- Common terminal : GND
40 DO21 General output 21
41 DO22 General output 22
42 DO23 General output 23
43 DO24 General output 24
44 DO25 General output 25
45 DO26 General output 26
46 DO27 General output 27
47
DC24V DC+24V (P.COMDI)
External power supply
input
48
49
GND GND (N.COMDI)
50
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/robot/