ee RCX 141/RCX142 RCX141 and RCX142 are highly functional multt-axes controllers that can control up to 4 axes. RCX141 can control linear single axis robots as well a single axis cartesian robots of PHASER series and X series atthe same time, RCX142is a complete absolute model which requires no origin return function. Its absolute function retention time is doubled as compared with the conventional RCX40 model, assuring higher reliability and improved ease of use. a sity conto single axis and Cartesian robots of PHASER series /X series atthe same ime (RCx1) Capable of contoting the PHASER sores ara x serie oboe at the same time, Usable in sch way tat tna not been possible aeto arange the ngh spend PHASER saris fr tho XY sis and ho bal srow ive ‘ype X seis wih igh ust powar or the Z as ‘ x Qe Completely absolute (Rcx142) 6 Area check output function ‘Complete absolute specteation aun no eiin “his uneton provides an ouput signal when the obo ters preset rotun whan the power i turned ON. Owing > aa Upto four areas canbe species ‘improvement facut specication, te nurse of ‘auied ators hal of hat for be corvontonal reds ‘The data retention ue e680 hous (wce enger nan Our conventional modo) A resoNor i usa fr ho motor poston detector to provide high eal ana ‘ovronmant resistance Advanced interpolation control ‘Capebe tinerpoiation contol of wo ro vee imonsional sagt ines and srl aes. Ae ose ri antlers have te passing pt ap corto uncon that can un on ano general purpore cuput al specie points ore witout stopene ais OFF pevaton ay can be ‘eed eomenenty or Pa Sealing work ote tke, ‘bo, have contre ‘ave an aional PATH oo onto function wich Torque limiting drive P= ‘changed even whan “The oto taie canbe Sospeaie hanged mind wth th comand option The rt proves of IVE nator og errs Shapreeitg opera aes o! uso and supports {ho igh quay sang workNETWORK RCXMI/RCXH2 Guerra ' Opton une wih eer funevons nat canbe nite supporting CC-Link osna mace (© Ae conection othe robot sytem an the sequeneer owen regen wry ane oe) deealed cab, pot fo save virgo he one stom, men Inpwsieos tnaaesoecuses) ae aval forse ‘wells the peal 06 seace ae Winans uncton se propety sie sess te eorec Varove YO unit connected he sual Yo he thoy ae tos ol he Go-Lnk sytem GUIS TIrTnEmn (© Option unt wih nearing uneons tat ea ve Ineorperste in ara canon ROR ‘© As conection oe rbot yam anne sequencer owl toreauee weg afoot stom, leh "Spina oct wing wor resoton o e Rgeneal une recon Te descates ce Baputlertrckingtesiopesion fsa, Paes ibe helen nro petieereel \ndrssadwenr na peen wm aon ee soa a, taroutOune coweces She Susi (Oothe”| Sina Semazaimnana [santos Soebaens oases Sore tored eben yor =e sk CIE eee ‘© Sonmancatons nace vane won devees of Varaus WO unis connec the sural 10 he they ae Ue ote Protos ye, erat wen canbe reorparsina 9 YaNiASA obo —_ ‘ark operat by be TCP prsacel wih TOBASE=T cable ‘Mater ss exenange wth aang ea (© Sapaoia raking ss easy aceon fib TELNET terminal's {us (Windows Pos have abun T=LNET formal aed SELRETENE a taraan eguipren. possible te perorn niogatea farmaten cantotover robesOPTION RCXMI/RCXIA GEIS Tare “Thu aber the oganeratve curont rad when ey eagerly rae 5 ale specication 1 a Dee 300 re ca = Ox DESI “This module neoases othe maximum of 11272 generat purpose puto “A opr nt ding, wah =} ss ethempinent 2 eerbpvpare reseve ible ic “ie [Sa od mncannia_ Goal SSOSTOw ee saa eo. ce 2 ae} Basie specification [= ere — [ecwaceissmeeaAnerconeang = akon oals nator seta faresnvinr basa [wien ee OS Exc oe typen ck low wn be esos sch a C0, 2 Por eay sonnetants BC netweck Chtrat radu ca ao bo ad rection ofthe REX Comin “a epptestan esopeaion Fetoneate ‘Easter oroxraniee, Pet onerate Beau Roxie SOFTWARE VIP 2a ROR ROE Windows siprotenae Siinch/er arent Ua te b-iny man ia pean SRW ani nel AMAIA rene Soy PE dow ing 8 Data check function Qo Easy to use 0 Programming e: ‘Alltome necessary rbot poration The pogo ont paar, shit nd Provided ite ouvert data sxe epiayes ovale soven, Thee hand cen So esleg anima Pe shine. he eneccunclona ata 08 roteed Srementertermenssrucue so _—_fnchon bar anaing esy en oe obe, conta ts ossble {hattcan be east apoenon win mouse Ianguage and sure etn uncon ate Sener! gaia ors oor operaon, tel by ano Palen programa oreo 3 Robot operation 6 On-line editing 6 Help function {y connecting between a comput and Consing aPC anne convalrwih a you need sae dale ths Zonta asormumeston eat, commaneston cable rasa at fa om fomaton bat anuage te. reg she contoler ea ovate cote robo contest as wh MPENIOLES poston serie soy © EL ky [Sire way a8 MPBOIGP-C2 ‘Srecat eal maton on he ser (OVI environment (Ovir ordering method we Sse ot SS 2 NEC pe PaRCX141/RCX142 i — sT.010 0P.010 pt me PN [VONe [Signal name PIN _[UONs_[Signatname oxtat OKA a |p.cowpi—_|.cowo1 1 [ows Darnaosongr | Reserved 2 |Ncowo1—|Ncomo1 2 [on Seno ON ‘S210 _[ 0160te DAT [Genera nput aio aT 3 |ono Sequence cael “1e 18 [DI6D Te DIGT_[ Genera nput 601057 <_fonr into 191925 | igo O57 | General nour 6010 67 6 |ons [AUTO mode 287095 | D020 DONT |General cuit SOw AT 7 [one soa 35___[NcOVA__[NcOWA Jone MANUAL mega {8104 | DONO te DOAT| General eNO AT ie Jon? Rewriewrgn ——[ASSlue eset | wcove [NOM 111@ 1 [20 O17 | Senaral inp 201027 271050 [NC No coonasion Ta 25 [DIG0 wo 0157 [ Genealinea2ow 37 se: Open YO motu oxpeine WOKE sar 23 |[b001e | CPU OKIS contac SAFETY 2a [B01a GPU ORCA contac PIN | WEB connate BED ceed 30 [oo0es | Servo ON contac WONe. [Sinalnar TONe. [Signal nae ‘a1 |oo02a | Servo ON contact 1 [one |seAvice mode [02 [SERVICE mode 32 [boaae [Atm eortact 2 [we ne ne [Ne 33] 00038 | Abrm(A corte 3 [ENGI | Enoipengy song | EMGINT_|Emetperay depot 4 |oo10 _[AvTO mede 2 Pemanne |emeraneysooireu 2] EMGINZ [enone sep row ‘a oor Reumioargn congo [ne _|no. ENGNG | Energeey sep puts 36 |oore Sequence program in-pearese [Ne _]no- ENGINE [Enerneey se pw a7 [pore abet program in-rogrss 7 [we —|no. LORIN Enating sich nso ‘397048 [D020 © BOAT | General ouput 2010 27 awe |e. LEKINS [Ene wen insu ‘a7iae_|ocew —__[oC24V1P.COM DI a0 [No —|no LOK We Enetig sien neu 729/50 _|GND [GNDIN.COM DN ai [Peco _|ocw2av/PCOM DI | P.com —|5c.26V1P-cOM D) ‘Nw Fore wanda iO eww ra STD. O10, seniPNerPNPewaacaae 12 NCOM[GNDWCOW DN [NOW [GNOW.COW OD on Sante a an pcoM rmnalt sty comms 75 [EMG2AV | Eno won eu ssp) | EMG2AV [Enea up eu zy RGR SRB unl omc wh cow ra! Say 74 [EMGRDY | rose nA al EMGRDY [Frege sO al 1S [No [Reconnection [Noo connecionOAL General commands Parameter change ‘Command |Foneton ACOFL Change accolaton cots forall tes owes axe DECLARE | Speci latin shared extomal arearam ‘ARCH [Change ach poston pararter fo epecod axe DEFFN Detne user fncton "ARWGHT [Change up weight swareter for ses ans Dm ray variable dochraton wale [OMUNEIOFFLINE [change IS-252C communion mose FOR soa command [OUTPOS [Change ou este position for spociiod axe oss call svbrouine TOE [Change positing ioleance fr erected as aoTo. Cneonelonaly amp spaced aba WEIGHT [Change i weight pa HALT Stop ane est program exes FOL emporarly sop eoaram exeov07 Procedure TE THENELSE _[Conatonalbranch narucion ‘CALL [can eae proceare et Assignment sistent EXTSUB [end subsozedure ‘ON GOSUB | Catspeciod subroutine Sus, Dele aubsrocede ‘GN GOTO | Unconaionalyjonp eseseied el ‘SHARED [Deine conwron variables mb-pocedara ‘SELECT CASE [Exeete specied ack Task control Swi Sieh wnecon program CGHGPRI [Change operation weak priory ‘WHE [Cengional repeat neructon cur For end ask ‘SEHRNCTETSTANG [Deine label nae ATTA [Sao of ase RESTART [Restart onporafy stopped wat ‘STA Specie ask Robot movemen DANE PIP absolute movement of specied ods “MOVE P| PTP abso movement onal axes MOVEL [Trees dmension MOVEE epolion maverant ‘Puove | Inpuvoutput controt Error contro! “EAR |Eror ade foneton “GNERROR GOTO [ ump io ever process Tne RESUME [Resta program alr ear recov Point functions SOX ro ee oad data on spect pall na Ea DELAY [Standby tne oti WHERE ad curentebot patton Do Seectieg bt ouput apactd por xyTOs [Convert cartesian coordinate data ao pubs ala nO. Species bt ouput For nara mui pa RESET Species ouput OFF Arithmetic functions Ser Specfeg bt ouput rom epaoted pon wih Oneal 785 ARVN ATN(COS DEGRAD NT LSA. RADDEG ASAT NSORTAN eee in eee Character tring functions ‘CHAS, LEFT §,LEN, MID, ORD, RIGHTS, STAS VAL MPB control SEND COSSESURL ETT Sequence program input/output variables RS-232C communication support control ‘Command [Function SEND Taps to ape is rom conection part Bia input variable 0 ma) ouput varia MO (nb) eral avatar Coordinate control (nb) Fem ook eutt wri Gunce | TO mb) mer output variable CHANGE [change hand coordinate ayatom Toms RGHNEAT Sar ‘Sequence program logical operators ‘OR Logial OR Datettime setting “AND [ Kogan DATES, THER S, THER NOT, = Logieal NOTRCX141/RCX142 R- Pi -ct- <=- frost Picea Snare] florea foe tr aoe ee va fee ante ct Weary Fee | ie efi Sone] Secure te earnest 8 ons |, een eo Sree ie came neeenen2TEe She Cee eam meveeay ee (CO Rex141/1: lor Mode! Roxiai fRoxiae Foxe Diving syste [AC lial sone Poston caecion method eso, magnet ype ea sclo_[ Roser gin sonsorinput _ [eno Papin) mtn, Ah mon ea epoaton, ea s oaon 2 [csodnaes Tek corals, Caren omar 4 [Peston nacamn ons |b creo 4 [See srng 7 100 percent (eg by un Sarasa ne eA] ating based en ecloron and declan preter (1% oi etn,chargsbe by srograneing) Zine sont Zone cont (ptiran peed (Cotman speed stab ft am postin ont wih he SAMA ob) _| acer ot wm poston) oan Tenet ned hei [Aah mood gn om et Sai) Progam ravage Yahavia A816 (Corcrina JS B89 SLM Larguago 3 [nono ozo ET Frogams 129 prearem.e8mumines per program _S9%8 racrum apa pr PEO Poin Foarotod | MO\eeorinate dtp). Ore tachng Toad Hayek oo Tarra (aa Rpt For oa) viene Bacup iu bat soe years at 0 4 depos) g[st.00| women evra 1 po dodo np 9 pons NPAIPNP apes oD) 3 10 ape earerat up port dca oe 1 ports | SAFETY | ene sop [Roly conse z ‘Service made input | 1 point (NPNIPNP specification is set according to STD. DIO setting) 2 [irmwoaoa Fela conet B contat sensor for DOA connected 7R52526:1GH (D-SUB orale) ASH22 10H for PB oa) asim power consumption E Dimensions /Woiht W800 x D2 6 Power susp vllage| ‘Single phase AC200 o 230V,plu-minus To parce maximum, SONOHE = [essai — [ora Eg Storage temperature AGT 10 656 Baty or abet cna askon [Si eg ae a NG) DRI [Opten O10 General npa 24 points 1 madule, general utp 16 pois T rode T pedis i onpandibh fe mann (tis expandable otha maximum of 4 madulos. NPNIPNP selectable) | ot 2moaue. NPNPNP ela) 9 [eam Dedicated input 1 poms, dediesied output 77 pants Geferalinpu 9 pos, generl ouput 86 polis } [Deviconer Dedieatodinput 1 poms, desieatod output 7 points Generaingut 6 points, gonerl ouput 96 pons 8 Trove Dedicaodinput 11 poms dacosiod output 1 ports Goneralingut 96 pits, general cuput 98 pens Earn ‘Conforming te EEESG2 3, 1oMups (TOBASET Sofware for PC veDual-synchronous Equipped with tho dual dive function to contol 2axsin synchronization, which sf eletve use fo eatyng heavy hom and long stoke operation wih the Cartesian rtet. This funcion onatles good use of highspeed, accolratonisocleraton fates of te YAMAHA robots. ofr ans nen ate trp eit Fr mae ‘© Dual-synchronous drive example a oO Multitask function “This function execu mulpe lass (uptight ask) tiple tases wl sch with he testing method However, ‘priory ean be assigned 1 each task This pity ean aso bo ‘hanged whl tasks ae cunning. The muttask function smpliies tho ane eysten'scontel configuration and also imroves ho operation eleloncy (© Task scheduling a Timheadtne cath eben +i _pronty shifts 0 the RUN stare. 8 Sequence program In action to the standard tasks, a task ocontlinpuloutput (paral, ar, memory, timer ean be executed independent. ‘As the sequence program i efecive inthe manual mode as well its usable o construct the safety system Inked wih the persherl quipment robot control, auxiliary axis control By assigning the main and sb operations, double robot conta ean be handle. ‘ih a multask unt used togetner, ROX41/142 controller ‘enables advanced, smoot Inkage of 2 robots. Various options and extensive usage ROXI41/142 accommodates instalation of up 4 option ‘boards. The prati VO boards (NPN, PNP) and network aptons (CC-Link DevcaNet, Pofous, Ether ar selectable. Also, with ‘an exioral motor connected tis possible to install a mul-top ‘board whch enables exonsion of upto 6 axes (nse Frme maton tan ran pla cist YAMMA MOTOR C1) (@ Example of mult drop construction Qc Mai CE Marking compatible now models have boon added o our noup in sponse to various demand. YAMAHA Robots wil ‘ext higher pe‘ormance withthe new ROXIAT-EAACX142-.