Field Networks (RCX320/340)
Robot positioner RCX221/222 is applicable to the field networks CC-Link, DeviceNet, PROFIBUS..
RCX221/222 : CC-Link, DeviceNet, PROFIBUS
| Item | Network modules CC-Link |
|---|---|
| Applicable controllers | RCX221 / RCX222 / RCX320 / RCX340 |
| Version supporting CC-Link | Ver. 1.10 |
| Remote station type | Remote device node |
| Number of occupied stations | Fixed to 4 stations |
| Station number setting | 1 to 61 (Set from the programming box or support software) |
| Communication speed setting | 10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps (set from the Rotary swich on board) |
| No. of CC-Link I/O Note1 | General input 96 points, General output 96 points, Dedicated input 16 points, Dedicated output16 points |
| Parallel external I/O Note2 | A function that simulates serial communication enables individual control of the various points from a master sequencer, regardless of the robot program. |
| Shortest distance between nodes Note3 | 0.2 m or more |
| Overall length Note3 | 100m/10Mbps, 150m/5Mbps, 200m/2.5Mbps, 600m/625Kbps, 1200m/156Kbps |
| Monitor LED | RUN, ERR, SD, RD |
- Note1.
- In case of RCX221/RCX222, the controller I/Os are updated every 10ms.
For RCX 340, the controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
- Note2.
- With RCX 141/142, the exclusive input of the parallel I/O cannot be used other than the interlock input.With RCX221 / 222, the exclusive input of the parallel I/O cannot be used. (The interlock input terminal is located on the SAFETY connector side.)
- Note3.
- These values apply when a cable that supports CC-Link Ver.1.10 is used.
| Item | Network modules DeviceNet™ | |
|---|---|---|
| Applicable controllers | RCX221 / RCX222 / RCX320 / RCX340 | |
| Applicable DeviceNet™ specifications | Volume 1 Release2.0 / Volume 2 Release2.0 | |
| Device Profile Name | Generic Device (device number 0) | |
| Number of occupied CH Note1 | Normal: Input/output 24ch each, Compact: Input/output 2ch each | |
| MAC ID setting | 0 to 63 | |
| Transmission speed setting | 500Kbps, 250Kbps, 125Kbps (set using DIP switch on board) | |
| DeviceNet™ I/O Note2 | Normal | General input 96 points, General output 96 points, Dedicated input 16 points, Dedicated output 16 points |
| Compact | General input 16 points, General output 16 points, Dedicated input 16 points, Dedicated output 16 points | |
| Parallel external I/O Note3 | The master module and up to four ports can be controlled regardless of the robot program by using the pseudoserialization function. | |
| Network length | Overall length Note4 | 100m/500Kbps, 250m/250Kbps, 500m/125Kbps |
| Branch length / Overall branch length | 6m max./39m max., 6m max./78m max., 6m max./156m max. | |
| Monitor LED | MS (Module Status), NS (Network Status) | |
- Note1.
- Use the robot parameter to select Normal or Compact. However, with the controllers earlier than Ver.9.08 of RCX221 / 222, this selection is not available and the setting remains the same as Normal.
- Note2.
- In case of RCX221/RCX222, the controller I/Os are updated every 10ms.
For RCX 340, the controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
- Note3.
- With RCX221 / 222, the exclusive input of the parallel I/O cannot be used. (The interlock input terminal is located on the SAFETY connector side.)
- Note4.
- These values apply when a thick cable is used. The distance is less when a fine cable is used or when thick and fine cables are mixed in use.
Basic specifications for network modules
| Item | Network modules PROFIBUS |
|---|---|
| Applicable controllers | RCX221 / RCX222 / RCX320 / RCX340 |
| Communication profile | PROFIBUS-DP slave |
| Number of occupied nodes | 1 node |
| Setting of station address | 1 to 99 (set using Rotary switch on board) |
| Setting of communication speed | 9.6Kbps, 19.2Kbps, 93.75Kbps, 187.5Kbps, 500Kbps, 1.5Mbps, 3Mbps, 6Mbps, 12Mbps (automatic recognition) |
| PROFIBUS I/O Note1 | General input 96 points, General output 96 points, Dedicated intput 16 points, Dedicated output 16 points |
| Parallel external I/O Note2 | The master module and up to four ports can be controlled regardless of the robot program by using the pseudoserialization function. |
| Overall length | 100m/3M·6M·12Mbps, 200m/1.5Mbps, 400m/500Kbps, 1000m/187.5Kbps, 1200m/9.6K·19.2K·93.75Kbps |
| Monitor LED | RUN, ERR, SD, RD, DATA-EX |
- Note1.
- In case of RCX221/RCX222, the shortest I/O update interval of the controller is 10ms but the actual I/O update time varies depending on the update time with the master station.
For RCX 340, the controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
- Note2.
- With RCX221 / 222, the exclusive input of the parallel I/O cannot be used. (The interlock input terminal is located on the SAFETY connector side.)
RCX320/340 : CC-Link, DeviceNet, PROFIBUS, Ethernet, EtherNet/IP, PROFINET, EtherCAT
| Item | Network modules CC-Link |
|---|---|
| Applicable controllers | RCX221 / RCX222 / RCX320 / RCX340 |
| Version supporting CC-Link | Ver. 1.10 |
| Remote station type | Remote device node |
| Number of occupied stations | Fixed to 4 stations |
| Station number setting | 1 to 61 (Set from the programming box or support software) |
| Communication speed setting | 10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps (set from the Rotary swich on board) |
| No. of CC-Link I/O Note1 | General input 96 points, General output 96 points, Dedicated input 16 points, Dedicated output16 points |
| Parallel external I/O Note2 | A function that simulates serial communication enables individual control of the various points from a master sequencer, regardless of the robot program. |
| Shortest distance between nodes Note3 | 0.2 m or more |
| Overall length Note3 | 100m/10Mbps, 150m/5Mbps, 200m/2.5Mbps, 600m/625Kbps, 1200m/156Kbps |
| Monitor LED | RUN, ERR, SD, RD |
- Note1.
- In case of RCX221/RCX222, the controller I/Os are updated every 10ms.
For RCX320 / 340, the controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
- Note2.
- With RCX 141/142, the exclusive input of the parallel I/O cannot be used other than the interlock input.With RCX221 / 222, the exclusive input of the parallel I/O cannot be used. (The interlock input terminal is located on the SAFETY connector side.)
- Note3.
- These values apply when a cable that supports CC-Link Ver.1.10 is used.
Basic specifications for network modules
| Item | Network modules DeviceNet™ | |
|---|---|---|
| Applicable controllers | RCX221 / RCX222 / RCX320 / RCX340 | |
| Applicable DeviceNet™ specifications | Volume 1 Release2.0 / Volume 2 Release2.0 | |
| Device Profile Name | Generic Device (device number 0) | |
| Number of occupied CH Note1 | Normal: Input/output 24ch each, Compact: Input/output 2ch each | |
| MAC ID setting | 0 to 63 | |
| Transmission speed setting | 500Kbps, 250Kbps, 125Kbps (set using DIP switch on board) | |
| DeviceNet™ I/O Note2 | Normal | General input 96 points, General output 96 points, Dedicated input 16 points, Dedicated output 16 points |
| Compact | General input 16 points, General output 16 points, Dedicated input 16 points, Dedicated output 16 points | |
| Parallel external I/O Note3 | The master module and up to four ports can be controlled regardless of the robot program by using the pseudoserialization function. | |
| Network length | Overall length Note4 | 100m/500Kbps, 250m/250Kbps, 500m/125Kbps |
| Branch length / Overall branch length | 6m max./39m max., 6m max./78m max., 6m max./156m max. | |
| Monitor LED | MS (Module Status), NS (Network Status) | |
- Note1.
- Use the robot parameter to select Normal or Compact. However, with the controllers earlier than Ver.9.08 of RCX221 / 222, this selection is not available and the setting remains the same as Normal.
- Note2.
- In case of RCX221/RCX222, the controller I/Os are updated every 10ms.
For RCX320 / 340, the controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
- Note3.
- With RCX221 / 222, the exclusive input of the parallel I/O cannot be used. (The interlock input terminal is located on the SAFETY connector side.)
- Note4.
- These values apply when a thick cable is used. The distance is less when a fine cable is used or when thick and fine cables are mixed in use.
| Item | Network modules PROFIBUS |
|---|---|
| Applicable controllers | RCX221 / RCX222 / RCX320 / RCX340 |
| Communication profile | PROFIBUS-DP slave |
| Number of occupied nodes | 1 node |
| Setting of station address | 1 to 99 (set using Rotary switch on board) |
| Setting of communication speed | 9.6Kbps, 19.2Kbps, 93.75Kbps, 187.5Kbps, 500Kbps, 1.5Mbps, 3Mbps, 6Mbps, 12Mbps (automatic recognition) |
| PROFIBUS I/O Note1 | General input 96 points, General output 96 points, Dedicated intput 16 points, Dedicated output 16 points |
| Parallel external I/O Note2 | The master module and up to four ports can be controlled regardless of the robot program by using the pseudoserialization function. |
| Overall length | 100m/3M·6M·12Mbps, 200m/1.5Mbps, 400m/500Kbps, 1000m/187.5Kbps, 1200m/9.6K·19.2K·93.75Kbps |
| Monitor LED | RUN, ERR, SD, RD, DATA-EX |
- Note1.
- In case of RCX221/RCX222, the shortest I/O update interval of the controller is 10ms but the actual I/O update time varies depending on the update time with the master station.
For RCX320 / 340, the controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
- Note2.
- With RCX221 / 222, the exclusive input of the parallel I/O cannot be used. (The interlock input terminal is located on the SAFETY connector side.)
EtherNet
Basic specifications for network modules| Item | Network modules Ethernet |
|---|---|
| Applicable controllers | RCX320 / RCX340 |
| Network specification | As specified for Ethernet (IEEE802.3) |
| Connector specification | RJ-45 connector (8-pole modular connector) 1 port |
| Baud rate | 10Mbps (10BASE-T) |
| Communication mode | Half Duplex (Half-duplex) |
| Network protocol | Application layer: TELNET / Transport layer: TCP / IP Network layer: IP, ICMP, ARP / Data link layer: CSMA/CD / Physical layer: 10BASE-T |
| Number of simultaneous log inputs | 1 |
| Setting of IP address, etc. | Set from RPB |
| Monitor LED | Run, Collision, Link, Transmit, Receive |
| Item | Network modules EtherNet/IP™ | ||
|---|---|---|---|
| Controller model | RCX320/RCX340 | ||
| Network specifications | Conforms to Ethernet (IEEE 802.3). | ||
| Applicable EtherNet/IP™ specifications | Volume 1 : Common Industrial protocol (CIP™) Edition 3.14 Volume 2 : EtherNet/IP™ Adaptation Edition 1.15 |
||
| Device type | Generic Device (Device No. 43) | ||
| Data size | 48 bytes each for input /output | ||
| Transmission speed | 10 Mbps/100 Mbps | ||
| Connector specifications | RJ-45 connector (8-pole modular connector) 2 port | ||
| Cable specifications | Refer to “2.1 LAN cable” in Chapter 2 of this user's manual. | ||
| Max. cable length | 100m | ||
| EtherNet/IP™ input/output points Note | Input (48 bytes in total) |
byte 0-3 byte 4-31 |
Dedicated word input : 2 words General purpose word input : 14 words |
| byte 32-33 byte 34-47 |
Dedicated bit input : 16 points General-purpose bit input : 96 points |
||
| Output (48 bytes in total) |
byte 0-3 byte 4-31 |
Dedicated word output : 2 words General-purpose word output : 14 words |
|
| byte 32-33 byte 34-47 |
Dedicated bit output : 16 points General-purpose bit output : 96 points |
||
| Parallel external input | Regardless of the robot program, the master module and up to four por ts can be controlled using the emulated serialization function. |
||
| Settings, such as IP address | The settings are made with the programming box (PBX) or RCX-Studio Pro. | ||
| Monitor LEDs | Network Status, Module Status | ||
- Note.
- The controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
| Item | Network modules PROFINET | |
|---|---|---|
| Applicable controllers | RCX320/RCX340 | |
| Supported software versions | RCX320/RCX340 : V1.21 or later PBX/PBX-E : V1.08 or later RCX-Studio : V1.0.1 or later RCX-Studio Pro : V2.0.0 or later |
|
| Network specification conformance | PROFINET IO V2.2 | |
| Conformance class | Conformance Class B / IO Device | |
| Vendor Name / Vendor_ID | YAMAHA MOTOR CO.,LTD. / 0x02D5 | |
| Station Type / Device_ID | YAMAHA RCX3 PROFINET / 0x0001 | |
| Product revision | 1.00 | |
| GSD file name | GSDML-V2.3-YMC-RCX3-20150203.xml | |
| Transmission speed | 100Mbps（ Auto-negotiation） | |
| Connector specifications | RJ-45 connector (8-pole modular connector) 2 por ts | |
| Conforming cable specifications | CAT 5e or higher STP cable (double shield) | |
| Max. cable length | 100m | |
| Monitor LEDs | Module Status(MS), Network Status(NS), Link/Activity:Port1-2 | |
| Input /output data size Note | Input : 48bytes | Dedicated word input 2 words (4 bytes) |
| General-purpose word input 14 words (28 bytes) | ||
| Dedicated bit input 16 bits (2 bytes) | ||
| General-purpose bit input 96 bits (12 bytes) | ||
| Reserved area 2 bytes | ||
| Output : 48bytes | Dedicated word output 2 words (4 bytes) | |
| General-purpose word output 14 words (28 bytes) | ||
| Dedicated bit output 16 bits (2 bytes) | ||
| General-purpose bit output 96 bits (12 bytes) | ||
| Reserved area 2 bytes | ||
- Note.
- The controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
| Item | Network modules EtherCAT | |
|---|---|---|
| Applicable controllers | RCX320/RCX340 | |
| Supported software versions | RCX320/RCX340 : V1.62 or later PBX/PBX-E : V1.13 or later RCX-Studio Pro : V2.1.9 or later |
|
| ESI file name | YAMAHA RCX340 EtherCAT 1_00.xml | |
| Transmission speed | 100Mbps（Auto-negotiation） | |
| Connector specifications | RJ-45 connector (8-pole modular connector) 2 ports | |
| Conforming cable specifications | CAT 5e or higher STP cable (double shield) | |
| Max. cable length | 100m | |
| Monitor LEDs | RUN, ERROR, Link/Activity:Port1-2 | |
| Input /output data size Note | Input : 48bytes | Dedicated word input 2 words (4 bytes) |
| General-purpose word input 14 words (28 bytes) | ||
| Dedicated bit input 16 bits (2 bytes) | ||
| General-purpose bit input 96 bits (12 bytes) | ||
| Reserved area 2 bytes | ||
| Output : 48bytes | Dedicated word output 2 words (4 bytes) | |
| General-purpose word output 14 words (28 bytes) | ||
| Dedicated bit output 16 bits (2 bytes) | ||
| General-purpose bit output 96 bits (12 bytes) | ||
| Reserved area 2 bytes | ||
- Note.
- The controller I/Os are updated every 5ms for the shortest. The actual update time changes depending on the communication cycle of the master unit.
