IAI RA Series, Instruction Manual

Page: 20 / 186

1. Outline of Extension Motion Control Feature
12
1.2. Basic Specifications
• Basic Specifications
Item Contents
Number of Controlled
Axes
32 axes max.
(Note 3)
RC Controller Connection
I/F
MECHATROLINK-
Ⅲ
(Standard servo profile)
Connectable Controller
(Note 1)
Single-axis type : SCON-CA/CB, PCON-CB, ACON-CB,
DCON-CB
Multi-axis type : MCON-C
Positioner Function
Servo ON/OFF, Home-return, PTP Movement (Absolute,
Relative), Linear Interpolation Movement (Absolute, Relative),
Direct Indication Movement (Absolute, Relative)
Synchronization Control
Function
(Note 2)
Electronic Shaft,
Synchronizing Electronic Cam (Master slave indicated),
Independent Electronic CAM (Virtual master)
Other Function
JOG/Inching, Axis Movement Stop, Pause,
Axis Movement Cancellation, Soft limit, Teaching
Note 1 : Only for MECHATROLINK-
Ⅲ
applicable for standard servo profile. For the RC
controller function specifications, the specifications for MECHATROLINK-III type are
partly different from those for other types. For details, refer to the RC Controller
MECHATROLINK-
Ⅲ
Instruction Manual.
Note 2 : SCARA Robot controllers cannot use the synchronizing control feature.
Note 3 : For MCON-C, the number of controlled axes is counted basically under the condition
that there are two controlled axes per driver board to be used. Therefore, when a
single-axis type driver board is to be used, the maximum number of controlled axes
might be reduced.
• MECHATROLINK Communication Specifications
Item Contents
Communication System Cyclic communication
Transmission Frequency 1msec or 2msec
(Note 1)
communication Frequency Same value as transmission cycle (actual scale)
Baud Rate
100Mbps
Number of Connected
Slave Axes
32 axes max.
Input and Output Data
Size
32byte / 32byte
Master Station Address 01H (fixed)
Slave Station Address
(Setting at Delivery : 0H)
Station address : 03H to EFH
Extension address : 00H to FEH
Note 1 : In default, it should be 1msec when the number of connected axes is 16 or less, and
2msec when more than 16.
ME0364-2B