Mitsubishi MELFA SQ Series, Standard Specifications Manual

Page: 45 / 138

3
Controller
Standard specifications 3-34
3 Controller
3.1 Standard specifications
3.1.1 Standard specifications
Table 3-1 ： Specifications of controller
Item Unit Specification Remarks
Type
CR2QA-772/CR1QA-772
DU1A-771 is the CE marking specifica
-
tion.
Number of control axis Simultaneously 6(Maximum)
CPU ６ ４ bit Ｒ Ｉ Ｓ Ｃ ／ Ｄ Ｓ Ｐ
Memory
capacity
Programmed positions and No.
of steps
point
step
１ ３ ， ０ ０ ０
２ ６ ， ０ ０ ０
Number of programs ２ ５ ６
Robot language Ｍ Ｅ Ｌ Ｆ Ａ － Ｂ Ａ Ｓ Ｉ Ｃ V
or
Ｍ Ｅ Ｌ Ｆ Ａ － Ｂ Ａ Ｓ Ｉ Ｃ IV
Note1)
Note1)The program of MELFA-BASIC IV can be used by MELFA-BASIC V, if program is converted by RT ToolBox2 (option).
Teaching method Pose teaching method, MDI
method
Note2)
Note2)Pose teaching method: The method to register the current position of the robot arm.
MDI method: The method to register by inputting the numerical value Immediate.
External
input and
output
input and output point Input 0 point/Output 0 point Multi-CPU share device
Input 8192/Output 8192 (Max.)
Dedicated input/output Assign to the multi-CPU share device.
Special stop input point １
Hand open/close input/output point Input 4 point/Output 0 point
Up to 4 output points can be added as an
option
Note3)
Note3)It is when an pneumatic hand interface (2A-RZ365/2A-RZ375) is installed.
Emergency stop input point １ Dual line, normal close
Door switch input point １ Dual line, normal close
Enabling device input point １ Dual line, normal close
Mode output point １ Dual line
Robot error output point １ Dual line
Addition axis synchronization point １ Dual line
Interface RS-422 port １ Only for the teaching pendant
Ethernet port 1: For T/B, 1: For customers 100BASE-TX
Hand dedicated slot slot １ Dedicated for pneumatic hand interface
Additional axis interface Channel １ SSCNET Ⅲ
Key switch interface point １ Change of the right of operation (mode)