Denso HS-4535G, Общее руководство пользователя

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Chapter 4
Specifications of the Robot Controller
4.1 Specifications
The table below lists the specifications of the robot controller.
RC7M Controller Specifications (1) (HS-G series)
Item Specifications
Applicable robot
Small-sized, horizontal articulated type (HS-G)
model
RC7M-HSG4BA-**
Control system
PTP, CP 3-dimensional linear, 3-dimensional circular
No. of controllable axes
Up to four axes simultaneously
Drive system All axes: Full-digital AC servo
Language used DENSO robot language (conforming to SLIM)
Memory capacity 3.25 MB (equivalent to 10,000 steps, 30,000 points)
Teaching system 1) Remote teaching 2) Numerical input (MDI)
Mini I/O
Input signals: 8 user open 11 fixed system points
Output signals: 8 user open 14 fixed system points
Note: In global type, some fixed system points are not used.
Standard I/O
HAND I/O
Input signals: 8 user open points
Output signals: 8 user open points
SAFETY I/O
(Only for Global type)
Input signals: 6 fixed system points
Output signals: 5 fixed system points
2 boards
Input signals: Additional 80 user open points
Output signals: Additional 96 user open points
Parallel I/O
board
(Option)
1 board
Input signals: Additional 40 user open points
Output signals: Additional 48 user open points
Master & slave
Input signals: 1024 points (Master) + 256 points (Slave)
Output signals: 1024 points (Master) + 256 points (Slave)
Master
Input signals: 1024 points
Output signals: 1024 points
DeviceNet
board
(Option)
Slave
Input signals: 256 points
Output signals: 256 points
External
signals
(I/O)
CC-Link
board
(option)
Slave
Input signals: 384 points
Output signals: 384 points
(including remote registers RWw and RWr)
External
communication
RS-232C: 1 line
Ethernet: 1 line
USB: 2 lines
Extension slot 3 (For an optional board)
Self-diagnosis function Overrun, servo error, memory error, input error, etc.
Timer function 0.02 to 10 sec. (in units of 1/60 sec.)
Error display
Error codes will be outputted on the external I/O.
Error messages will be displayed in English on the teach pendant (option).
Error codes will be displayed on the mini pendant (option).
Motor & encoder cable
(option) 2 m, 4 m, 6 m, 12 m, 20 m
(Standard / Splash-proof)
I/O cable
(option) 8 m, 15 m
(For Mini I/O, HAND I/O, Optional board for parallel I/O and SAFETY I/O)
Cables
Power cable 5 m