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9
Specifica
tions
9-1
1. Controller
1.1 Specifications
Basi
c
sp
eci
ficati
on
s
Connected motor capacity
1600 W or less (in total for 4 axes)
Power capacity
2500 VA
Dimensions
W355 × H195 × D130 (main unit)
Weight
6.2kg (main unit)
Power supply voltage
Single phase 200 to 230 V AC ±10%, 50/60 Hz
Axi
s
co
ntro
l
Number of controllable axes
4 axes maximum (simultaneous control: 6 axes)
Up to 16 axes (4 robots) can be expanded through the controller link.
Drive method
AC full digital servo
Position detection method
Resolver, Magnetic linear scale
Control method
PTP motion (Point to Point), ARCH motion, linear interpolation, circular interpolation
Coordinate systems
Joint coordinates, Cartesian coordinates
Position display units
Pulses, millimeters (1/1000 increments), degrees (1/1000 increments)
Speed setting
0.01-100%, (setting for less than 1% possible with the commands execution)
Acceleration/deceleration setting
Optimization based on robot model and tip weight parameter
Setting with accel coefficient and decel. rate parameters (1% steps)
*Can be changed by programming.
Zone control (Optimum acceleration setting matching SCARA robot arm position)
Pro
grammi
ng
Program language
PSEUDO-BASIC (conforming to JIS B8439 (SLIM language))
Multitask
16 tasks maximum
Sequence program
1 program
Memory size
2.1 MB (Total of program and point data) (Available size for program when the maximum of
point is used: 300 KB)
Program
100 programs (maximum number of programs)
9999 lines (maximum lines per program)
Point
30000 points (maximum number of points)
Point teaching
MDI (coordinate value input), direct teaching, teaching playback, offline teaching (data
input from external device)
System backup
(Internal memory backup)
Lithium battery (service life about 4 years at 0 to 40°C)
Internal flash memory
512 KB
Extern
al
I/
O
SAFETY
Input
Emergency stop input, 2 systems
AUTO mode input, 2 systems (valid only for the CE specifications)
Output
Emergency stop contact output, 2 systems
Enable contact output, 2 systems (valid only when using the PBEX)
Motor power ready output, 2 systems
Break output
Transistor output (PNP open-collector)
Origin sensor input
Connectable to 24 V DC NC contact (normally closed) sensor
External communications
RS-232C : 1 CH (D-SUB 9-pin female connector)
Ethernet : 1CH (IEEE802.3u/IEEE802.3 compliance)
100Mbps/10Mbps (100BASE-TX/10BASE-T)
Applicable to Auto Negotiation
RS-422 : 1CH (dedicated to the programming box)
G
en
eral
sp
eci
ficati
on
s
Operating temperature
0 to 40 °C
Storage temperature
-10 to 65 °C
Operating humidity
35 to 85% RH (no condensation)
Noise immunity
Conforms to IEC61000-4-4 Level 3
Protective structure
IP20
Protection class
I
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