| Controller |
| Model
CR1-571 |
| Path
Control |
PTP, CP |
| No. of
control axes / axis |
Concurrent
control of up to 6 axes |
| CPU |
64 bit
RISC/DSP |
| Main
functions |
Indirect
interpolation, direct interpolation, 3-dimensional radii interpolation,
palletizing, condition branching, subroutines, multi-tasking, optimum
adjustable speed control, optimum override control, optimum route
connection, etc.
|
| Programming
language |
MELFA-BASIC
IV and MoveMaster Language (MoveMaster Command)
|
| Position
teaching method |
Direct
and remote teaching, and MDI method |
|
Memory
capacity
|
Teaching
position |
Points |
2,500 |
| No. of
steps |
Steps |
5,000 |
| No. of
programs |
Points |
88 |
| External input |
General
I/O |
Points |
16/16
(max. when using options: 240/240) |
| Exclusive
input |
Points |
Allocated
by general output (1"STOP" point is fixed) |
| Hand I/O |
Points |
4/0
(when using options: 4/4) |
| Emergency
Stop Input |
Points |
1 |
| Door-switch
input |
Points |
1 |
| Interface |
RS232C |
Ports |
1 (for
PC, vision sensor, etc. connection) |
| RS422 |
Ports |
1 (for
teaching box only) |
| Exclusive
hand slot |
Slots |
1 (for
electric hand and pneumatic hand interfaces only) |
| Extension
slot |
Slots |
0 (when
option is used: 3 (for expansion options) |
| Robot I/O |
Channels |
1 (for
connecting parallel I/O unit) |
| Ambient
Temperature |
ºC |
0~40 |
| Ambient
Humidity |
%RH |
45~85 |
| Power
supply |
Input
voltage limit |
V |
180~253/90~132VAC,
1 phase
(207~253VAC,
1 phase at CE)
|
| Power
capacity |
kVA |
0.7 |
| Ground |
W |
100 or
less (D-type grounding) |
| Configuration |
Independent
mounting, open configuration |
| Outside
Dimensions |
mm |
212(W) x
290(D) x 151 (H) |
| Weight |
kg |
Approx. 8 |
