| Controller |
| Model
CR2A-572 |
| 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, XYZ compliance, TORQ command, etc.
|
| Programming language |
MELFA-BASIC
IV
|
| Position teaching method |
Direct
and remote teaching, and MDI method |
|
Memory capacity
|
Teaching position |
Points/prg |
2,500 |
| No. of steps |
Steps/prg |
5,000 |
| No. of programs |
Program |
88 |
| External input |
General Purpose I/O |
Points |
32/32
(max. when using options: 256/256) |
| Dedicated I/O |
Points |
Allocated
by general output (1"STOP" point is fixed) |
| Hand opening/closing |
Points |
6/0
(when using options: 6/6) |
| Emergency stop input |
Points |
1 |
| Door switch input |
Points |
1 |
| Emergency stop output |
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 |
3 |
| Robot I/O link |
Channels |
1 (for
connecting parallel I/O unit) |
| Temperature |
ºC |
0~40 |
| Humidity |
%RH |
45~85 |
| Power
supply |
Input voltage limit |
V |
180~253VAC,
1 phase
(207~253VAC,
3 phase at CE)
|
| Power capacity |
kVA |
3.5 |
| Ground |
W |
less
than 100 (D-type ground) |
| Structure |
|
Self
supported floor type, open structure |
| Outside
Dimensions |
mm |
436(W)x400(D)x210(H) |
| Weight |
kg |
Approx.
19
|
| Protective
Structure |
|
IP20
(IP54: when using CR2A protection box)
|
