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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)





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