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Controller

Model CR1B-571

Path Control Method

PTP control, CP control

Number of axes controlled

Up to 6 axes simultaneously

CPU

64 bit RISC/DSP

Main functions

Palletizing, multi-task

Optimum acceleration/deceleration control, optimum override control, optimum path connection function, torque limit command, XYZ compliance control, collision detection function, maintenance forecast function, position restoration function

Robot language

MELFA-BASIC IV and MoveMaster Language

Position teaching method

Teaching method, MDI method

Memory capacity

No. teaching of points

Points

2,500

No. of steps

Steps

5,000

No. of programs

Steps

88

Program creation procedures

 

Personal computer or teaching pendant

External I/O

General Purpose I/O

Points

16 inputs/16 outputs (up to 240/240 when using the optional, additional I/O unit)

Dedicated I/O

Points

Assigned from general-purpose I/O (one point, “STOP,” is fixed)

Hand open/close

Points

8 inputs/0 output (maximum 8-point option)

Emerg. Stop Input

Points

1

Emerg. Stop Output

Points

1

Door switch input

Points

1

Interface

RS232C

Ports

1 (for connecting  a PC, vision sensor etc.)

RS422

Ports

1 (for connecting a teaching pendant)

Slot dedicated to hand

Slots

1 (for connecting a pneumatic hand interface)

Extension slot

Slots

0 (When using options: 3) (For expansion options)

Robot I/O Link

Channels

1 (for connecting parallel I/O unit)

Ambient Temperature

ºC

0 to 40

Ambient Humidity

%RH

45 to 85

Power supply

Voltage range

V

Single phase, AC 180 to 242

Power capacity

KVA

1.0

Grounding

W

100 or less (D-type grounding)

Structure

Self-contained floor type/closed structure

External dimensions (Including Legs)

mm

212(W) x 290(D) x 165 (H)

Mass

kg

Approx. 8

 






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