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Specification of controller
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| Model |
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CR2A-572 |
| Path control method |
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PTP control and CP control |
| Number of controlled
axes |
Axis |
4 axes concurrently |
| CPU |
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64 bit RISC, DSP |
| Main functions |
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Joint interpolation, linear
interpolation, 3-dimensional
circular interpolation, palletizing, interrupt-control,
conditional branching, sub-routines, multitasking,
etc. |
| Programming language |
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MELFA-BASIC IV |
| Position teaching
method |
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Direct and remote teaching,
and MDI method |
Memory
capacity |
Number of teaching
points |
Point/prg |
2,500 |
| Number of steps |
Step/prg |
5,000 |
| Number of programs |
Program |
88 |
| Means for programming |
|
PC or teaching-box |
External
input/
output |
General-purpose
input/output |
Point |
Input; 32, and output; 32
(maximum 256/256 when the option is incorporated)
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| Exclusive |
Point |
Allocated by general output
(1 “STOP” point is fixed) |
| Hand opening/closing |
Point |
Input; 8, and output; 0
(maximum 8 when the option is incorporated)*1 |
| Emergency stop |
Point |
1 |
| Interface |
RS-232C |
Port |
1 (for the connection of
a PC, vision sensor, etc.) |
| RS-422 |
Port |
1 (exclusive to the connection
of teaching box) |
| Gripper control |
Slot |
1 (exclusive to the connection
of air-hand interface) |
| Expansion slot |
Slot |
3 |
| Robot input/output |
Chanel |
1 (for the connection of
parallel input/output unit) |
| Ambient temperature |
°C |
0 - 40 |
| Ambient humidity |
%RH |
45 - 85 |
Power
supply |
Input voltage limit |
V |
180 to 253VAC, single phase
207 to 253VAC, single phase at CE |
| Power capacity *2 |
kVA |
3.5 |
| Grounding |
 |
100 or smaller |
Outside dimension
(including the leg) |
mm
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400 (W) × 400 (D) × 200 (H) |
| Weight |
kg |
18 |
*1: The hand-output
mode operation requires an air-hand interface (option).
*2: Electricity consumption is approximately 0.9kW
during general pattern operation.
Note: These specifications may be changed without
prior notice.
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