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Specification of controller
Model |
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CR1-571 |
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Control
Method |
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PTP Control ,CP
Control |
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Number
of control axis |
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Simultaneously
6(Maximum) |
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CPU |
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64 Bit RISC,
DSP |
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Major
Functions |
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Joint/Linear/3D
Circular Interpolation
Palletizing ,Conditional Separation ,
Sub-Routine ,Multi-Task ,etc. |
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Programming
Language |
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Movemaster
Command II ,
MELFA -BASIC  |
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Position
Teach Method |
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Teaching Method
,MDI Method |
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Memory
capacity |
Teaching
positions
and No. of steps |
point
step |
2,500
for each program
5,000 for each program |
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Number of programs |
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88 |
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External
input
and output |
input and output |
point |
16/16 |
Max.240/240 (Note1) |
Dedicated
input/output |
point |
Input
4pont/Output 0 pont |
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Emergency stop
input |
point |
1 |
Single emergency line |
Interface |
RS-232C |
port |
1 |
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RS-422 |
port |
1 |
Dedicated for T/B |
Hand dedicated
slot |
slot |
1 |
Dedicated for pneumatic hand
interface |
Expansion slot |
slot |
3 |
Expansion option box used |
Robot
input/
output link |
channel |
1 |
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Operating
temperature range |
°C |
0-
40 |
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Ambient
humidity |
%RH |
45
-85 |
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Input
voltage range |
V |
1-phase ,AC90
to 132V 1-phase ,
AC170 to 253V (Note3) |
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Power
capacity |
KVA |
0.7 |
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Grounding |
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100
or smaller |
D class
grounding |
Construction |
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IP20 |
Outline
dimensions |
mm |
212
(W) × 290 (D) × 151 (H) |
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Mass |
kg |
8 |
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Note1) It is
the value when seven maximums expand (224/224) the
Parallel I/O unit. (2A-RZ361 or 2A-RZ371:Input 32 points
/ Output 32 points.)
Note2) It is when an pneumatic hand interface (2A-RZ365
or 2A-RZ375) is installed. Note that the pneumatic
hand interface has 8 output points, but the robot arm
side has 4 points.
Note3) Input voltage is restricted for the specification
of an earth leakage beaker (NV30-**).
90 to 132VAC, or 170 to 242VAC ("NV30-FA", standard spec.)
230VAC±10% ("NV30-FAU", CE spec.)
90 to 132VAC, or 170 to 253VAC ("NV30-FAU", except CE spec.).
Note4) The power capacity (0.4kVA) is the max. rating value for normal operation.
The power capacity does not include the rush current when the power is thrned
ON. The power capacity is a guideline and the astual operation is affected by
the input power voltage. The power consumption in the specific operation pattern
with the RV-1A/2AJ is approx. 0.2kw
Note5) The robot must be grounded by the user. Class D grounding is equivalent
to the conventional Class 3 grounding.
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