Controllers (High-Performance Master Unit)
High-Performance Master Unit 【CA20-M00, M01】
Overview
* Enables simultaneous control of up to four axes
* Capable of XX-Y (Gantry type) two-axis simultaneous control required for high-load transporting applications
* Includes 2D and 3D linear interpolation and circular interpolation and path functions for enabling operations where path tracking is important
* Enables general-purpose output control ON and OFF at the coordinates specified during robot movement (command word: OUTS)
* Enables changing of target position in coordinate data received by RS-232C communication while the axis is moving toward a specified coordinate (command word: RSMV)
* Includes multitask function which allows execution of up to four tasks for input/output control in sequential mode (one task only during axis operation)
TEL:
TOKYO MAIN BRANCH: 81-(0)3-3509-0270
NUMAZU HEADQUARTERS: 81-(0)55-926-5032
Specifications
| No. of controlled axes | One axis control or simultaneous control of up to four axes by connecting slave units. |
|---|---|
| Control system | CP control, PTP control, semi-closed loop control |
| Interpolation | Three-dimensional linear interpolation and circular interpolation |
| Encoder signal | Line driver communication |
| Teaching method | Remote teaching, direct teaching or MDI |
| Speed and acceleration | Speed: 10 steps (variable) |
| Acceleration: 20 steps (variable) | |
| Operation method | Step, continuous, single |
| Operation mode | Sequential (multitask) (Note 1), Palletizing, Easy, External point designation |
| No. of programs | Sequential: 16, Palletizing: 16, Easy: 8 |
| No. of steps | Max. 2500 steps (Note 2) |
| Coordinate table | Each task: 999 |
| No. of counters | 99 |
| No. of timers | 9 |
| Memory | EEPROM (without battery) |
| CPU | 32-bit (RISC CPU, SH7085) |
| Master power voltage | DC24V±10% 0.5A (externally supplied) |
| Self-diagnosis function | CPU down, memory error, driver error, master power voltage error, program error, etc. |
| Alarm display | Error indicator LED_and teach pendant display |
| External input | 4 system inputs and 20 general-purpose inputs |
| External output | 4 system outputs and 12 general-purpose outputs |
| Communication function | Without VL-Bus interface 1 CH (RS232C), for a teach pendant With VL-Bus interface 1 CH (RS232C), for a teach pendant |
| Power supply for driving external device |
Output power supply is not available. (Power is supplied externally.) |
| Emergency stop I/O | No-voltage input (contact input) and relay C contact output |
| Noise resistance | 1500Vp-p, pulse width 1μs (by noise simulator) |
| Ambient conditions | Room temperature 0 - 40°C, humidity 30% - 90% RH, no-condensing and no corrosive gas present. |
| Dimensions | 65(W) × 170 (H) × 150 (D) (excluding metal fixtures) |
| Mass (kg) | 1.2 kg (excluding the oprional substrate) |
Note 1: Multitask: UP to four task (one task only for axis control) are available.
Nate 2: Varies with a mode to be used.
| Item | CC-Link interface specifications |
|---|---|
| Communication specifications | CC-Link Ver1.10 |
| Baudrate | 10 M/ 5M/2.5 M/625 k/156 kbps (To be set by rotary) |
| Station type | Remote device station |
| Number of occupied stations | Fixed at 4 stations (RX/RY: 128 points each, RWw/RWr: 16 points each) |
| Station number setting | 1 to 64 (set by parameters) |
| Number of inputs / outputs | 4 system inputs, 4 system outputs 64 general-purpose inputs, 64 general-purpose outputs 8 jog inputs, 8 jog outputs 1 handshake input, 2 handshake outputs 4 data selection inputs, 4 data selection confirmation outputs |
| Data communication function | Coordinate table transmission, current position monitor, error code request, status request, and more |
* These are the inputs and outputs as seen from the robot controller.
TEL:
TOKYO MAIN BRANCH: 81-(0)3-3509-0270
NUMAZU HEADQUARTERS: 81-(0)55-926-5032
| Item | DeviceNet interface specifications | ||
|---|---|---|---|
| Communication protocol | Communication protocol | ||
| Supported connection | I/O connection (polling) | ||
| Baud rate | 125k, 250k, 500kbps (set by parameters) | ||
| Station number setting | 0 to 63 (set by parameters) | ||
| Cable length | Baud rate | Thick cable | Think cable |
| 125k | 500m | 100m | |
| 250k | 250m | ||
| 500k | 100m | ||
| Number of occupied stations | Sending: 128 points Receiving: 128 points |
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| Number of inputs / outputs | 4 system inputs, 4 system outputs 64 general-purpose inputs, / 64 general-purpose outputs 8 jog inputs, 8 jog outputs |
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| Vendor ID | 733 (TOSHIBA-MACHINE CO.,LTD.) | ||
| Device type | 0 (Generic Device) | ||
| Product code | 5 (CA20-M00) | ||
* These are the inputs and outputs as seen from the robot controller.
TEL:
TOKYO MAIN BRANCH: 81-(0)3-3509-0270
NUMAZU HEADQUARTERS: 81-(0)55-926-5032