Mitsubishi CRn-500 Series Instruction Manual page 94

8.User Mechanism Settings, Operation, and Commands
Robot arm
Robot controller
Servo amplifier
Servo motor
Vartical moving axis 1
Vartical moving axis 2
Rotation table
Mechanism number
Name of mechanism
Axis number of mechanism
Control axis number of servo
Unit of additional axis
Rotation direction of
additional axis
Acceleration/deceleration of
the additional axis
Total speed ratio of additional
axis
Rated speed
Maximum speed
Encoder resolution
Operating range
Origin designated by user
80
Table 8.7.3 Structural equipment
Vertical 6-axis robot
CR1-571/CR1B-571 controller , Expansion option box , Additional
axis interface card
Prepared by the customer.
Prepared by the customer.
Manufactured and prepared by customer.
Manufactured and prepared by customer.
Manufactured and prepared by customer.
Table 8.7.4 Multiple axes specifications
Vartical moving axis 1
1 axis (J1)
1st
mm
(Direct moving axis)
2/37
–2000 to +3000
(mm)
0 (mm)
2
Vartical moving axis 2
2 axis (J2)
2nd
mm
(Direct moving axis)
Forward run (CCW)
0.4 seconds per each
2/37
3000 (rpm)
4000 (rpm)
16384 (pulse/rev)
–2000 to +3000
(mm)
0 (mm)
Rotation axis
3 axis (J3)
3rd
degree
(rotation axis)
1/20
(1/20 rotation of
additional axis per
rotation of motor)
–160 to +160
(degree)
90 (degree)