Mitsubishi MELFA SQ Series Special Specifications Manual page 51

3 Controller
3.1 Standard specifications
3.1.1 Standard specifications
Item
Type
Number of control axis
CPU
Memory Programmed positions and No.
capacity of steps
Number of programs
Robot language
Teaching method
External input and output
input and
Dedicated input/output
output
Special stop input
Hand open/close input/output
Emergency stop input
Door switch input
Enabling device input
Mode output
Robot error output
Addition axis synchronization
Interface RS-422
Ethernet
Hand dedicated slot
Additional axis interface
Note1) The controller of CE Marking specification
*"-S12" specification: the controller is CR1QA-700 series.
*"-S312" specification: the controller is CR2QA-700 series.
Note2)The program of MELFA-BASIC IV can be used by MELFA-BASIC V, if program is converted by RT ToolBox2 (option).
Note3)Pose teaching method: The method to register the current position of the robot arm.
MDI method: The method to register by inputting the numerical value Immediate.
Note4)It is when an pneumatic hand interface (2A-RZ365/2A-RZ375) is installed.
Unit Specification
CR1QA-700
or
CR2QA-700
Simultaneously 5/6(Maximum)
６ ４ bit Ｒ Ｉ Ｓ Ｃ ／ Ｄ Ｓ Ｐ
point １ ３ ， ０ ０ ０
step
２ ６ ， ０ ０ ０
２ ５ ６
Ｍ Ｅ Ｌ Ｆ Ａ － Ｂ Ａ Ｓ Ｉ Ｃ V
or
Ｍ Ｅ Ｌ Ｆ Ａ － Ｂ Ａ Ｓ Ｉ Ｃ IV
Pose teaching method, MDI
method
point Input 0 point/Output 0 point
Assign to the multi-CPU share device.
point １
point Input 8 point/Output 0 point
point １
point １
point １
point １
point １
point １
port １
port １ ： Only for the teaching pendant
slot １
Channel １
Note1)
RV-3SQ series:
CR1QA-721/CR2QA-721
RV-3SQJ series:
CR1QA-731/CR2QA-731
Note2)
Note3)
Multi-CPU share device
Input 8192/Output 8192 (Max.)
Up to 8 output points can be added as an
Note4)
option
Dual line, normal close
Dual line, normal close
Dual line, normal close
Dual line
Dual line
Dual line
Only for the teaching pendant
100BASE-TX
Dedicated for pneumatic hand interface
SSCNET Ⅲ
Controller
3
Remarks