Chapter 4 Specifications Of The Robot Controller; Specifications - Denso VP-G Series General Information Manual

Specifications of the Robot Controller
4.1

Specifications

Table below lists the robot controller specifications.
Item
Applicable robot
Controller model
No. of controllable axes
Control system
Drive system
Language used
Memory capacity
Teaching system
Standard I/O
SAFETY I/O
(Only for Global type)
Parallel I/O
board
External
(Option)
signals
(I/O)
Master & slave
DeviceNet
board
(Option)
CC-Link
board
(option)
External
communication
Extension slot
Self-diagnosis function
Timer function
Error display
Motor & encoder cable
(option)
Cables
I/O cable
(option)
Power cable
Chapter 4
RC7M Controller Specifications (1) (VP-G series)
Mini-sized, vertical articulated type
VP-6242G (6-axis type)
RC7M-VPG5/6CA*-**
PTP, CP 3-dimensional linear, 3-dimensional circular
All axes: Full-digital AC servo
DENSO robot language (conforming to SLIM)
3.25 MB (equivalent to 10,000 steps, 30,000 points)
1) Remote teaching 2) Numerical input (MDI)
Input signals: 8 user open points + 11 fixed system points
Mini I/O Output signals: 8 user open points + 14 fixed system points
Note: In global type, some fixed system points are not used.
Input signals: 8 user open points
HAND I/O
Output signals: 8 user open points
Input signals: 6 fixed system points
Output signals: 5 fixed system points
Input signals: Additional 80 user open points
2 boards
Output signals: Additional 96 user open points
Input signals: Additional 40 user open points
1 board
Output signals: Additional 48 user open points
Input signals: 1024 points (Master) + 256 points (Slave)
Output signals: 1024 points (Master) + 256 points (Slave)
Input signals: 1024 points
Master
Output signals: 1024 points
Input signals: 256 points
Slave
Output signals: 256 points
Input signals: 384 points
Slave Output signals: 384 points
(including remote registers RWw and RWr)
RS-232C: 1 line
Ethernet: 1 line
USB: 2 lines
3 (For an optional board)
Overrun, servo error, memory error, input error, etc.
0.02 to 10 sec. (in units of 1/60 sec.)
Error codes will be outputted on the external I/O.
Error messages will be displayed in English on the teach pendant (option).
Error codes will be displayed on the mini pendant (option).
2 m, 4 m, 6 m, 12 m, 20 m
(Standard)
8 m, 15 m
(For Mini I/O, HAND I/O, Optional board for parallel I/O and SAFETY I/O)
5 m
Specifications
Six axes
26
Mini-sized, vertical articulated type
VP-5243G (5-axis type)
RC7M-VPG5/6CA*-**
Five axes