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■ Specifications
Table 3-40 ： Specifications
Item
Number of controllable robots (mechanisms)
Number of control axes (total)
Number of control axes (for each mechanism)
Applicable amplifier
Applicable encoder
Communication method
Mountable optional slots
Number of mountable interface cards
Control function
Path control method
Acceleration/deceleration
Position control
Minimum command value
Maximum motion range
■ Functions
(1) Additional robot axis function
・ The robot controller can control a maximum of 2 axes such the travel axis, etc., as the 7th and 8th axes of the
robot arm.
・ Additional axes are controlled in such a way that they start moving and stop simultaneously with the standard
robot axes.
(2) Multi-mechanism function
・ The robot controller can control user-created mechanisms, such as a rotation axis and a linear driving axis, for
up to 2 units as multi-mechanisms.
・The robot controller controls multi-mechanisms independent of the standard robot axes (asynchronous control).
It can control up to 3 axes of user-created mechanisms per unit.
(3) Programming language
・ The additional axes can be programmed with MELFA-BASICIV language method and MOVEMASTER command
method.
・ User-created mechanisms can only be controlled using the MELFA-BASIC IV language.
Specifications
2 axes
MELSERVO-J2-Super series
ABS method only (absolute value encoder)
SSCNET (differential communication) of Mitsubishi
Synchronous interpolation control
CP control/PTP control
The trapezoidal method/acceleration/deceleration time pattern can be set.
Distance control/angle control can be selected.
Actual value control with pitch/deceleration ratio setting
0.01mm or 0.001mm (can be changed by a parameter)
Max. .80000.00(0) deg. to +80000.00 (0) deg.
Specification of user mechanism
3
8 axes
3 axes
Slot 1 or 3
1
PTP control
3Controller
Options 3-91
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