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3Controller
3 Controller
3.1 Standard specifications
3.1.1 Standard specifications
Table 3-1 ： Standard specifications of controller
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
Hand open/close input/output
Emergency stop input
Door switch input
Emergency stop output
Interface
RS-232C
RS-422
Hand dedicated slot
Expansion slot
Memory expand slot
Robot input/output link
Additional axis interface
Power
Input voltage range
source
Power capacity
Outline dimensions
Mass
Construction
Operating temperature range
Ambient humidity
Grounding
Paint color
Note1) It is the value when seven maximums expand (224/224) the Parallel I/O unit.
(2A-RZ361 or 2A-RZ371:Input 32 points / Output 32 points.)
Note2) It is when an pneumatic hand interface (2A-RZ365 or 2A-RZ375) is installed.
Note3) The power capacity is the rating value for normal operation. The power capacity does not include the rush
current when the power is turned ON. The power capacity is a guideline and the actual operation is
affected by the input power voltage. The power consumption in the specific operation pattern with the
RV-6S/6SL series is approx. 0.64kW. The peak value at the robot's maximum speed is 2.72 kW.
Note4) Becomes 615(H) at the caster specification (CR3-535M controller only).
Note5) CR3-535M controller exchanges heat using the internal air circulation self-cooling method. Furthermore,
the rear side sucks in the outside air and the top and bottom sections of the rear side discharges the
inside air. This controller can also be used in the oil-mist environment.
Note6) The CR2B-574 controller of this robot is a general environment specification. For use in an oil-mist
environment or in an environment with excess dust, use the CR3-535M controller instead.
Note7) The robot must be grounded by the customer.
Standard specifications
3-38
Unit
Specification
CR3-535M
Simultaneously 6(Maximum)
64 bit RISC, and DSP
point
step
MELFA-BASIC Ⅳ
MOVEMASTER COMMAND
Pose teaching method ,MDI method
point
point
Assigned with general-purpose input/output
point
Input 8 point/Output 0 point
point
point
point
port
port
slot
slot
2
slot
channel
1
V
3-phase, AC180 to 253 1-phase, AC180 to 253
KVA
mm
450(Ｗ)x380(D)x625( Ｈ )
Note4)
kg
Approx. 60
Self-contained floor
type, Closed type (IP54)
Note5)
deg.
%RH
Ω
100 or less
Light gray
CR2B-274
2,500
5,000
88
or
32/32
1
1
1
1
1
1
3
1
1
0
2.0
460(Ｗ)x400(D)x200( Ｈ )
Approx. 20
Self-contained floor
type, Opened type
Note6)
(IP20)
0 to 40
45 to 85
Remarks
Note1)
Max. 256/256
"STOP" 1 point is fixed
Up to 8 output points can be added
Note2)
as an option
Dual emergency line
Dual door switch line
Dual emergency line
For expansion such as the personal
cpmputer, Vision sensor
Dedicated for T/B
Dedicated for pneumatic hand
interface
Memory option
Used for general-purpose input/
output (Max. 256/256)
SSCNET
Does not include rush current
Note3)
Excluding protrusions
Without dew drops
Note7)
D class grounding earth
Munsell 0.08GY7.64/0.81
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