Catalogue - BA II Arm Robot Catalog - TM Robotics - (Version JPG)

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Palletizing robot, Assembly robot, Robot, Pick and place robot, Robotic cell

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Parts for Control System

[General specifications]


Type of controller	CA20-M10			CA20-M40 <^Note ¹⁾
No. of controlled axes	One axis control or simultaneous two-axis control by connecting a slave unit.
Motor capacity	50W	100W	200W	400W
Drive system	AC servo motor
Control system	PTP, semi-closed loop control
Teaching method	Remote teaching, direct teaching or MDI
Speed setting	10 steps (variable)
Acceleration setting	20 steps (variable)
Operation mode	Sequential (multitask), palletizing, external point designation, easy, pulse train input
Operation method	Step, continuous, single
CPU	32-bit, RISC SH7145
Self-diagnosis function	CPU down, memory error, driver error, master power voltage error, program error, etc. by watchdog timers.
No. of programs	Sequential: 8, Palletizing: 8
No. of program steps	Max. 2,000 steps + Coordinate table (999 per each task) * 4 (Total No. of tasks) (When slave unit is connected)
Memory	FRAM
No. of counters	99
No. of timers	9
Alarm display	Error indicator lamp ON (on front panel) and teach pendant display
External input	4 system inputs and 4 general-purpose inputs
External output	4 system outputs and 4 general-purpose outputs
Communication function	For teach pendant * 1 channel (RS232C)
Power supply	AC100V - 120V, AC200V - 240V, ±10 %, 50/60 Hz Changeover of 100 V or 200 V circuit by short-bar on front terminal block.			AC200V - 230V, ±10% 50/60Hz
Power capacity (per 1 axis)	100VA	160VA	450VA	700VA
Noise resistance	1500 Vp-p, pulse width 1 us (by noise simulator)
Ambient conditions	Room temperature 0 - 40°C, humidity 30 % - 90 %RH, non-condensing and no corrosive gas present.
Dimensions	55 (W) * 160 (H) * 134 (D) (excluding metal fixtures)			85 (W) x 160 (H) x 134 (D) (excluding metal fixtures)
Mass	0.93kg			1.36kg

Note 1:When using CA20-M40, be sure to use regeneration discharge unit ABSU-4000.

[I/O specifications]

Type of: controller: CA20-M10, CA20-M40


	Input specifications
	Input rating	DC24 V, 10 mA/ point
	Insulation	Bilateral photo-coupler
	Power supply	Externally supplied (DC24 V).


	Output specifications
	Output	Transistor output (open collector)
	Output capacity (DC24 V)	System output: Max. 300 mA/ point
	Output capacity (DC24 V)	General-purpose output: Max. 300 mA/ point

[I/O pin number and signal name] Type of: controller: CA20-M10, CA20-M40

See Pages 231 — 234 of Technical Notes for I/O connections.


No.	I/O	Signal name		No.	I/O	Signal name
1		+ COM1		19		COM3
2	Output	General-purpose output port 1-1		20	Input	General-purpose input port 1-1
3	Output	General-purpose output port 1-2		21	Input	General-purpose input port 1-2
4	Output	General-purpose output port 1-3		22	Input	General-purpose input port 1-3
5	Output	General-purpose output port 1-4		23	Input	General-purpose input port 1-4
6		- COM1		24		NC
7		Emergency stop output (N.O)		25		Emergency stop input
8		Emergency stop output (COM)		26		Emergency stop input
9		Emergency stop output (N.C)		27		COM4	COM4
10		NC		28	Input	Home return	-
11	Output	Running	-	29	Input	Start	Servo ON
12	Output	Error	Error	30	Input	Stop	Counter clear
13	Output	Positioning finish	Positioning finish	31	Input	Reset	Reset
14	Output	Home return finish	-	32		NC
15	Output	Home position LS	Home position LS	33	Input	+ CLK/±CLK (+)
16	Output	Z-phase signal	Z-phase signal	34	Input	t (-)
17		- COM2	- COM2	35	Input	- CLK/SIGN (+)
18		NC		36		t (-)

Connector pin arrangement on panel side

(BOTTOM VIEW-)

1920 12-

-36 -17 -18

NC: No Connection

Signals when the pulse train input mode is selected.

* One (1) plug is attached for I/O connector connection. An I/O cable with plug is also available

optionally.

199

BA II Arm Robot Catalog - TM Robotics - #201

Palletizing robot, Assembly robot, Robot, Pick and place robot, Robotic cell