| | | | | | | |
| | 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) | |
| | | 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 | |
| | | | | | | |