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

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Robotic cell, Cartesian robot, Articulated robot, Vision system, Robot

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[General specifications]

Type of controller

CA10-M00B


	No. of controlled axes	One axis control or simultaneous control of up to four axes by connecting slave units.
	Control system	CP control, PTP control, semi-closed loop control
	Interpolation	Three-dimensional linear interpolation and circular interpolation
	Encoder signal	Line driver communication
	Teaching method	Remote teaching, direct teaching or MDI
	Speed and acceleration	Speed: 10 steps (variable) Acceleration: 20 steps (variable)
	Operation method	Step, continuous, single
	Operation mode	Sequential (multitask) (Note 1) Palletizing Easy External point designation
	No. of programs	Sequential: 16, Palletizing: 16, Easy: 8
	No. of steps	Max. 2,500 steps (Note 2)
	Coordinate table	Each task: 999
	No. of counters	99
	No. of timers	9
	Memory	EEPROM (without battery)
	CPU	32-bit (RISC CPU, SH7051)


	Self-diagnosis function	CPU down, memory error, driver error, master power voltage error, program error, etc.
	Alarm display	Error indicator LED.and teach pendant display
	External input	4 system inputs and 20 general-purpose inputs
	External output	4 system outputs and 12 general-purpose outputs
	Communication function	1 CH (RS232C), shared with a teach pendant
	Extension I/O	Extension unit: 24 inputs and 16 outputs One unit can be connected with a master unit.
	Power supply for driving external device	Output power supply is not available. (Power is supplied externally.)
	Emergency stop I/O	No-voltage input (contact input) and relay C contact output
	Master power voltage	DC24V±10 %, 0.5 A (externally supplied)
	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	25 (W) x 160 (H) x 134 (D) (excluding metal fixtures)
	Mass	0.4 kg

Note 1: Multitask: Up to four tasks (one task only for axis control) are available. Note 2: Varies with a mode to be used

[I/O specifications]

Type of: controller: CA10-M00B


Input specifications		Output specifications
Input rating	DC24 V, 10 mA/1 point	Output	Transistor output (open collector)
Insulation	Photo-coupler	Output capacity	System output: Max. 20 mA/ point
Power supply	Externally supplied (DC24 V).	(DC24 V)	General-purpose output: Max. 300 mA/ point
[I/O pin number and signal name] Type of: controller: CA10-M00B I I I		* See Pages 235 -	- 236 of Technical Notes for I/O connections.

No.

Connector pin arrangement on panel side

I/O

Signal name

I/O

Signal name

+COM1

26 27

Input Input

General-purpose input port 1-1

Output

General-purpose output port 1-1

General-purpose input port 1-2

Output Output Output

General-purpose output port 1-2

29 30

Input Input Input

General-purpose input port 1-3

General-purpose output port 1-3

General-purpose input port 1-4

General-purpose output port 1-4

General-purpose input port 1-5

Output Output Output

General-purpose output port 1-5

31 32 33

Input Input Input

General-purpose input port 1-6

General-purpose output port 1-6

General-purpose input port 1-7

(BOTTOM VIEW)

General-purpose output port 1-7

General-purpose input port 1-8

9 10

Output Output Output

General-purpose output port 1-8

34 35 36

Input Input Input

General-purpose input port 2-1

26271 -

General-purpose output port 2-1

General-purpose input port 2-2

-49 -25 -24

General-purpose output port 2-2

General-purpose input port 2-3

12 13 14

Output Output

General-purpose output port 2-3

37 38 39

Input Input Input

General-purpose input port 2-4

General-purpose output port 2-4

General-purpose input port 2-5

-COM1

General-purpose input port 2-6

15 16 17

-COM1

40 41 42

Input Input Input

General-purpose input port 2-7

+COM2

General-purpose input port 2-8

Output

Running

General-purpose input port 3-1

18 19 20

Output Output Output

Error

43 44 45

Input Input Input

General-purpose input port 3-2

Positioning finish

General-purpose input port 3-3

Home return finish

General-purpose input port 3-4

21 22 23

Input Input Input

Home return

46 47 48

Emergency stop input

Start

Emergency stop input

Stop

Emergency stop output (NO)

24 25

Input

Reset

49 50

Emergency stop output (COM)

-COM2

Emergency stop output (NC)

Note 1: No internal connection between +COM1 and +COM2, or between -COM1 and -COM2.

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

202

BA II Arm Robot Catalog - TM Robotics - #204

Robotic cell, Cartesian robot, Articulated robot, Vision system, Robot