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

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Pick and place robot, Vision system, Articulated robot, SCARA robot, Assembly robot

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Parts for Control System

[General specifications]


Type of controller CA10-M01B
No. of controlled axes	One axis control or simultaneous control of up to four axes by connecting slave units.	Self-diagnosis function	CPU down, memory error, driver error, master power voltage error, program error, etc.
Control system	CP control, PTP control, semi-closed loop control	Alarm display	Error LED ON and teach pendant display
Interpolation	Three-dimensional linear interpolation and circular interpolation	External input	See the CC-Link interface specifications.
Interpolation		External output	See the CC-Link interface specifications.
Encoder signal	Line driver communication	Communication function	1 channel each for teach pendant and RS232C.
Teaching method	Remote teaching, direct teaching or MDI	Communication function	1 channel each for teach pendant and RS232C.
Speed and acceleration	Speed: 10 steps (variable) Acceleration: 20 steps (variable)	Extension I/O	Extension unit: 24 inputs and 16 outputs One unit can be connected with a master unit.
Operation method	Step, continuous, single	Power supply for driving external device	Output power supply is not available. (Power is supplied externally.)
Operation mode	Sequential (multitask) (Note 1) Palletizing Easy External point designation	Emergency stop I/O	No-voltage input (contact input) and relay C contact output
Operation mode		Master power voltage	DC24V±10 %, 0.5 A (externally supplied)
No. of programs	Sequential: 16, Palletizing: 16, Easy: 8	Noise resistance	1500 Vp-p, pulse width 1 us (by noise simulator)
No. of steps	Max. 2,500 steps (Note 2)	Noise resistance	1500 Vp-p, pulse width 1 us (by noise simulator)
Coordinate table	Each task: 999	Ambient conditions	Room temperature 0 — 40°C, humidity 30 % — 90 %RH, non-condensing and no corrosive gas present.
No. of counters	99	Ambient conditions
No. of timers	9	Dimensions	47 (W) x 160 (H) x 130 (D) (excluding metal fixtures)
Memory	EEPROM (without battery)	Dimensions	47 (W) x 160 (H) x 130 (D) (excluding metal fixtures)
CPU	32-bit (RISC CPU, SH7051)	Mass	0.8 kg

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

[CC-Link interface specifications]


	Item	Specification
	Transmission	CC-Link Ver1.10
	Baudrate	10 M/5 M/2.5 M/625 k/156 kbps (To be set by rotary switch.)
	Type of station	Remote device station
	No. of stations occupied	4 stations (predetermined) (RS/RY: 128 points each, RWw/RWr: 16 points each)
	Station number setting	1 — 64 (To be set by rotary switch.)
	No. of inputs/outputs	4 system inputs/4 system outputs
		64 general-purpose inputs/64 general-purpose outputs
		8 jog inputs/8 jog outputs
		1 handshake input/2 handshake outputs
	Data communication function	Transmission of coordinate table, current position monitor, request for error code and status, etc.

[I/O signal table]

^L ° ^J * See Pages 237 - 238 of Technical Notes for I/O connections.


Signal direction: CC-Link master station <- CA10-M01-CC		Signal direction: CC-Link master station — CA10-M01-CC
Device No. (Input)	Signal name	Device No. (Input)	Signal name
RXn0	Output during running	RYn0	Home return input
RXnl	Error output	RYn1	Start input
RXn2	Positioning finish output	RYn2	Stop input
RXn3	Home return fnish output	RYn3	Reset input
RXn4 - RXn7	—	RYn4 - RYn7	—
RXn8 - RXnF	General-purpose output port 1-1 — 8	RYn8 - RYn F	General-purpose input port 1-1 — 8
RX(n+1)0 - RX(n+1)7	General-purpose output port 2-1 — 8	RY(n+1)0 - RY(n+1)7	General-purpose input port 2-1 — 8
RX(n+1)8 - RX(n+1)F	General-purpose output port 3-1 — 8	RY(n+1)8 - RY(n+1)F	General-purpose input port 3-1 — 8
RX(n+2)0 - RX(n+2)7	General-purpose output port 4-1 — 8	RY(n+2)0 - RY(n+2)7	General-purpose input port 4-1 — 8
RX(n+2)8 - RX(n+2)F	General-purpose output port 5-1 — 8	RY(n+2)8 - RY(n+2)F	General-purpose input port 5-1 — 8
RX(n+3)0 - RX(n+3)7	General-purpose output port 6-1 — 8	RY(n+3)0 - RY(n+3)7	General-purpose input port 6-1 — 8
RX(n+3)8 - RX(n+3)F	General-purpose output port 7-1 — 8	RY(n+3)8 - RY(n+3)F	General-purpose input port 7-1 — 8
RX(n+4)0 - RX(n+4)7	General-purpose output port 8-1 — 8	RY(n+4)0 - RY(n+4)7	General-purpose input port 8-1 — 8
RX(n+4)8 - RX(n+4)F	Jog output	RY(n+4)8 - RY(n+4)F	Jog input
RX(n+5)0 - RX(n+5)7	Reserved	RY(n+5)0 - RY(n+5)7	Reserved
RX(n+5)8 - RX(n+5)F		RY(n+5)8 - RY(n+5)F
RX(n+6)0 - RX(n+6)7		RY(n+6)0 - RY(n+6)7
RX(n+6)8	Command processing finish (*)	RY(n+6)8	Command processing request (*)
RX(n+6)9	Command error (*)	RY(n+6) 9	—
RX(n+6)A - RX(n+6)F	—	RY(n+6)A - RY(n+6)F	—
RX(n+7)0 - RX(n+7)7	—	RY(n+7)0 - RY(n+7)7	—
RX(n+7)8 - RX(n+7)F	—	RY(n+7)8 ~ RY(n+7)F	—

n: Addresses assigned to the master unit by station number setting.

(*) Handshake signals for data communication.

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BA II Arm Robot Catalog - TM Robotics - #207

Pick and place robot, Vision system, Articulated robot, SCARA robot, Assembly robot