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

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Cartesian robot, Pick and place robot, Palletizing robot, Vision system, Assembly robot

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[External point designation mode]

Mode in which an axis is positioned by a signal output from the sequencer (PLC) or digital switch, without using a command of the controller. Coordinates of a specified point, speed and acceleration/deceleration should be registered beforehand in the table of the controller.

Input of coordinate table, speed table, acceleration/deceleration table and absolute coordinates/relative coordinates in specified bits.

Start signal input

Signal input interval is 30 ms or over.

Move to specified point.

No. of tables that can be used:

Type of master unit: CA20-M10, CA20-M40


	Without extension I/O unit	With extension I/O unit
Coordinate table	16 points (4 bits) (Note 1)	999 points (10 bits)
Speed table	1 table (1 bit)	3 tables (2 bits)
Acceleration/deceleration table	1 table (1 bit)	2 tables (1 bit)
Coordinate system	Predetermined to absolute coordinate system (Bit designation is not permitted.)	Absolute coordinate system/relative coordinate system (1 bit)
Note 1 : Eight (8) points (3 bits) when the pause input is made valid in a single axis control system. Type of maser unit: CA10-M00B, CA10-M01B
Coordinate table	999 points (10 bits)
Speed table	10 tables (4 bits) (Note 2)
Acceleration/deceleration table	20 tables (5 bits)
Coordinate system	Absolute coordinate system/relative coordinate system (1 bit)

Note 2:The number of points and the number of bits that can be used varies with the assigned bit position.

[Palletizing mode]

Mode in which operations of traveling and loading to pallets can be programmed easily only by specifying the number of workpieces, coordinates of locations, etc., without creating a program by combining instruction words. A total of three patterns are provided.

M to 1

Move from pallet to a specified point.

1 to M

Move from a specifed point to pallet.

M to M

Move from pallet to pallet.

[Pulse train input mode]

Mode in which an axis is moved by means of a pulse generator. This mode is available only for the CA20-M10 and CA20-M40.


Input pulse		[CW pulse + CCW pulse] (2-clock pulse system) or [Pulse + "+/-" sign] (1-clock system)
Maximum input pulse frequency		500 kHz (line driver), 200 kHz (open collector)
Input	Signal	Servo ON, reset, counter clear
Input	Specification	DC24 V, 10 mA
Output	Signal	Positioning finish, error, home position LS, Z-phase signals
Output	Specification	DC24 V, 20 mA (max.)
Applicable encoder		Line driver output (wire-saving type)
Display		Error LED indication (on front of unit) and display on teach pendant.
Protective function		Encoder error, overload, overvoltage, overflow, overcurrent
Power supply, ambient conditions		Pursuant to the master unit specifications.

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* See Page 234 for I/O connections.

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BA II Arm Robot Catalog - TM Robotics - #232

Cartesian robot, Pick and place robot, Palletizing robot, Vision system, Assembly robot