Overview

The document presents a detailed technical catalog for the SANMOTION C controller system, designed for motion, robot, and sequence control in various industrial applications such as robotics, manufacturing, packaging, and semiconductor equipment.

Features

• Three-in-one controller functions: motion control, robot control, and sequence control.
• Wire-saving serial interface using RS485 multi-drop communication.
• Supports various robot types including Cartesian coordinate, SCARA, vertical articulated, and parallel link robots.
• Motion function blocks include electronic cam, electronic gear, digital and analog I/O, timers, counters, and sequence control.

Applications

Typical applications include loaders/unloaders, conveying equipment with linear/circular interpolation, packaging equipment with electronic cam and gear control, conveyor robots with point-to-point (PTP) control, and assembly robots requiring 3D linear and circular control.

System Configuration Examples

Systems typically comprise a CPU module (CP232-Z), I/O modules (e.g., DM272-A), interface modules (e.g., SX210-A), and run-time firmware (TTMCU-CP23X). Communication interfaces include CAN, RS485, RS232C, and Ethernet.

Module Structure and Specifications

• CPU Module (CP232-Z): Power PC 400MHz, 64MB memory, battery-backed SRAM 512KB, supports CAN (125kbps-1Mbps), RS485 (1200-115200bps), USB 1.1, DC24V power supply, max 75W input power.
• Expansion Modules: Include plug-in modules (RS232C, RS485/422, CAN, Ethernet), I/O modules with digital inputs/outputs and analog I/O, encoder modules, fieldbus modules (SERCOS, GA1060 motion bus), and bus link modules for expanding up to 12 units or 41 units on CAN-bus.
• Environmental Specs: Operating temperature 0 to +55°C, storage -45 to +70°C, humidity 10-95% non-condensing, vibration and shock compliant with JIS B 3502, max altitude 2000m.

Control Functions and Performance

• Motion Control: Up to 16 axes, calculation period 1-32 ms, position and speed control with trapezoidal and S-curve acceleration/deceleration, supports IEC61131-3 programming languages.
• Robot Control: Up to 9 axes (6 robot + 3 additional), supports PTP, 3D linear and circular control, remote teaching and numeric input, supports multiple robot types, uses original robot language.

Options and Accessories

• Run-time firmware TTMCU-CP23X for sequence, motion, and robot control.
• Cables and connectors with terminal resistors for GA1060 motion bus with specified maximum lengths.
• Connector kits from Phoenix Contact and Fujitsu Component for power and I/O connections.
• Development tools: IECEDIT for sequence/motion control and TEACH VIEW for robot programming (virtual pendant).

Dimensions

Detailed mechanical dimensions are provided for CPU modules, plug-in modules, bus link modules, encoder modules, fieldbus and interface modules, and I/O modules, facilitating integration into control panels.

Contact and Support

Multiple global contact points are listed for customer support and inquiries, covering Japan, USA, Europe, China, Korea, Southeast Asia, and India.

Critical Information

• Maximum expansion: 12 units per bus link module, up to 41 units on CAN-bus.
• Operating environment limitations: temperature, humidity, vibration, shock, altitude.
• Programming compliance with IEC61131-3 standards for motion control.
• Custom product design available upon request.

Note: Specifications are subject to change without notice.