| Technical Data of
robot controller |
| control
system |
Hitachi
SH-4 with Coprocessor (240 MHz) |
| control
method |
simultanious
Multi-Task sequence |
| numbers
of jobs |
max.
32 |
| size
of program memory |
max.
57000 steps (1 MB) |
| numbers
of instruction each job |
max.
4000 steps |
type
and numbers
of memories |
|
Bit
memory, Byte memory,
Word memory, Coordinate memory, Text memory
Position memory |
max. 1 MB (with battery backup)
8000 |
| type
of memory |
RAM
with Lithium battery;
5-7 years at 20° C |
| system
start |
auto
start, firmware in EPROM |
| process
time (scanning time) |
max.
1 ms f. 32 Tasks |
| digital
Input and Output interface |
modular
(Remote-I/O) via fieldbus like Profibus, Interbus, Device
Net, CANopen etc. |
| numbers
of Inputs and outputs |
expandable
in steps of 16 I/16 O
max. 4096 I/4096 O |
| data
interfaces |
8
x RS-232c up to 115200 Baud
1 x Ethernet
|
| robot
mechanism |
AR-S...,
CR... and MB... series |
| number
of axes |
1
to 10 (max. 4 axes for each mechanism |
| control
method |
point-to-point
contro closed loop control with position, speed and
accelaration control |
| positioning
method |
point-to-point
with gate, arch insert and pass motion and slow z-axis
start
3D CPC with linear and circular interpolation |
| position
control |
semi
absolute encoder
optical-incremental system with battery backup |
| resolution |
0.01
mm |
| motion
control |
speed
and acceleration programmable in 100 steps |
| operation
mode |
manual
data input KEY-IN
position programming RO-, LI-TEACH
position check CHECK
automatic operation ONLINE |
| data
input |
Teach
pendant H-3332 or serial interface |
| seld
diagnoses |
display
of error messages at Teach Pendant |
