3-38
Standard specifications
3Controller
3 Controller
3.1 Standard specifications
3.1.1 Standard specifications
Table 3-1 ： Standard specifications of controller
Item
Unit
Specification
Remarks
Type
CR3-535M
CR2B-274
Number of control axis
Simultaneously 6(Maximum)
CPU
64 bit RISC, and DSP
Memory
capacity
Programmed positions and No.
of steps
point
step
2,500
5,000
Number of programs
88
Robot language
MELFA-BASIC Ⅳ
or
MOVEMASTER COMMAND
Teaching method
Pose teaching method ,MDI method
External
input and
output
input and output
point
32/32
Max. 256/256
Note1)
Note1) It is the value when seven maximums expand (224/224) the Parallel I/O unit.
(2A-RZ361 or 2A-RZ371:Input 32 points / Output 32 points.)
Dedicated input/output
point
Assigned with general-purpose input/output
"STOP" 1 point is fixed
Hand open/close input/output
point
Input 8 point/Output 0 point
Up to 8 output points can be added
as an option
Note2)
Note2) It is when an pneumatic hand interface (2A-RZ365 or 2A-RZ375) is installed.
Emergency stop input
point
1
Dual emergency line
Door switch input
point
1
Dual door switch line
Emergency stop output
point
1
Dual emergency line
Interface
RS-232C
port
1
For expansion such as the personal
cpmputer, Vision sensor
RS-422
port
1
Dedicated for T/B
Hand dedicated slot
slot
1
Dedicated for pneumatic hand
interface
Expansion slot
slot
2
3
Memory expand slot
slot
1
Memory option
Robot input/output link
channel
1
Used for general-purpose input/
output (Max. 256/256)
Additional axis interface
1
0
SSCNET
Power
source
Input voltage range
V
3-phase, AC180 to 253 1-phase, AC180 to 253
Power capacity
KVA
2.0
Does not include rush current
Note3)
Note3) The power capacity is the rating value for normal operation. The power capacity does not include the rush
current when the power is turned ON. The power capacity is a guideline and the actual operation is
affected by the input power voltage. The power consumption in the specific operation pattern with the
RV-6S/6SL series is approx. 0.64kW. The peak value at the robot's maximum speed is 2.72 kW.
Outline dimensions
mm
450(Ｗ)x380(D)x625( Ｈ )
Note4)
Note4) Becomes 615(H) at the caster specification (CR3-535M controller only).
460(Ｗ)x400(D)x200( Ｈ )
Excluding protrusions
Mass
kg
Approx. 60
Approx. 20
Construction
Self-contained floor
type, Closed type (IP54)
Note5)
Note5) CR3-535M controller exchanges heat using the internal air circulation self-cooling method. Furthermore,
the rear side sucks in the outside air and the top and bottom sections of the rear side discharges the
inside air. This controller can also be used in the oil-mist environment.
Self-contained floor
type, Opened type
(IP20)
Note6)
Note6) The CR2B-574 controller of this robot is a general environment specification. For use in an oil-mist
environment or in an environment with excess dust, use the CR3-535M controller instead.
Operating temperature range
deg.
0 to 40
Ambient humidity
%RH
45 to 85
Without dew drops
Grounding
Ω
100 or less
D class grounding earth
Note7)
Note7) The robot must be grounded by the customer.
Paint color
Light gray
Munsell 0.08GY7.64/0.81
