目 次 - sanyo denki€¦ · input power supply dc24v(dc19.2v to dc30v) 2-p i n coe tr x1 (ph...
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目 次
目次 ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ P. 2
特長 ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ P. 4
コントローラ仕様・・・・・・・・・・・・・・・・・・・・・・・ P. 6
外形図 ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ P. 8
オプション ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・P. 10
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Simple system
Wire-saving by serial interface.
Controller with three control functions
The SANMOTION C has the three functions of motion control, robot control,
and sequence control and makes it easy to build a variety of application systems.
Applications
Robot deviceMeasurement equipment
Pneumatic/hydraulicpressure control equipment
Manufacturing equipment
Conveying equipment
Packaging equipment
Robots, Conveying equipment, Packaging machines, Semiconductor manufacturing equipment,Press machines, Wire winding machines, Inspection equipment, Liquid crystal manufacturing equipment.
Cartesian coordinate,
SCARA,
Vertical articulated,
Parallel link
Motion function block
Electronic cam
Electronic gear
Digital input/output
Analog input/output
Timer, Counter
Sequencecontrol
Robotcontrol
Motioncontrol
Networking
Reducedwiring GA1060
■ GA1060 LSI Specialized for servo communications : Features synchronous communications between a controller and several servo-amplifiers using multi-drop serial interface based on the RS485.
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■ Loaders, unloaders, Conveying equipment [linear/circular interpolation control]
■ Packaging equipment [electronic cam, electronic gear control]
Model Remarks
CPU module CP232-ZPower PC 400MHz, 64MB, CAN, RS485
I/O module DM272-A8DI, 8DO0.5A(100%)/ 2.0A(50%)
Interface module SX210-A RS232C
Run-time firmware TTMCU-CP23X
Model Remarks
CPU module CP232-ZPower PC 400MHz, 64MB, CAN, RS485
I/O module DM272-A8DI, 8DO0.5A(100%)/ 2.0A(50%)
Interface module SX210-A RS232C
Run-time firmware TTMCU-CP23X
■ Conveyer robots [PTP control]
Model Remarks
CPU module CP232-ZPower PC 400MHz, 64MB, CAN, RS485
I/O module DM272-A8DI, 8DO0.5A(100%)/ 2.0A(50%)
Interface module SX210-A RS232C
Run-time firmware TTMCU-CP23X
Examples of system configurations
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Software with a variety of functions for system development is available.
■ Programming tool
■ Analysis Diagnostic Tool〔SCOPE〕
■ Assembly robots [3-dimensional linear, 3-dimensional circular control]
Model Remarks
CPU module CP232-ZPower PC 400MHz, 64MB, CAN, RS485
I/O module DM272-A8DI, 8DO0.5A(100%)/ 2.0A(50%)
Interface module SX210-A RS232C
Run-time firmware TTMCU-CP23X
“IECEDIT / TEACH VIEW”Development tool software※ Option
IEC EDITMonitoring real-time management
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Module structure
CPU moduleCP232-Z
I/O module
DM272-ADM276-ADI266-ADO276-AAM280-A
DI266-BDO276-B
Encodermodule
Interfacemodule
SM210-ASM230-A
Fieldbusmodule
FM280-AFM299-A
MM240-A
Powersupply USB
Status displayLED
RS485
Bus linkmodule
BL210-B
Compact flashRun-time firmware
TTMCU-CP23X
Communications cable between CPU and bus link module
Plug-in module
SX210-ASX230-A
FX200-A NX250-A
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Specifications
■ CPU moduleModel No. CP232-Z Remarks
CPU Power PC 400MHz
Memory 64MB
Battery backed up SRAM 512KB
Specifications of provided interfaces CAN 125kbps to 1Mbps D-Sub 9-pin female connector
RS485 1200bps to 115200bps D-Sub 9-pin female connector
USB USB 1.1 high speed For memory storage
Expansion unit maximum 12
Input power supply DC24V(DC19.2V to DC30V) 2-pin connector x 1 (Phoenix Contact) ※ 2
Maximum input power 75W
Rush current 5.5A
Maximum output power(K-BUS DC24V) 45W
Maximum output power(K-BUS DC5V) 10W
Weight 650g
■ Expansion moduleType Model No. Specifications Mass Cable side connector
Plug-in module SX210-A RS232C, baud rate 1200 to 115200bps 31g D-Sub 9-pin female connector
SX230-A RS485/ 422 , baud rate 1200 to 115200bps
FX200-A CAN baund rate 125Kbps to 1Mbps 27g D-Sub 9-pin female connector
NX250-A Ethernet 10/ 100Mbps 23g 8-pin RJ45 connector
I/O module DM272-A Digital inputs: 8ch, 24 VDC, sink inputDigital outputs: 8ch, 24 VDC, 1A, source output
135g 2-pin connector x 1 + 8-pin connector x 2(Phoenix Contact) ※ 2Photocoupler insulation
DM276-A Digital inputs: 6ch, 24 VDC, source inputDigital outputs: 8ch, 24 VDC, 1A, sink output
135g
DI266-A Digital inputs: 16ch, 24 VDC, source input 125g
DI266-B Digital inputs: 16ch, 24 VDC, source input 125g 24-pin connector x 1 (Fujitsu Component)
DO276-A Digital outputs: 16ch, 24 VDC, 0.5A, sink output 130g2-pin connector x 1 + 8-pin connector x 2 (Phoenix Contact) ※ 2
DO276-B Digital outputs: 16ch, 24 VDC, 0.5A, sink output 130g 24-pin connector x 1 (Fujitsu Component)
Non-insulation AM280-A Analog input: 4ch, ± 10 V or 0 to 10 VAnalog output: 4ch, ± 10 V
135g 2-pin connector x 1 + 8-pin connector x 2 (Phoenix Contact) ※ 2
Fieldbus module FM280-A SERCOS baund rate 2Mbps / 4Mbps 130g SMA Optical fiber connector
FM299-A GA1060 motion bus, maximum 16 axis control 130g D-Sub 9-pin female connector x 2
Interface module SM210-A RS232C, 2 ch, baud rate 1,200 to 115,200 bps 132g D-Sub 9-pin female connector x 2
SM230-A RS485/422, 2 ch, baud rate 1,200 to 115,200 bps 132g
Encoder moduleMM240-A
Encoder inputs : 2 ch, maximum input frequency 250 kHzLatch inputs: 2ch, 24 VDC, sink/source input
135g2-pin connector x 2 (Phoenix Contact) ※ 2D-Sub 9-pin male x 2
Bus link module ※ 1Communication module to expand extension-modules
BL210-B Communication rate 125kbps to 1Mbps 121g2-pin connector x 2 (Phoenix Contact) ※ 2D-Sub 9-pin male x 2
※ 1:Bus Link Module expands up to 12 units, also a maximum 41 units of modules are expansible on CAN-bus.
※ 2:Connector kit options are available. P8 Prepare other connectors and cables as necessary.
■ Common specificationsOperating ambient temperature 0 to + 55℃
Storage ambient temperature - 45 to + 70℃
Operating/storage ambient temperature 10 to 95% (no condensation allowed)
Vibration-proof Complies with JIS B 3502, frequency range: 5 ≦ f < 9, displacement amplitude 3.5, frequency range: 9 ≦ f < 150 4.9 m/s²
Shock resistant Complies with JIS B 3502 147 m/s²
Operating altitude 2000 meters max.
Installation location In control panel
Overvoltage category Ⅱ or lower
Degree of pollution 2 or lower
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Options
Model No. Applications
TTMCU-CP23X Sequence/motion/robot control
※Contact our customer support team for designing a custom product.
Motion control function/specifications
Number of axes controlled 16 axes maximum
Calculation period 1 to 32 msec
Control type Position control (PTP), speed control
Acceleration/deceleration type Automatic trapezoidal acceleration/deceleration, S-shaped acceleration/deceleration
Control unit Any desired (pulse, mm, inch, degree)
Maximum reference value - 2147483648 to 2147483647(32-bit signed)
Programming language Complies with IEC61131-3, IL, ST, LD, SFC
Function block home, move relative, absolute move, move velocity, CamIn, GearIn
Robot control function/specifications
Number of axes controlled 9 axes maximum (robot: 6 axes; 3 added axes)
Calculation period 1 to 32msec
Control type PTP, 3-dimensional linear, 3-dimensional circular
Teaching type Remote teaching, numeric input
Control unit Any desired (pulse, mm, inch, degree)
Programming language Original robot language
Robots supported Orthogonal robots, SCARA robots, vertical articulated robots, parallel link robots
Run-time firmware
■ Cables and connectors with terminal resistors for GA1060 motion busModel No. Specifications
AL-00642156-□□ Cable between controller and amp □ is the cable length: Unit x 1 m Maximum length 10 m
AL-00642351-□□ Cable between amps □ is the cable length: Unit x 0.1 m Maximum length 3 m
AL-00642358-01 Connector with terminal resistor for amp side
AL-00642356-01 Connector with terminal resistor for controller side
■ Connector set (Manufacturer : Phoenix Contact)
Model No. Specifications Manufacturer model No.
AL-00591171-01 For CPU module and bus link module power supply MSTB2,5/2-ST-5,08 ×1
AL-00591171-02 For I/O module MSTB2,5/2-ST-5,08 ×1
MSTB2,5/8-ST-5,08 ×2
AL-00591171-03 For encoder module power supply MSTB2,5/2-ST-5,08 ×2
■ 24-pin connector (Manufacturer : Fujitsu Component) Not available at Sanyo Denki. Prepare as necessary.
Terminal shape Manufacturer model No.
Soldered Socket FCN-361J024-AU
Connector cover FCN-360C024-J2 ※
Pressure connection Socket FCN-363J024
Connector cover FCN-360C024-J2 ※
Contact FCN-363J-AU
Pressure welding FCN-367J024-AU/F
※ Besides J2 type connector covers, B types and E types can be used.
■ “IECEDIT / TEACH VIEW”Development tool softwareModel No. Applications
IEC EDIT Sequence/motion control integrated development tool
TEACH VIEW Robot Programming Tools (Virtual pendant)
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Dimensions (Unit : mm)
CPU moduleCP232-Z ● Option Power supply connector; Model No.: AL-00591171-01
Plug-in moduleFX200-A, SX210-A, SX230-A
NX250-A
Bus link moduleBL210-B ● Option Power supply connector; Model No.: AL-00591171-01
Encoder module
MM240-A ● Option Power supply connector; Model No.: AL-00591171-03
COM
PACT
FLA
SH 120±
2
180±24
+24VSI1
0V
SI0
CAN1
PWR
DIA
G
CTRL
CP 232/Z
72±
1
ETHERNET
TX RX
CAN
0
DIN rail
100±
2
70±
1
120±
2
22.5±1
37
100±2
26
120±
2
22.5±1
100±2
72±
1
87.5 21.5
58 50
83 21.5
58 50
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Dimensions (Unit : mm)
Fieldbus module, interface moduleFM299-A,SM210-A,SM230-A
I/O moduleDM272-A,DM276-A,DI266-A,DO276-A,AM280-A
● Option I/O connector; Model No.: AL-00591171-02
DI266-B,DO276-B
37
22.5±1
120±
2
100±2
70±
1
70±
1
22.5±1
37
120±
2
100±2
37
70±
1
22.5±1
120±
2
100±2
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CATALOG No.S0842B007 ‘15.4
trademarks of such respective companies.*Remarks : Specifications Are SubjectTo Change Without Notice.The names of companies and/or their products specified in this catalog are the trade names, and/or trademarks and/or registered