Page 6 of catalogue Robot controller of Motoman robotec GmbH

Technical specifications
Controller
Configuration Dimensions Weight Cooling system Ambient temperature Relative humidity Power supply Grounding Digital I/O Free-standing, Enclosed type 800(W)x900(H)x650(D) mm Approx. 170 kg Indirect cooling During operation 0° to +45° During transport -10° to +60° Max. 90% (non-condensing) 3 x 400/415/440V AC, 50/60 Hz Less than 100 ohm General signals (standard) 40 inputs and 40 outputs of which 24 inputs and 24 outputs are free 4 direct inputs RS-232C and PC-card Absolute encoder / Serial interface Servopacks for AC servo motor Software servo control 5.000 steps and 3.000 instructions 1.500 ladder steps

Communication Positioning system Drive units Accel / Decel Programming capacity (standard)

Safety features
Personal safety Teach Lock Mode Collision proof frames Machine lock 3-position ”dead-man´s handle” Low speed in teaching mode Prohibits operation from operator´s panel Doughnut-sector frame, cubic frame

Test-run peripherial device without robot motion Self-diagnosis Alarm and error messages displayed together with explanation User Alarm display Possible to display alarm messages for peripheral devices

Operator´s panel
Buttons provided Mode, Start, Hold, Emergency stop Servo power ON

Programming pendant
Material Dimensions Weight Display Safety feature Interface Reinforced thermoplastic enclosure 200(W)x322(H)x65(D) mm 1.2 kg 5.7 inch, 40 characters x 12 lines 3-position ”dead-man´s handle” RS-232C

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Programming functions
Coordinate system Robot Motion Control Speed setting Joint, rectangular/cylindrical, tool, user coordinates Joint coordinates, linear/circular, interpolation, tool coordinates Percentage for joint coordinates, 0.1 mm/s units for interpolations, angular velocity for T.C.P. fixed motion Jump, call, timer, robot stop, execution of some instructions during robot motion Adding, deleting, correcting (robot Axes and/or external axes) Manually forwards and backwards in the job (even circular) Fine adjustment possible Discrete I/O control, pattern I/O processing Interactive programming Robot language: INFORM II English, Swedish, French, Spanish, Italian, Finnish, German Max. 24 and up to 24 external TCP´s Automatically calibrates parameters for end effectors using master jig

Program Control Instructions Modification of teaching point Position control Speed adjustment I/O-function Programming Language Display text Tool Centre Point TCP-calibration

Maintenance functions
Software time usage meters Alarm display I/O-diagnosis Control power-ON time, servo power-ON time, playback time, work time and operation time displayed Alarm messages and previous alarm records Simulated enable/disabled output possible

Options
Digital I/O I/O-boards, total max. 256/256 MIO02: 32 inputs and outputs MIO03: 16 inputs and outputs XO102: 40 inputs and outputs Analogue output 12 channel (MEW/XEW-board) Memory expansion Max 60.000 points for 6 axes (up to...) and 20.000 instructions 3.000 ladder steps External axis Total max. 27 axes IP54, by add on kit Enclosure classification