Mitsubishi Electric Corporation (Factory Automation / FA Systems Group) R16MTCPU
R16MTCPU
Технические характеристики
| Number of control axes | Up to 16 axes |
|---|---|
| Operation cycle (operation cycle settings) *1 | 0.222 ms, 0.444 ms, 0.888 ms, 1.777 ms, 3.555 ms, 7.111 ms |
| Interpolation function | Linear interpolation (up to 4 axes), 2-axis circular interpolation, helical interpolation (3 axes) |
| Control method | Positioning control, speed control, speed-torque control, speed-position switching control, fixed-pitch feed, advanced synchronous control, cam control, continuous path control, position follow-up control, speed control with fixed position stop, high-speed oscillation control, machine control, G-code control |
| Acceleration/deceleration processing | Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration, advanced S-curve acceleration/deceleration |
| Compensation function | Backlash compensation, electronic gear, phase compensation |
| Synchronous control | Synchronous encoder input, cam, phase compensation, cam auto-generation |
| Control unit | mm, inch, degree, pulse |
| Programming language | Motion SFC, dedicated instruction |
| Servo program capacity | 64k steps |
| Number of positioning points | 6400 points (positioning data can be designated indirectly) |
| Home position return | Proximity dog method (2 types), count method (3 types), data set method (3 types), dog cradle method, stopper method (2 types), limit switch combined method, scale home position signal detection method, dogless home position signal reference method (home position return re-try function provided, home position shift function provided) |
| Positioning control | Linear interpolation control (up to 4 axes), fixed-pitch feed control (up to 3 axes), 2-axis circular interpolation (auxiliary point-specified, radius-specified, central point-specified), speed control (1-axis), speed-position switching control (INC mode), current value change |
| Manual control | JOG operation, manual pulse generator operation (possible to connect 3 modules (high-speed counter module use)) |
| Speed-torque control | Speed control not including position loop, torque control, continuous operation to torque control |
| Synchronous encoder operation function | Possible to use 12 modules (via module (high-speed counter module use) + via servo amplifier *3 + via device + multiple CPU advanced synchronous control + via sensing module) |
| Speed limit | Speed limit value, JOG speed limit value |
| Torque limit function | Torque limit value (positive/negative direction) |
| M-code output function | Provided |
| Speed change | Provided |
| Acceleration/deceleration processing change | Acceleration/deceleration time |
| Limit switch output function | Number of output points: 64 points × 2 sections Watch data: motion control data, word device |
| ROM operation function | Provided (batteryless operation) |
| External input signal | External input signals (FLS, RLS, DOG) of servo amplifier, bit device |
| Mark detection function | Continuous detection mode, specified number of detections mode, ring buffer mode |
| Mark detection signal | High-speed input request signal (bit device, input signal of servo amplifier (DI1 to DI3)) |
| Mark detection setting | 64 settings |
| Torque limit value change | Provided |
| Target position change function | Target position change, movement distance change |
| Servo parameter change function | Provided |
| Servo amplifier control mode switching function | Gain switching function, PI-PID control, control loop changing (fully closed loop control, semi closed loop control) |
| Optional data monitor function | Up to 14 data/axis (communication data: up to 6 points/axis) |
| Forced stop | Motion controller forced stop (system setting), forced stop terminal of servo amplifier |
| Software stroke limit function | Movable range check with current feed value |
| Hardware stroke limit function | Provided |
| Number of I/O points | 4096 points |
| Clock function | Provided |
| Security function | File password, password for every Motion SFC program, security key function |
| All clear function | Delete all user data in Motion CPU |
| Remote operation | Remote RUN/STOP, remote latch clear |
| Digital oscilloscope function | Motion buffering method (real-time waveform can be displayed) Sampling data: word 16CH, bit 16CH Offline sampling |
| Driver communication function | Provided |
| Event history function | Provided |
| Amplifier-less operation function | Provided |
| Servo system recorder function | Provided |
| Absolute position system | Provided (Made compatible by setting battery to servo amplifier.) |
| Number of SSCNET III/H lines *2 | 1 line |
| Servo amplifier connection method | SSCNET III/H (1 lines) |
| Maximum overall cable distance [m] | SSCNET III/H: 1600 |
| Maximum distance between stations [m] | SSCNET III/H: 100 |
| Number of sensing module connection stations | Up to 4 stations |
| Number of SSCNET III/H head module connection stations | Up to 4 stations |
| PERIPHERAL I/F | Motion CPU: PERIPHERAL I/F Via a PLC CPU: USB, Ethernet |
| Manual pulse generator interface | Possible to connect 3 modules of manual pulse generator (high-speed counter module use) |
| Extended memory | SD/SDHC memory card |
| Built-in memory | 12 M bytes (standard ROM) |
| SD memory card | Up to 32 G bytes |
| Number of stages of extension base | Up to 7 stages |
| 5 V DC internal current consumption [A] | 1.20 |
| Mass [kg] | 0.28 |
| Exterior dimensions [mm] | 106.0 (H) × 27.8 (W) × 110.0 (D) |
| Category (site listing) | Motion CPU |