Product Information

Controllers (High-Performance Master Unit)

High-Performance Master Unit 【CA20-M00, M01】

Overview

CA20-M01

* Enables simultaneous control of up to four axes
* Capable of XX-Y (Gantry type) two-axis simultaneous control required for high-load transporting applications
* Includes 2D and 3D linear interpolation and circular interpolation and path functions for enabling operations where path tracking is important
* Enables general-purpose output control ON and OFF at the coordinates specified during robot movement (command word: OUTS)
* Enables changing of target position in coordinate data received by RS-232C communication while the axis is moving toward a specified coordinate (command word: RSMV)
* Includes multitask function which allows execution of up to four tasks for input/output control in sequential mode (one task only during axis operation)

TEL:
TOKYO MAIN BRANCH: 81-(0)3-3509-0270
NUMAZU HEADQUARTERS: 81-(0)55-926-5032

Specifications

No. of controlled axesOne axis control or simultaneous control of up to four axes by connecting slave units.
Control systemCP control, PTP control, semi-closed loop control
InterpolationThree-dimensional linear interpolation and circular interpolation
Encoder signalLine driver communication
Teaching methodRemote teaching, direct teaching or MDI
Speed and accelerationSpeed: 10 steps (variable) 
Acceleration: 20 steps (variable)
Operation methodStep, continuous, single
Operation modeSequential (multitask) (Note 1),
Palletizing, Easy, External point designation
No. of programsSequential: 16, Palletizing: 16, Easy: 8
No. of stepsMax. 2500 steps (Note 2)
Coordinate tableEach task: 999
No. of counters99
No. of timers9
MemoryEEPROM (without battery)
CPU32-bit (RISC CPU, SH7085)
Master power voltageDC24V±10% 0.5A (externally supplied)
Self-diagnosis functionCPU down, memory error, driver error,
master power voltage error, program error, etc.
Alarm displayError indicator LED_and teach pendant display
External input4 system inputs and 20 general-purpose inputs
External output4 system outputs and 12 general-purpose outputs
Communication functionWithout VL-Bus interface
1 CH (RS232C), for a teach pendant
With VL-Bus interface
1 CH (RS232C), for a teach pendant
Power supply for driving
external device
Output power supply is not available.
(Power is supplied externally.)
Emergency stop I/ONo-voltage input (contact input) and relay C contact output
Noise resistance1500Vp-p, pulse width 1μs (by noise simulator)
Ambient conditionsRoom temperature 0 - 40°C, humidity 30% - 90% RH, no-condensing and no corrosive gas present.
Dimensions

65(W) × 170 (H) × 150 (D) (excluding metal fixtures)

Mass (kg)1.2 kg (excluding the oprional substrate)

Note 1: Multitask: UP to four task (one task only for axis control) are available.
Nate 2: Varies with a mode to be used.

ItemCC-Link interface specifications
Communication specificationsCC-Link Ver1.10
Baudrate10 M/ 5M/2.5 M/625 k/156 kbps (To be set by rotary)
Station typeRemote device station
Number of occupied stationsFixed at 4 stations (RX/RY: 128 points each, RWw/RWr: 16 points each)
Station number setting1 to 64 (set by parameters)
Number of inputs / outputs4 system inputs, 4 system outputs
64 general-purpose inputs, 64 general-purpose outputs
8 jog inputs, 8 jog outputs
1 handshake input, 2 handshake outputs
4 data selection inputs, 4 data selection confirmation outputs
Data communication functionCoordinate table transmission, current position monitor,
error code request, status request, and more

* These are the inputs and outputs as seen from the robot controller.

TEL:
TOKYO MAIN BRANCH: 81-(0)3-3509-0270
NUMAZU HEADQUARTERS: 81-(0)55-926-5032

ItemDeviceNet interface specifications
Communication protocolCommunication protocol
Supported connectionI/O connection (polling)
Baud rate125k, 250k, 500kbps (set by parameters)
Station number setting0 to 63 (set by parameters)
Cable lengthBaud rateThick cableThink cable
125k500m100m
250k250m
500k100m
Number of occupied stationsSending: 128 points
Receiving: 128 points
Number of inputs / outputs4 system inputs, 4 system outputs
64 general-purpose inputs, / 64 general-purpose outputs
8 jog inputs, 8 jog outputs
Vendor ID733 (TOSHIBA-MACHINE CO.,LTD.)
Device type0 (Generic Device)
Product code5 (CA20-M00)

* These are the inputs and outputs as seen from the robot controller.

TEL:
TOKYO MAIN BRANCH: 81-(0)3-3509-0270
NUMAZU HEADQUARTERS: 81-(0)55-926-5032