3Controller
Standard specifications 3-40
Table 3-2 ： Standard specification of controller (CR3D-700 series)
Item Unit Specification Remarks
Type
CR3D-711M
RV-6SD/6SDL-SM series:
: CR3D-711M
Number of control axis Simultaneously 6
Memory
capacity
Programmed positions and No.
of steps
point
step
13,000
26,000
Number of programs 256
Robot language MELFA-BASIC V
or
MELFA-BASIC IV
Note1)
Note1) The program of MELFA-BASIC IV can be used by MELFA-BASIC V, if program is converted by RT ToolBox2 (option).
Teaching method
Pose teaching method ,MDI method
Note2)
Note2) Pose teaching method: The method to register the current position of the robot arm.
MDI method: The method to register by inputting the numerical value Immediate.
External
input and
output
input and output point
0/0
Note3)
Note3) The 32/32 points can be use for S12 specification only. (One parallel I/O interface(2D-TZ378) is installed at factory
shipping)
Max. 256/256 by option
Dedicated input/output point Assigned with general-purpose input/output
Special stop input point 1
Hand open/close input/output
point Input 8 point/Output 0 point
Up to 8 output points can be added as
an option
Note4)
Note4) It is when an pnveumatic hand interface (2A-RZ365/2A-RZ375) is installed.
Emergency stop input point 1 Dual line, normal close
Door switch input point 1 Dual line, normal close
Enabling device input point 1 Dual line, normal close
Mode output point 1 Dual line
Robot error output point 1 Dual line
Addition axis synchronization point 1 Dual line
Interface RS-232 port
1
For expansion such as the personal
cpmputer, Vision sensor
Ethernet port 1: For T/B, 1: For customers 10BASE-T/100BASE-Tx
USB 1 Ver. 2.0 Only device function
Hand dedicated slot slot 1
Dedicated for pneumatic hand inter
-
face
Option slot slot 3
Additional axis interface Channel 1 SSCNET Ⅲ
Serial encoder interface Channel 1 For encoder cable connection
Power
source
Input voltage range V 3-phase, AC180 to 253 for standard
3-phase, AC360 to 480 for CE Marking
Note5)
Note5) Please use the controller with an input power supply voltage fluctuation rate of 10% or less.
Power capacity KVA
2.0
Does not include rush current
Note6)
Note7)
Note6) 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-6SD-SM/6SDL-SM series is approx.
0.64kW. The peak value at the robot's maximum speed is 2.72 kW.
Note7) If the earth leakage breaker is installed in the primary side power supply circuit of the controller, please select the earth
leakage breaker of the specification of the amperage rating 20A and 10mA of sensed current. (The leak current of the
controller is set to about 7.5mA)
The short circuit breaker should use the following.
*Operate by the current leakage under the commercial frequency domain (50-60Hz).
If sensitive to the high frequency ingredient, it will become the cause in which below the maximum leak current value
carries out the trip.
Outline dimensions mm 450(W)x440(D)x625(H)
Excluding protrusions
Note8)
Note8) Becomes 615(H) at the caster specification.
Mass kg(lb) Approx. 60(132)
Construction Self-contained floor type, Closed type (IP54)
Note9)
Note9) Take care so that the oil etc. may not be sprinkled directly.
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
Note10)
Note10) The robot must be grounded by the customer.
Paint color Light gray Munsell 0.08GY7.64/0.81
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