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2 EQUIPMENT SPECIFICATIONS
2.2 Motion CPU Module
Motion control specifications
Item R64MTCPU R32MTCPU R16MTCPU
Number of control axes Up to 64 axes Up to 32 axes Up to 16 axes
Operation cycle
(default)
0.222ms/ 1 to 2 axes
0.444ms/ 3 to 8 axes
0.888ms/ 9 to 20 axes
1.777ms/21 to 38 axes
3.555ms/39 to 64 axes
0.222ms/ 1 to 2 axes
0.444ms/ 3 to 8 axes
0.888ms/ 9 to 20 axes
1.777ms/21 to 32 axes
0.222ms/ 1 to 2 axes
0.444ms/ 3 to 8 axes
0.888ms/ 9 to 16 axes
Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)
Control modes PTP(Point to Point) control, Speed control, Speed-position switching control, Fixed-pitch feed,
Continuous trajectory control, Position follow-up control, Speed control with fixed position stop,
High-speed oscillation control, Speed-torque control, Pressure control
*1
, Advanced synchronous
control, Machine control, G-code control
Acceleration/deceleration control Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration, Advanced S-curve
acceleration/deceleration
Compensation Backlash compensation, Electronic gear, Phase compensation
Programming language Motion SFC, Dedicated instruction
Program capacity Servo program 64k steps
*2
Motion SFC program 8192k bytes
*3
Number of programs Servo program 8192 (K0 to 8191)
*4
Motion SFC program 512 (No.0 to 511)
*5
Number of positioning points 6400 points (Positioning data can be designated indirectly)
Peripheral I/F PERIPHERAL I/F
Home position return function 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, Driver home position return
method
Home position return re-try function provided, home position shift function provided
JOG operation function Provided
Manual pulse generator operation function Possible to connect 3 modules (High-speed counter module use)
Synchronous encoder operation function Possible to connect 12 modules
(Via module (High-speed counter module use) + Via servo amplifier
*6
+ Via device + Multiple
CPU advanced synchronous control + Via sensing module)
M-code function M-code output function provided, M-code completion wait function provided
Limit switch output function Number of output points 64 points 2 settings Output timing compensation
Watch data: Motion control data/Word device
ROM operation function Provided
Multiple CPU advanced synchronous control Provided
External input signal External input signals (FLS/RLS/DOG) of servo amplifier, Bit device
Forced stop Motion controller forced stop (Device), Forced stop terminal of servo amplifier
Number of I/O points Total 4096 points
Mark detection function Mark detection mode setting Continuous detection mode, Specified number of detection mode, Ring buffer mode
Mark detection signal High-speed input request signal (bit device, input signal of servo amplifier (DI1 to DI3), input
signal of sensing module)
Mark detection setting 64 settings
Clock function Provided
Security function Provided
All clear function Provided
Remote operation Remote RUN/STOP
File management function Available for program and parameter data, cam data, label data, sampling data etc.
Optional data monitor
function
SSCNET/H Up to 14 data/axis (Communication data: Up to 6 points/axis)
SSCNET Up to 14 data/axis (Communication data: Up to 3 points/axis)
Digital oscilloscope function Motion buffering method (Real-time waveform can be displayed)
Sampling data: Word 16CH, Bit 16CH
Offline sampling
Absolute position system Made compatible by setting battery to servo amplifier.
(Possible to select the absolute data method or incremental method for each axis)
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